Systems and methods to compensate for a steering pinion offset
AssigneeFord Global Technologies, LLC
InventorsJon Zimmerman, Meghna Menon, Mario Anthony Santillo
Life of this patent
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Abstract
A method including the receipt of a first steering request corresponding to a desired steering angle of a vehicle, the determination of an actual steering angle of the vehicle based on steering data associated with a yaw rate sensor of the vehicle, the comparison of the desired steering angle to the actual steering angle to determine a steering angle difference, and the receipt of a second steering request wherein the second steering request includes an updated compensation value corresponding to the steering pinion offset to adjust the steering angle of the vehicle based on the comparison to reduce the steering angle difference.
Claims20
A method for adjusting a steering pinion offset associated with a vehicle, the method comprising:
- receiving, at the vehicle, a first steering request corresponding to a desired steering angle of the vehicle;
- determining an actual steering angle of the vehicle based on steering data associated with a yaw rate sensor of the vehicle;
- comparing the desired steering angle to the actual steering angle to determine a steering angle difference;
- calculating a compensation value corresponding to the first steering request based on the steering angle difference;
- receiving a second steering request at the vehicle, wherein the second steering request includes an updated compensation value corresponding to the second steering request and the compensation value corresponding to the first steering request;
- adjusting a steering angle of the vehicle based on the updated compensation value;
- and
- marshaling the vehicle to a target destination based on the adjusted steering angle.
A system for adjusting a steering pinion offset associated with a vehicle, the system comprising:
- a processor associated with the vehicle configured to:
- determine an actual steering angle of the vehicle based on steering data associated with a yaw rate sensor of the vehicle, and
- compare a desired steering angle of the vehicle to the actual steering angle to determine a steering angle difference;
- receive a first steering request corresponding to the desired steering angle,
- calculate a compensation value corresponding to the first steering request based on the steering angle difference;
- receive a second steering request, wherein the second steering request includes an updated compensation value corresponding to the second steering request and the compensation value corresponding to the first steering request;
- adjust the steering angle of the vehicle based on the updated compensation value;
- and
- marshal the vehicle to a target destination based on the adjusted steering angle.
One or more non-transitory computer-readable media storing processor-executable instructions that, when executed by at least one processor, cause the at least one processor to:
- receive, at a vehicle, a first steering request corresponding to a desired steering angle of the vehicle;
- determine an actual steering angle of the vehicle based on steering data associated with a yaw rate sensor of the vehicle;
- compare the desired steering angle to the actual steering angle to determine a steering angle difference;
- calculate a compensation value corresponding to the first steering request based on the steering angle difference;
- receive a second steering request at the vehicle, wherein the second steering request includes an updated compensation value corresponding to the second steering request and the compensation value corresponding to the first steering request;
- and
- adjust a steering angle of the vehicle based on the updated compensation value to reduce the steering angle difference;
- and
- marshal the vehicle to a target destination based on the adjusted steering angle.
Dependencies are inferred from the claim text.