Steer-by-wire vehicle steering control based on crossing through center of a spring-to-center steering wheel

At least one non-transitory machine-readable medium comprising machine-readable instructions to cause at least one processor circuit to at least:

• access a steering wheel torque value corresponding to a torque applied to a spring-to-center steering wheel coupled to a spring-to-center steering shaft;
• after the steering wheel torque value satisfies a threshold value, determine an output target steering wheel angle value based on a blending of a current input target simulated steering wheel angle value and a previous input target simulated steering wheel angle value;
• and
• control a road wheel actuator to turn a road wheel based on the output target steering wheel angle value.

A vehicle comprising:

• a spring-to-center steering shaft having a portion statically fixed to a structure, the structure to resist rotation of the portion of the spring-to-center steering shaft;
• a spring-to-center steering wheel coupled to an end of the spring-to-center steering shaft, the spring-to-center steering wheel rotationally restricted by a torsional rigidity of the spring-to-center steering shaft;
• and
• a controller to:
• after a threshold value is satisfied by a steering wheel torque value corresponding to a torque applied to the spring-to-center steering wheel, determine an output target steering wheel angle value based on a blending of a current input target simulated steering wheel angle value and a previous input target simulated steering wheel angle value;
• and
• control a road wheel actuator to turn a road wheel based on the output target steering wheel angle value.