Steering angle control using haptic controller
In one or more embodiments described herein, devices, systems, methods and/or apparatuses are described that can facilitate provision of a single motor torque request based on a driver assistance system pinion angle request. The motor torque request can be generated absent arbitration between two or more requests from two or more different controller components. A device can comprise a steering control system that generates a motor torque request based on a single request from a single first controller component.
1. A method, comprising:
generating, by a steering control system, a pair of initial control requests based on a closed-loop control scheme;
generating, by the steering control system, a secondary pinion request being an output of an aggregation of the pair of control pinion requests; and
generating, by the steering control system, a motor torque request based on the secondary pinion request, wherein the secondary pinion request and the motor torque request are generated, by the steering control system, during different, non-overlapping time intervals.
2. The method of claim 1 , wherein the secondary pinion request comprises one of a pinion torque request or a pinion angle request.
3. The method of claim 1 , wherein the motor torque request is a final motor torque request to be issued to a motor controller, by the steering control system, for setting a torque of a motor.
4. The method of claim 1 , further comprising:
generating, by the steering control system, the secondary pinion request based at least in part on an angle request from a driver assistance system.
5. The method of claim 3 , further comprising:
generating, by the steering control system, the motor torque request absent arbitration between two or more penultimate motor torque requests from two or more different controller components.
6. The method of claim 4 , further comprising:
generating, by the steering control system, haptic control feedback employing the angle request from the driver assistance system.
7. A steering control system, comprising:
a first controller that employs a closed-loop control scheme to generate a pair of initial control requests and that generates a secondary pinion request based on an aggregation of the pair of initial control requests; and
a second controller that, based on the secondary pinion request, generates a motor torque request, wherein the secondary pinion request and the motor torque request are generated during different, non-overlapping time intervals.
8. The steering control system of claim 7 , wherein the secondary pinion request comprises a pinion torque request or a pinion angle request.
9. The steering control system of claim 7 , wherein the motor torque request is a final motor torque request to be issued to a motor controller, by the steering control system, for setting a torque of a motor.
10. The steering control system of claim 9 , wherein the second controller generates the motor torque request absent arbitration between two or more penultimate requests from two or more different controller components.
11. The steering control system of claim 7 , wherein the secondary pinion request is generated by the first controller based at least in part on an angle request from a driver assistance system.
12. The steering control system of claim 7 , wherein the first controller conducts a position overlay operation, and wherein the first controller generates a torque reference function or a position reference function.
13. A system, comprising:
a vehicle comprising
a motor controller,
a first controller that employs a closed-loop control scheme to generate a pair of initial control requests and that generates a secondary pinion request based on an aggregation of the pair of initial control requests, and
a second controller that, based on the secondary pinion request, generates a motor torque request to the motor controller, wherein the secondary pinion request and the motor torque request are generated during different, non-overlapping time intervals.
14. The system of claim 13 , wherein the secondary pinion request comprises a pinion torque request or a pinion angle request.
15. The system of claim 13 , wherein the motor torque request is a final motor torque request to be issued to the motor controller for setting a torque of a motor, and wherein the second controller generates the motor torque request absent arbitration between two or more penultimate requests from two or more different controller components.
16. The method of claim 1 , wherein the first controller performs a position overlay based on at least one of the initial requests.
17. The method of claim 1 , wherein the motor torque request is further based on a sensed pinion measurement not employed to determine the secondary pinion request.
18. The method of claim 1 , wherein the pair of initial control requests comprises an initial pinion request and an advanced driver assistance system request.
19. The steering control system of claim 7 , wherein the pair of initial control requests comprises an initial pinion request and an advanced driver assistance system request.
20. The system of claim 13 , wherein the pair of initial control requests comprises an initial pinion request and an advanced driver assistance system request.