CN-121990043-A - Method and algorithm for virtually measuring and estimating steering rack force and validating sensed data

CN121990043ACN 121990043 ACN121990043 ACN 121990043ACN-121990043-A

Abstract

A vehicle includes a system that performs a method of operating the vehicle. A steering rack is coupled to at least one of the left and right wheels. The sensor obtains a measurement of a vehicle dynamic parameter related to a force at the steering rack. The processor determines a first estimate of rack force generated by the force based on the measurement of the dynamic parameter, obtains a second estimate of rack force based on signals from wheel actuators coupled to the steering rack, selects an arbitrated rack force from the first estimate of rack force and the second estimate of rack force, and activates 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.

Inventors

A. Habini Gadolayem
S. A. nasidi
M. Ezzati
S. Kasezzadehamabadi
H. Izzadi

Assignees

通用汽车环球科技运作有限责任公司

Dates

Publication Date: 20260508
Application Date: 20241226
Priority Date: 20241101

Claims (10)

1. A method of operating a vehicle, comprising: Obtaining a measurement of a vehicle dynamic parameter related to a force at a steering rack of the vehicle, the steering rack being coupled to at least one of the left and right wheels; Determining a first estimate of rack force generated by the force based on the measurement of the dynamic parameter; Obtaining a second estimate of rack force based on signals from wheel actuators coupled to the steering rack; Selecting an arbitrated rack force from a first estimate of rack force and a second estimate of rack force, and A hand wheel actuator coupled to a vehicle steering wheel is activated based on the arbitrated rack force to generate a feedback torque at the steering wheel.
2. The method of claim 1, wherein the dynamic parameters include at least one of (i) an externally applied force on the tire, (ii) an acceleration obtained at an Inertial Measurement Unit (IMU), (iii) a wheel angle, and (iv) a longitudinal speed of the vehicle.
3. The method of claim 1, further comprising determining a fault in at least one of (i) a measurement for calculating the first estimated dynamic parameter, and (ii) a signal from a wheel actuator for calculating the second estimate.
4. The method of claim 3, further comprising selecting the second estimate as the arbitrated rack force when no fault is found in the signal from the wheel actuator.
5. The method of claim 1, wherein at least one of the first estimate of rack force and the second estimate of rack force comprises a time-series force.
6. A system for operating a vehicle, comprising: A steering rack coupled to at least one of the left and right wheels; A sensor for obtaining a measurement of a vehicle dynamic parameter related to a force at the steering rack; A processor configured to: Determining a first estimate of rack force generated by the force based on the measurement of the dynamic parameter; Obtaining a second estimate of rack force based on signals from wheel actuators coupled to the steering rack; Selecting an arbitrated rack force from a first estimate of rack force and a second estimate of rack force, and A hand wheel actuator coupled to a vehicle steering wheel is activated based on the arbitrated rack force to generate a feedback torque at the steering wheel.
7. The system of claim 6, wherein the dynamic parameters include at least one of (i) an externally applied force on the tire, (ii) an acceleration obtained at an Inertial Measurement Unit (IMU), (iii) a wheel angle, and (iv) a longitudinal speed of the vehicle.
8. The system of claim 6, wherein the processor is further configured to determine a fault in at least one of (i) a measurement for calculating the first estimated dynamic parameter, and (ii) a signal from a wheel actuator for calculating the second estimate.
9. The system of claim 8, wherein the processor is further configured to select the second estimate as the arbitration rack force when no fault is found in the signal from the wheel actuator.
10. The system of claim 6, wherein at least one of the first estimate of rack force and the second estimate of rack force comprises a time-series force.

Description

Method and algorithm for virtually measuring and estimating steering rack force and validating sensed data Technical Field The present invention relates to operation of a vehicle, and more particularly to a system and method for applying a feedback torque to a steering wheel of a vehicle steer-by-wire system to correspond to a force at a steering rack of the vehicle. Background Steer-by-wire systems have been developed for steering vehicles. In a steer-by-wire system, there is no mechanical connection between the steering wheel and the wheel actuators that steer the wheels. Instead, communication takes place between the steering wheel and the controller and between the controller and the wheel actuators. External forces generated at the steering rack, such as sudden impacts when the vehicle encounters a pothole, are not transferred to the steering wheel due to the lack of mechanical connection. Therefore, the driver may not know the driving conditions and the external force. Accordingly, it is desirable to provide systems and methods for providing feedback torque to a driver to better immerse the driver in the driving experience. Disclosure of Invention In an exemplary embodiment, a method of operating a vehicle is disclosed. A measurement of a vehicle dynamic parameter related to a force at a vehicle steering rack is obtained. A steering rack is coupled to at least one of the left and right wheels. A first estimate of rack force is determined, the first estimate being generated from the force based on the measurement of the dynamic parameter. A second estimate of the rack force is determined, the second estimate based on signals from a wheel actuator coupled to the steering rack. An arbitrated rack force is selected from the first estimate of rack force and the second estimate of rack force. A hand wheel actuator coupled to a vehicle steering wheel is activated based on the arbitrated rack force to generate a feedback torque at the steering wheel. In addition to one or more features described herein, the dynamic parameters include at least one of an externally applied force on the tire, an acceleration obtained at an Inertial Measurement Unit (IMU), a wheel angle, and a longitudinal speed of the vehicle. In addition to one or more features described herein, the method further includes determining a right wheel estimate of the rack force using the force on the right front wheel of the vehicle, determining a left wheel estimate of the rack force using the force on the left front wheel of the vehicle, and determining a first estimate of the rack force based on the right wheel estimate and the left wheel estimate. In addition to one or more features described herein, the method further includes determining a fault in at least one of the measurement of the dynamic parameter used to calculate the first estimate and the signal from the wheel actuator used to calculate the second estimate. In addition to one or more features described herein, the method further includes selecting the second estimate as arbitrating rack force when no fault is found in the signal from the wheel actuator. In addition to one or more features described herein, at least one of the first estimate of rack force and the second estimate of rack force comprises a time-series force. In addition to one or more features described herein, the steering wheel and the steering rack are mechanically decoupled from each other and are each coupled to a steer-by-wire system. In another exemplary embodiment, a system for operating a vehicle is disclosed. The system includes a steering rack coupled to at least one of the left and right wheels, a sensor for obtaining a measurement of a vehicle dynamic parameter related to a force at the steering rack, and a processor. The processor is configured to determine a first estimate of a rack force generated by the force based on the measurement of the dynamic parameter, obtain a second estimate of the rack force based on a signal from a 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. In addition to one or more features described herein, the dynamic parameters include at least one of an externally applied force on the tire, an acceleration obtained at an Inertial Measurement Unit (IMU), a wheel angle, and a longitudinal speed of the vehicle. In addition to one or more features described herein, the processor is configured to determine a right wheel estimate of the rack force using the force on the right front wheel of the vehicle, determine a left wheel estimate of the rack force using the force on the left front wheel of the vehicle, and determine a first estimate of the rack force based on the right wheel estimate and the left wheel est