Systems and methods for predicting road wheel angles

A road wheel angle (RWA) prediction system comprising:

• at least one processor;
• and
• at least one memory communicatively coupled to the at least one processor, the at least one memory comprising instructions that upon execution by the at least one processor, cause the at least one processor to:
• make a first determination of whether a measured driver torque τk is in a steady state, a measured RWA δk is in a steady state, a measured yaw rate of a vehicle is in a steady state, a measured heading of the vehicle is in a steady state, a difference in velocities of a left rear wheel and a right rear wheel is less than or equal to a rear wheel velocity difference threshold, and a difference in velocities of a left front wheel and a right front wheel is less than or equal to a front wheel velocity difference threshold;
• make a second determination of whether the measured driver torque τk is transient, the measured RWA δk is transient, the measured yaw rate of the vehicle is transient, the measured heading of the vehicle is transient, the difference in the velocities of the left rear wheel and the right rear wheel is greater than the rear wheel velocity difference threshold, and the difference in the velocities of the left front wheel and the right front wheel is greater than the front wheel velocity difference threshold;
• select one of a predicted steady state RWA δprd.ssk+N, a predicted transient RWA δprd.transk+N, and the measured RWA based on the first and second determination to determine an amount of force to apply to a steering wheel of the vehicle;
• and
• apply the determined amount of force to the steering wheel of the vehicle.

A vehicle including a road wheel angle (RWA prediction system comprising:

• at least one processor;
• and
• at least one memory communicatively coupled to the at least one processor, the at least one memory comprising instructions that upon execution by the at least one processor, cause the at least one processor to:
• make a first determination of whether a measured driver torque τk is in a steady state, a measured RWA δk is in a steady state, a measured yaw rate of the vehicle is in a steady state, a measured heading of the vehicle is in a steady state, a difference in velocities of a left rear wheel and a right rear wheel is less than or equal to a rear wheel velocity difference threshold, and a difference in velocities of a left front wheel and a right front wheel is less than or equal to a front wheel velocity difference threshold;
• make a second determination of whether the measured driver torque τk is transient, the measured RWA δk is transient, the measured yaw rate of the vehicle is transient, the measured heading of the vehicle is transient, the difference in the velocities of the left rear wheel and the right rear wheel is greater than the rear wheel velocity difference threshold, and the difference in the velocities of the left front wheel and the right front wheel is greater than the front wheel velocity difference threshold;
• select one of a predicted steady state RWA δprd.ssk+N, a predicted transient RWA δprd.transk+N, and the measured RWA based on the first and second determination to determine an amount of force to apply to a steering wheel of the vehicle;
• and
• apply the determined amount of force to the steering wheel of the vehicle.