Notification for rack limiting conditions for steer by wire steering systems

A method comprising:

• generating, by a first controller, a plurality of torque commands, generating the plurality of torque commands comprises:
• generating a curb torque command in response to detecting a curb condition in which road wheels are stationary despite a change in handwheel position;
• and
• generating an end-of-travel torque command in response to detecting an end-of-travel condition;
• in response to determining a largest torque command of the curb torque command, the end-of-travel torque command, an understeer torque command, and an oversteer torque command, determining, by an arbitrator module, a notification torque command based on the largest torque command;
• and
• generating, by a second controller, a notification torque using the notification torque command.

A computer program product comprising a non-transitory computer readable storage device with computer executable instructions stored thereon, the computer executable instructions when executed cause a processing unit to perform a method comprising:

• generating a plurality of torque commands, generating the plurality of torque commands comprises:
• generating a curb torque command in response to detecting a curb condition in which road wheels are stationary despite a change in handwheel position;
• and
• generating an end-of-travel torque command in response to detecting an end-of-travel condition;
• in response to determining a largest torque command of the curb torque command, the end-of-travel torque command, an understeer torque command, and an oversteer torque command, determining a notification torque command based on the largest toque command;
• and
• generating a notification torque using the notification torque command.