# US 11,999,417 B2 · Steering angle control using haptic controller > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,417 B2 - Document ID: US11999417B2 - Status: Granted - Kind: B2 - Application number: 17/536,546 - Filed: 2021-11-29 - Published: 2023-06-01 - Granted: 2024-06-04 - Earliest claimed: 2021-11-29 - Assignees: Volvo Car Corporation - Applicants: Volvo Car Corporation - Inventors: Tushar Chugh; David Dahlgren; Fredrik Bruzelius - Web page: https://patentgrep.com/patent/US11999417B2 ## CPC - B62D 5/0463: {calculating assisting torque from the motor based on driver input} - B62D 6/008: {Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications} - B62D 6/10: characterised by means for sensing {or determining} torque - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - 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 In one or more embodiments described herein, devices, systems, methods and/or apparatuses are described that can facilitate provision of a single motor torque request based on a driver assistance system pinion angle request. The motor torque request can be generated absent arbitration between two or more requests from two or more different controller components. A device can comprise a steering control system that generates a motor torque request based on a single request from a single first controller component. ## Claims ### Claim 1 A method, comprising: generating, by a steering control system, a pair of initial control requests based on a closed-loop control scheme; generating, by the steering control system, a secondary pinion request being an output of an aggregation of the pair of control pinion requests; and generating, by the steering control system, a motor torque request based on the secondary pinion request, wherein the secondary pinion request and the motor torque request are generated, by the steering control system, during different, non-overlapping time intervals. ### Claim 2 (depends on 1) The method of claim 1, wherein the secondary pinion request comprises one of a pinion torque request or a pinion angle request. ### Claim 3 (depends on 1) The method of claim 1, wherein the motor torque request is a final motor torque request to be issued to a motor controller, by the steering control system, for setting a torque of a motor. ### Claim 4 (depends on 1) The method of claim 1, further comprising: generating, by the steering control system, the secondary pinion request based at least in part on an angle request from a driver assistance system. ### Claim 5 (depends on 3) The method of claim 3, further comprising: generating, by the steering control system, the motor torque request absent arbitration between two or more penultimate motor torque requests from two or more different controller components. ### Claim 6 (depends on 4) The method of claim 4, further comprising: generating, by the steering control system, haptic control feedback employing the angle request from the driver assistance system. ### Claim 7 A steering control system, comprising: a first controller that employs a closed-loop control scheme to generate a pair of initial control requests and that generates a secondary pinion request based on an aggregation of the pair of initial control requests; and a second controller that, based on the secondary pinion request, generates a motor torque request, wherein the secondary pinion request and the motor torque request are generated during different, non-overlapping time intervals. ### Claim 8 (depends on 7) The steering control system of claim 7, wherein the secondary pinion request comprises a pinion torque request or a pinion angle request. ### Claim 9 (depends on 7) The steering control system of claim 7, wherein the motor torque request is a final motor torque request to be issued to a motor controller, by the steering control system, for setting a torque of a motor. ### Claim 10 (depends on 9) The steering control system of claim 9, wherein the second controller generates the motor torque request absent arbitration between two or more penultimate requests from two or more different controller components. ### Claim 11 (depends on 7) The steering control system of claim 7, wherein the secondary pinion request is generated by the first controller based at least in part on an angle request from a driver assistance system. ### Claim 12 (depends on 7) The steering control system of claim 7, wherein the first controller conducts a position overlay operation, and wherein the first controller generates a torque reference function or a position reference function. ### Claim 13 A system, comprising: a vehicle comprising a motor controller, a first controller that employs a closed-loop control scheme to generate a pair of initial control requests and that generates a secondary pinion request based on an aggregation of the pair of initial control requests, and a second controller that, based on the secondary pinion request, generates a motor torque request to the motor controller, wherein the secondary pinion request and the motor torque request are generated during different, non-overlapping time intervals. ### Claim 14 (depends on 13) The system of claim 13, wherein the secondary pinion request comprises a pinion torque request or a pinion angle request. ### Claim 15 (depends on 13) The system of claim 13, wherein the motor torque request is a final motor torque request to be issued to the motor controller for setting a torque of a motor, and wherein the second controller generates the motor torque request absent arbitration between two or more penultimate requests from two or more different controller components. ### Claim 16 (depends on 1) The method of claim 1, wherein the first controller performs a position overlay based on at least one of the initial requests. ### Claim 17 (depends on 1) The method of claim 1, wherein the motor torque request is further based on a sensed pinion measurement not employed to determine the secondary pinion request. ### Claim 18 (depends on 1) The method of claim 1, wherein the pair of initial control requests comprises an initial pinion request and an advanced driver assistance system request. ### Claim 19 (depends on 7) The steering control system of claim 7, wherein the pair of initial control requests comprises an initial pinion request and an advanced driver assistance system request. ### Claim 20 (depends on 13) The system of claim 13, wherein the pair of initial control requests comprises an initial pinion request and an advanced driver assistance system request.