Systems and methods for steering wheel control during autonomous steering of a vehicle

A system, comprising:

• a road wheel actuator configured to turn wheels of a vehicle and thereby adjust a road wheel angle of the vehicle;
• a steering wheel actuator configured to rotate a steering wheel of the vehicle and thereby adjust a steering wheel angle of the vehicle;
• and
• a controller functionally coupled with the road wheel actuator and the steering wheel actuator, wherein the controller is configured to, by one or more processors:
• maintain the steering wheel in a stationary position while the vehicle is operating in an autonomous mode wherein steering of the vehicle is controlled by the vehicle;
• determine to switch steering control from the autonomous mode to a manual mode wherein steering of the vehicle is controlled by a driver of the vehicle with the steering wheel;
• and
• perform a synchronization process configured to synchronize the steering wheel angle and the road wheel angle in accordance with a predetermined steering ratio, wherein the synchronization process uses the road wheel actuator and/or the steering wheel actuator to synchronize the steering wheel angle and the road wheel angle.

A vehicle, comprising:

• wheels rotatably coupled to a frame of the vehicle;
• a steering wheel configured to rotate and thereby turn the wheels via a steer-by-wire system;
• a road wheel actuator configured to turn the wheels and thereby adjust a road wheel angle;
• a steering wheel actuator configured to rotate the steering wheel and thereby adjust a steering wheel angle;
• and
• a controller functionally coupled with the road wheel actuator and the steering wheel actuator, wherein the controller is configured to, by one or more processors:
• maintain the steering wheel in a stationary position while the vehicle is operating in an autonomous mode wherein steering of the vehicle is controlled by the vehicle;
• determine to switch steering control from the autonomous mode to a manual mode wherein steering of the vehicle is controlled by a driver of the vehicle with the steering wheel;
• and
• perform a synchronization process configured to synchronize the steering wheel angle and the road wheel angle in accordance with a predetermined steering ratio, wherein the synchronization process uses the road wheel actuator and/or the steering wheel actuator to synchronize the steering wheel angle and the road wheel angle.