Systems and methods for controlling handwheel return to center velocity

A system for handwheel return to center control, the system comprising:

• a processor;
• and
• a memory including instructions that, when executed by the processor, cause the processor to:
• receive a vehicle velocity value indicating a velocity of a vehicle;
• receive a handwheel position value indicating a position of a handwheel of the vehicle;
• receive a handwheel velocity value indicating a velocity of the handwheel of the vehicle;
• receive a driver applied handwheel torque value indicating an amount of torque applied to the handwheel by a driver of the vehicle;
• determine a desired velocity value based on the vehicle velocity value and the handwheel position value;
• determine a control velocity blend value based on the vehicle velocity value and the driver applied handwheel torque value;
• determine a final desired velocity value based on the desired velocity value and the control velocity blend value;
• determine an error value based on the final desired velocity value and the handwheel velocity value;
• determine a proportional integral control value based on the control velocity blend value and the error value;
• determine a static return command value based on the handwheel position value and the vehicle velocity value;
• determine a blend command value based on the proportional integral control value and the static return command value;
• and
• selectively control a return to center of the handwheel of the vehicle based on the blend command value.

An apparatus for handwheel return to center control, the apparatus comprising:

• a processor;
• and
• a memory including instructions that, when executed by the processor, cause the processor to:
• determine a desired velocity value based on a vehicle velocity value indicating a velocity of a vehicle and a handwheel position value indicating a position of a handwheel of the vehicle;
• determine a control velocity blend value based on the vehicle velocity value and a driver applied handwheel torque value indicating an amount of torque applied to the handwheel by a driver of the vehicle;
• determine a final desired velocity value based on the desired velocity value and the control velocity blend value;
• determine a proportional integral control value based on the control velocity blend value and an error value associated with the final desired velocity value;
• determine a static return command value based on the handwheel position value and the vehicle velocity value;
• determine a blend command value based on the proportional integral control value and the static return command value;
• and
• selectively control a return to center of the handwheel of the vehicle based on the blend command value.