# US 10,766,522 B2 · Methods and apparatus for controlling steering nibble in position controlled steering systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,522 B2 - Document ID: US10766522B2 - Status: Granted - Kind: B2 - Application number: 15/813,907 - Filed: 2017-11-15 - Published: 2019-05-16 - Granted: 2020-09-08 - Earliest claimed: 2017-11-15 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Jan Bremkens; Daniel Slavin; Joseph Raad - Web page: https://patentgrep.com/patent/US10766522B2 ## CPC - B62D 5/0472: {for damping vibrations} - B62D 5/046: {Controlling the motor} - B62D 5/0463: {calculating assisting torque from the motor based on driver input} - B62D 15/021: {Determination of steering angle} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract Methods and apparatus for controlling steering nibble in position controlled steering systems are described. A controller is to determine actuator angle data based on steering wheel angle data associated with a steering wheel. The controller is also to determine nibble control angle data based on the steering wheel angle data. The controller is also to determine adjusted actuator angle data based on the actuator angle data and the nibble control angle data. The controller is also to generate a control signal based on the adjusted actuator angle data to apply a torque via an actuator of a position controlled steering system. ## Claims ### Claim 1 An apparatus comprising: a controller to: determine actuator angle data based on steering wheel angle data associated with a steering wheel of a position controlled steering system; determine nibble control angle data by implementing a nibble control process, wherein the controller, in connection with the nibble control process, is to: determine wheel frequency data based on detected wheel speed data or detected vehicle speed data associated with the position controlled steering system; determine gain data by applying a gain scheduler to the wheel frequency data; and apply the gain data to the steering wheel angle data to produce scaled steering wheel angle data, wherein the nibble control angle data is based on the scaled steering wheel angle data; determine adjusted actuator angle data based on the actuator angle data and the nibble control angle data; and generate a control signal based on the adjusted actuator angle data to apply a torque via an actuator of the position controlled steering system. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the nibble control process is to reduce steering nibble associated with the position controlled steering system. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the controller, in connection with the nibble control process, is to: generate a tuned resonator filter based on the wheel frequency data; and apply the tuned resonator filter to the scaled steering wheel angle data to produce raw nibble control angle data. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the controller, in connection with the nibble control process, is to: apply a phase lift scheduler to the wheel frequency data to determine phase lift data; determine allpass edge frequency data based on the phase lift data and the wheel frequency data; generate a tuned allpass filter based on the allpass edge frequency data; apply the tuned allpass filter to the raw nibble control angle data to produce compensated nibble control angle data; and apply nibble control gain data to the compensated nibble control angle data to produce the nibble control angle data. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the actuator angle data is further based on detected wheel speed data or detected vehicle speed data associated with the position controlled steering system. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the control signal is further based on detected actuator angle data associated with the actuator. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the position controlled steering system is an active front steering system. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the position controlled steering system is a steer-by-wire steering system. ### Claim 9 A method comprising: determining, by executing one or more instructions via a controller, actuator angle data based on steering wheel angle data associated with a steering wheel of a position controlled steering system; determining nibble control angle data by executing one or more instructions via the controller in connection with implementing a nibble control process, wherein implementing the nibble control process includes; determining wheel frequency data based on detected wheel speed data or detected vehicle speed data associated with the position controlled steering system; determining gain data by applying a gain scheduler to the wheel frequency data; and applying the gain data to the steering wheel angle data to produce scaled steering wheel angle data, wherein the nibble control angle data is based on the scaled steering wheel angle data; determining, by executing one or more instructions via the controller, adjusted actuator angle data based on the actuator angle data and the nibble control angle data; and generating, by executing one or more instructions via the controller, a control signal based on the adjusted actuator angle data to apply a torque via an actuator of the position controlled steering system. ### Claim 10 (depends on 9) The method of claim 9, wherein implementing the nibble control process reduces steering nibble associated with the position controlled steering system. ### Claim 11 (depends on 9) The method of claim 9, further comprising, in connection with the nibble control process: generating a tuned resonator filter based on the wheel frequency data; and applying the tuned resonator filter to the scaled steering wheel angle data to produce raw nibble control angle data. ### Claim 12 (depends on 11) The method of claim 11, further comprising, in connection with the nibble control process: applying a phase lift scheduler to the wheel frequency data to determine phase lift data; determining allpass edge frequency data based on the phase lift data and the wheel frequency data; generating a tuned allpass filter based on the allpass edge frequency data; applying the tuned allpass filter to the raw nibble control angle data to produce compensated nibble control angle data; and applying nibble control gain data to the compensated nibble control angle data to produce the nibble control angle data. ### Claim 13 (depends on 9) The method of claim 9, wherein the actuator angle data is further based on detected wheel speed data or detected vehicle speed data associated with the position controlled steering system. ### Claim 14 (depends on 9) The method of claim 9, wherein the control signal is further based on detected actuator angle data associated with the actuator. ### Claim 15 A non-transitory machine-readable storage medium comprising instructions that, when executed, cause a controller to at least: determine actuator angle data based on steering wheel angle data associated with a steering wheel of a position controlled steering system; determine nibble control angle data in connection with implementing a nibble control process, wherein the instructions, when executed, cause the controller, in connection with the nibble control process, to: determine wheel frequency data based on detected wheel speed data or detected vehicle speed data associated with the position controlled steering system; determine gain data by applying a gain scheduler to the wheel frequency data; and apply the gain data to the steering wheel angle data to produce scaled steering wheel angle data, wherein the nibble control angle data is based on the scaled steering wheel angle data; determine adjusted actuator angle data based on the actuator angle data and the nibble control angle data; and generate a control signal based on the adjusted actuator angle data to apply a torque via an actuator of the position controlled steering system. ### Claim 16 (depends on 15) The non-transitory machine-readable storage medium of claim 15, wherein the instructions, when executed, cause the controller to implement the nibble control process to reduce steering nibble associated with the position controlled steering system. ### Claim 17 (depends on 15) The non-transitory machine-readable storage medium of claim 15, wherein the instructions, when executed, cause the controller, in connection with the nibble control process, to: generate a tuned resonator filter based on the wheel frequency data; and apply the tuned resonator filter to the scaled steering wheel angle data to produce raw nibble control angle data. ### Claim 18 (depends on 17) The non-transitory machine-readable storage medium of claim 17, wherein the instructions, when executed, cause the controller, in connection with the nibble control process, to: apply a phase lift scheduler to the wheel frequency data to determine phase lift data; determine allpass edge frequency data based on the phase lift data and the wheel frequency data; generate a tuned allpass filter based on the allpass edge frequency data; apply the tuned allpass filter to the raw nibble control angle data to produce compensated nibble control angle data; and apply nibble control gain data to the compensated nibble control angle data to produce the nibble control angle data. ### Claim 19 (depends on 15) The non-transitory machine-readable storage medium of claim 15, wherein the actuator angle data is further based on detected wheel speed data or detected vehicle speed data associated with the position controlled steering system. ### Claim 20 (depends on 15) The non-transitory machine-readable storage medium of claim 15, wherein the control signal is further based on detected actuator angle data associated with the actuator.