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US 12,630,217 B2Granted
Driver feedback for steer-by-wire system
AssigneeGM Global Technology Operations LLC
InventorsGabriel de Paula Eduardo, Stephen A. Padilla
Life of this patent
Estimating the term…
Abstract
A steer-by-wire system configured for providing driver feedback to enable a driver of a vehicle to feel when the vehicle may be operating near or at its limit of adhesion. The driver feedback may be determined based on a corrected responsive rack force derived as a function of an observed responsive rack force, a reference responsive rack force, a target responsive rack force, and/or a minimum saturation value.
Claims20
A method of providing driver feedback for a vehicle having a steer-by-wire system, comprising:
- determining an observed responsive rack force based on a responsive rack force measurement taken with a responsive rack force observer of the steer-by-wire system, the observed responsive rack force representing a force imparted by one or more wheels of the vehicle against a steering force provided to the wheels with the steer-by-wire system;
- estimating a reference responsive rack force based on a reference model of the steer-by-wire system, the reference model characterizing current suspension and steering kinematics for the steer-by-wire system, the reference responsive rack force representing a referenced force modeled with the reference model for the wheels against the steering force;
- estimating a target responsive rack force based on a target model of the steer-by-wire system, the target model characterizing targeted suspension and steering kinematics for the steer-by-wire system, the target responsive rack force representing a targeted force modeled with the target model for the wheels against the steering force;
- determining a corrected responsive rack force as a function of the observed responsive rack force, the reference responsive rack force, and the target responsive rack force;
- and
- determining a driver feedback torque based on the corrected responsive rack force.
3 more elements
A system for providing driver feedback within a vehicle having a steer-by-wire system, comprising:
- an observer configured for measuring an observed responsive rack force of the steer-by-wire system, the observed responsive rack force representing a responsive force imparted by one or more wheels of the vehicle against a steering force provided to the wheels with the steer-by-wire system;
- a monitoring system configured for determining a plurality of steer-by-wire variables to represent operating influences on the steer-by-wire system;
- a reference model defined relative to current suspension and steering kinematics for the steer-by-wire system, the reference model configured for estimating a reference responsive rack force of the steer-by-wire system based on modeling one or more of the steer-by-wire variables;
- a target model defined relative to target suspension and steering kinematics for the steer-by-wire system, the target model configured for estimating a target responsive rack force of the steer-by-wire system based on modeling one or more of the steer-by-wire variables;
- a responsive rack force controller configured for determining a corrected responsive rack force as a function of the observed responsive rack force, the reference responsive rack force, and the target responsive rack force;
- and
- a steering wheel controller configured for determining a driver feedback torque based on the corrected responsive rack force.
4 more elements
A vehicle, comprising:
- a plurality of wheels operable to facilitate movement of the vehicle;
- a powertrain operable to rotate one or more of the wheels in response to mechanical power generated with an internal combustion engine and/or an electric motor;
- a steer-by-wire system configured for steering one or more of the wheels, the steer-by-wire system configured for:
- determining an observed responsive rack force based on a responsive rack force measurement taken with a responsive rack force observer of the steer-by-wire system;
- estimating a reference responsive rack force based on a reference model of the steer-by-wire system;
- estimating a target responsive rack force based on a target model of the steer-by-wire system;
- determining a corrected responsive rack force according to a rack equation, the rack equation being defined as:
- CRF=max((RRF−TRF)+ORF),MSV)
- wherein CRF equals the corrected responsive rack force, RRF equals the reference responsive rack force, TRF equals the target responsive rack force, ORF equals the observed responsive rack force, and MSV equals a minimum saturation value for the steer-by-wire system;
- and
- determining a driver feedback torque based on the corrected responsive rack force.
8 more elements
Dependencies are inferred from the claim text.