Method and algorithm to virtually measure and estimate steering rack force and validate sensory data

A system for operating a vehicle, comprising:

• a steering rack coupled to at least one of a left wheel and a right wheel;
• a sensor for obtaining a measurement of a dynamic parameter of the vehicle related to a force at the steering rack;
• a processor configured to:
• determine a first estimate of a rack force resulting from the force based on the measurement of the dynamic parameter;
• obtain a second estimate of the rack force based on a signal from a road wheel actuator coupled to the steering rack;
• select an arbitrated rack force from the first estimate of the rack force and the second estimate of the rack force;
• and
• activate a hand wheel actuator coupled to a steering wheel of the vehicle based on the arbitrated rack force to generate a feedback torque at the steering wheel.

A vehicle, comprising:

• a steering wheel;
• a steering rack coupled to at least one of a left wheel and a right wheel;
• a sensor for obtaining a measurement of a dynamic parameter of the vehicle related to a force at the steering rack;
• a steer-by-wire system coupled to the steering wheel and to the steering rack, the steer-by-wire system including a processor configured to:
• determine a first estimate of a rack force resulting from the force based on the measurement of the dynamic parameter;
• obtain a second estimate of the rack force based on a signal from a road wheel actuator coupled to the steering rack;
• select an arbitrated rack force from the first estimate of the rack force and the second estimate of the rack force;
• and
• activate a hand wheel actuator coupled to the steering wheel of the vehicle based on the arbitrated rack force to generate a feedback torque at the steering wheel.