Driver warning in electric power steering systems

A method for providing driver warning feedback using a steer by wire system, the method comprising:

• receiving an indication flag that is indicative of a fault in one or more components of the steering system;
• generating a warning injection signal based on the fault indication flag being set;
• generating, by a handwheel actuator, a first driver feedback by modifying a first input command with the warning injection signal, and sending the modified first input command to a first motor of the handwheel actuator;
• generating, by a roadwheel actuator, a second driver feedback by modifying a second input command with the warning injection signal, and sending the modified second input command to a second motor of the roadwheel actuator, wherein the warning injection signal comprises at least one of a first injection signal and a second injection signal, and wherein;
• the first injection sinal is generated in response to a fault being detected in the handwheel actuator, and
• the second injection signal is generated in response to a fault being detected in the roadwheel actuator;
• and
• arbitrating, in response to generating the first injection signal and the second injection signal the first injection signal and the second injection signal to generate the waming injection signal.

A driver warning feedback system comprising:

• a controller configured to;
• monitor a first fault indication flag that is indicative of a fault in operation of one or more components of a handwheel actuator;
• generate a first driver feedback via the handwheel actuator based on the first fault indication flag being set;
• and
• compute a warning injection signal based on the first driver feedback and the second driver feedback, and send the warning injection signal to modify a command sent to a motor to generate a driver warning, wherein the warning injection signal comprises a first injection signal and a second injection signal, and wherein the controller is further configured to arbitrate between the first injection signal and the second injection signal to generate the warning injection signal.

A warning system comprising:

• a first motor control system that sends a first command to a first motor in a first actuator;
• a second motor control system that sends a second command to a second motor in a second actuator;
• a controller that;
• sets a fault indication flag by monitoring one or more components of the first and second motor control systems and generates a warning injection signal in response to the fault indication flag being set, wherein
• the warning injection signal comprises a first injection signal and a second injection signal,
• the first injection signal is generated based on a fault detected in the first actuator;
• the second injection signal is generated based on a fault detected in the second actuator;
• and
• the controller arbitrates the first injection signal and the second injection signal to generate the warning injection signal;
• the first actuator configured to generate a first feedback using the first motor by modifying the first command using the warning injection signal, and sending the modified first command to the first motor;
• and
• the second actuator configured to generate a second feedback by modifying the second command using the warning injection signal, and sending the modified second command to the second motor.