Handwheel-roadwheel resynchronization in steer-by-wire systems

A method for synchronizing a handwheel and a roadwheel in a steer by wire steering system, the method comprising:

• dynamically adjust handwheel position that is used for rack position reference calculation, the dynamic adjustment comprising:
• determining a desynchronization amount based on a difference in an actual handwheel position and a synchronized handwheel position;
• receiving, from a slew rate limiter, a slew rate determined based on a vehicle speed and a handwheel speed;
• computing a handwheel adjustment using the desynchronization amount and the slew rate;
• computing an adjusted handwheel position based on the handwheel adjustment and the actual handwheel position;
• updating the reference rack position based on the adjusted handwheel position;
• and
• repeating the dynamic adjustment responsive to the handwheel adjustment being greater than zero.

A computer program product comprising a memory storage device having computer executable instructions stored therein, the computer executable instructions when executed by a processing unit cause the processing unit to perform resynchronization of a handwheel and a roadwheel in a steer by wire steering system, the resynchronization comprising:

• dynamically adjust handwheel position that is used for rack position reference calculation, the dynamic adjustment comprising:
• determining a desynchronization amount based on a difference in an actual handwheel position and a synchronized handwheel position;
• receiving, from a slew rate limiter, a slew rate determined based on a vehicle speed and a handwheel speed;
• computing a handwheel adjustment using the desynchronization amount and the slew rate;
• computing an adjusted handwheel position based on the handwheel adjustment and the actual handwheel position;
• updating the reference rack position based on the adjusted handwheel position;
• and
• repeating the dynamic adjustment responsive to the handwheel adjustment being greater than zero.