Saturation algorithm for steer-by-wire system for a vehicle

A steer-by-wire (SbW) system for a vehicle, the SbW system comprising:

• data processing hardware;
• and
• memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
• receiving, at a saturation algorithm of a steer-by-wire (SbW) module, vehicle data from a steering wheel actuator and a road wheel actuator;
• generating, based on the received vehicle data, a self-aligning torque estimation;
• determining, via the saturation algorithm, a pneumatic trail estimation based on the self-aligning torque estimation and a lateral axle force estimation;
• generating, via the saturation algorithm, a lateral axle saturation based on the pneumatic trail estimation;
• executing, based on the lateral axle saturation, a steering output via the saturation algorithm;
• altering, based on the steering output, a steering ratio of a steering wheel relative to road wheels;
• and
• executing, via the SbW module, a notification corresponding to the steering output.

A steer-by-wire (SbW) system for a vehicle, the SbW system comprising:

• data processing hardware;
• and
• memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
• receiving, at a saturation algorithm of a steer-by-wire (SbW) module, vehicle data from a steering wheel actuator and a road wheel actuator, the vehicle data including a steering wheel angle, a steering wheel torque, and dampening friction;
• determining, via the saturation algorithm, a total self-aligning torque based on the vehicle data;
• generating, based on the determined total self-aligning torque, a self-aligning torque estimation;
• determining, via the saturation algorithm, a pneumatic trail estimation based on the self-aligning torque estimation and a lateral axle force estimation;
• generating, via the saturation algorithm, a lateral axle saturation based on the pneumatic trail estimation;
• executing, based on the lateral axle saturation, a steering output via the saturation algorithm;
• altering, based on the steering output, a steering ratio of a steering wheel relative to road wheels;
• and
• issuing, via the SbW module, a notification corresponding to the steering output.