Systems and methods for coordinated chassis control

Patent metadata

Field	Value
Publication number	US-12528539-B2
Application number	US-202418743258-A
Country	US
Kind code	B2
Filing date	Jun 14, 2024
Priority date	Jun 14, 2024
Publication date	Jan 20, 2026
Grant date	Jan 20, 2026

Abstract

A method for coordinated chassis control under a split road friction condition includes receiving, in response to a detected split road friction condition, a first rack position command from a brake controller of a vehicle. The method also includes receiving a second rack position command from a handwheel actuator, estimating a driver torque value based on the second rack position command, determining a driver intent value based on the driver torque value, and generating a blended rack position command based on the first rack position command and the driver intent value. The method also includes selectively controlling rack position of a rack associated with a steering system of the vehicle based on the blended rack position command, the first rack position command, and the second rack position command.

First claim

What is claimed is:

1 . A method for coordinated chassis control, the method comprising:
receiving, in response to a detected condition, a first rack position command from a controller of a vehicle; receiving a second rack position command from a handwheel actuator; estimating a driver torque value based on the second rack position command; determining a driver intent value based on the driver torque value; generating a blended rack position command based on the first rack position command and the driver intent value; and selectively controlling rack position of a rack associated with a steering system of the vehicle based on the blended rack position command, the first rack position command, and the second rack position command.

2 . The method of claim 1 , wherein the steering system includes a steer-by-wire steering system.

3 . The method of claim 1 , further comprising detecting the condition based on one or more signals received from the controller.

4 . The method of claim 1 , wherein determining the driver intent value based on the driver torque value includes applying a high pass filter to the driver torque value.

5 . The method of claim 1 , wherein determining the driver intent value based on the driver torque value includes applying a low pass filter to the driver torque value.

6 . The method of claim 1 , wherein the blended rack position command is 0 in response to the driver intent value being 0.

7 . The method of claim 1 , wherein estimating the driver torque value based on the second rack position command includes estimating the driver torque value using a model-based approach.

8 . The method of claim 1 , wherein estimating the driver torque value based on the second rack position command includes estimating the driver torque value using a disturbance observer.

9 . A system for coordinated chassis control, the system comprising:
a processor; and a memory including instructions that, when executed by the processor, cause the processor to:
receive, in response to a detected condition, a first rack position command from a controller of a vehicle;
receive a second rack position command from a handwheel actuator;
estimate a driver torque value based on the second rack position command;
determine a driver intent value based on the driver torque value;
generate a blended rack position command based on the first rack position command and the driver intent value; and
selectively control rack position of a rack associated with a steering system of the vehicle based on the blended rack position command, the first rack position command, and the second rack position command.

10 . The system of claim 9 , wherein the steering system includes a steer-by-wire steering system.

11 . The system of claim 9 , wherein the instructions further cause the processor to detect the condition based on one or more signals received from the controller.

12 . The system of claim 9 , wherein the instructions further cause the processor to determine the driver intent value based on the driver torque value by applying a high pass filter to the driver torque value.

13 . The system of claim 9 , wherein the instructions further cause the processor to determine the driver intent value based on the driver torque value by applying a low pass filter to the driver torque value.

14 . The system of claim 9 , wherein the blended rack position command is 0 in response to the driver intent value being 0.

15 . The system of claim 9 , wherein the instructions further cause the processor to estimate the driver torque value based on the second rack position command using a model-based approach.

16 . The system of claim 9 , wherein the instructions further cause the processor to estimate the driver torque value based on the second rack position command using a disturbance observer.

17 . An apparatus for coordinated chassis control under a split road friction condition, the apparatus comprising:
a processor; and a memory including instructions that, when executed by the processor, cause the processor to:
receive, in response to a detected split road friction condition, a first rack position command from a brake controller of a vehicle;
receive a second rack position command from a handwheel actuator;
determine a driver torque value based on the second rack position command;
determine a driver intent value by applying at least one high pass filter to the driver torque value and applying at least one low pass filter to the driver torque value;
generate a blended rack position command based on the first rack position command and the driver intent value; and
selectively control rack position of a rack associated with a steering system of the vehicle based on at last one of the blended rack position command, the first rack position command, and the second rack position command.

18 . The apparatus of claim 17 , wherein the blended rack position command is 0 in response to the driver intent value being 0.

19 . The apparatus of claim 17 , wherein the instructions further cause the processor to determine the driver torque value based on the second rack position command using a model-based approach.

20 . The apparatus of claim 17 , wherein the instructions further cause the processor to determine the driver torque value based on the second rack position command using a disturbance observer.

Assignees

• Steering Solutions Ip Holding

Inventors

• Pramod Prerit
• Labarbera Joseph A
• Narayanaswamy Chethan
• Sanford Scott T
• Wyciechowski Michael S
• Katch Gregory J

Classifications

• B62D6/008

  Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications · CPC title

• B62D7/159 Primary

  characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition · CPC title

• B62D6/002 Primary

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title