Active front steering (AFS) was originally developed by BMW in 2003 to make front wheels turn a certain number of degrees based on vehicle speed. This prevents oversteering and understeering. A typical AFS system uses sensors to detect steering angle and activate an electric motor that turns the front wheels via a planetary gear assembly. Most systems employ the ZF Lenksysteme approach, which varies the steering ratio to provide more precise control at lower speeds and reduced effort at higher speeds. The AFS adapts the steering response based on signals about vehicle dynamics.