# US 10,864,940 B2 · Steer-by-wire feedback torque > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,940 B2 - Document ID: US10864940B2 - Status: Granted - Kind: B2 - Application number: 16/042,137 - Filed: 2018-07-23 - Published: 2020-01-23 - Granted: 2020-12-15 - Earliest claimed: 2018-07-23 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Anand Pradip Naik; Darrel Alan Recker; Steven R. El Aile - Web page: https://patentgrep.com/patent/US10864940B2 ## CPC - B62D 6/008: {Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications} - B62D 5/006: {power actuated} - B62D 15/0215: {by measuring on the steering column} - B62D 5/046: {Controlling the motor} - 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 A system includes a computer programmed to specify a feedback torque to a steering wheel in a vehicle. The feedback torque is based on a steering torque applied to a steering rack and a deviation of the steering torque below a minimum torque. The computer is further programmed to actuate feedback torque to the steering wheel. ## Claims ### Claim 1 A system comprising a computer including a processor, and a memory storing instructions executable by the processor such that the computer is programmed to: specify a feedback torque to a steering wheel in a vehicle based on a steering torque applied to a steering rack and a deviation of the steering torque applied to the steering rack below a minimum expected torque applied to the steering rack; and actuate feedback torque to the steering wheel. ### Claim 2 (depends on 1) The system of claim 1, further comprising an actuator to apply the feedback torque to the steering wheel. ### Claim 3 (depends on 1) The system of claim 1, further comprising a torque sensor arranged to provide steering torque data to determine the steering torque. ### Claim 4 (depends on 1) The system of claim 1, wherein the computer is further programmed to: determine a first feedback torque factor based on the steering torque; determine a second feedback torque factor based on the deviation of the steering torque applied to the steering rack below the minimum expected torque applied to the steering rack; and determine the feedback torque based on a multiplication of the first factor and the second factor. ### Claim 5 (depends on 1) The system of claim 1, further comprising: an actuator configured to apply the steering torque to the steering rack. ### Claim 6 (depends on 5) The system of claim 5, wherein the computer is further programmed to: determine the deviation of the steering torque based on a reduction in steering torque of the actuator relative to the minimum expected torque. ### Claim 7 (depends on 5) The system of claim 5, wherein the computer is further programmed to: receive operating data for the actuator; and determine the steering torque based on the operating data, wherein the operating data includes at least a supply voltage level and a supply current level for the actuator. ### Claim 8 (depends on 5) The system of claim 5, wherein the computer is further programmed to: receive steering data from a sensor indicating a steering wheel angle of the steering wheel; determine a desired wheel angle for steerable wheels; and command the actuator to apply the steering torque based on the desired wheel angle. ### Claim 9 (depends on 5) The system of claim 5, wherein the computer is further programmed to: receive data indicating that a supply voltage for the actuator is greater than a maximum specified voltage; and limit a supply current supplied to the actuator to a reduced maximum level. ### Claim 10 (depends on 9) The system of claim 9, wherein the computer is further programmed to: determine the deviation of the steering torque below the minimum expected torque based on the reduced maximum level for limiting the supply current. ### Claim 11 A method comprising specifying, by a computer, a feedback torque to a steering wheel in a vehicle based on a steering torque applied to a steering rack and a deviation of the steering torque applied to the steering rack below a minimum expected torque applied to the steering rack; and actuating feedback torque to a steering wheel. ### Claim 12 (depends on 11) The method of claim 11, further comprising applying the feedback torque to the steering wheel by a feedback actuator. ### Claim 13 (depends on 11) The method of claim 11, further comprising determining the steering torque with a torque sensor. ### Claim 14 (depends on 11) The method of claim 11, further comprising: determining a first feedback torque factor based on the steering torque; determining a second feedback torque factor based on the deviation of the steering torque applied to the steering rack below the minimum expected torque; and determining the feedback torque based on a multiplication of the first factor and the second factor. ### Claim 15 (depends on 11) The method of claim 11, further comprising applying the steering torque to the steering rack by an actuator. ### Claim 16 (depends on 15) The method of claim 15, further comprising: determining the deviation of the steering torque based on a reduction in steering torque of the actuator relative to the minimum expected torque. ### Claim 17 (depends on 15) The method of claim 15, further comprising: receiving operating data for the actuator; and determining the steering torque based on the operating data, wherein the operating data includes at least a supply voltage level and a supply current level for the actuator. ### Claim 18 (depends on 15) The method of claim 15, further comprising: receiving steering data from a sensor indicating a steering wheel angle of the steering wheel; determining a desired wheel angle for steerable wheels; and commanding the actuator to apply the steering torque based on the desired wheel angle. ### Claim 19 (depends on 15) The method of claim 15, further comprising: receiving data indicating that a supply voltage for the actuator is greater than a maximum specified voltage; and limiting a supply current supplied to the actuator to a reduced maximum level. ### Claim 20 (depends on 19) The method of claim 19, further comprising: determining the deviation of the steering torque below the minimum expected torque based on the reduced maximum level for limiting the supply current.