Steer by wire drift compensation
A steer by wire system includes a controller operable to operate a roadwheel actuator such that a position command to the roadwheel actuator based on a handwheel orientation is a magnitude corresponding to a handwheel orientation offset value in an opposite direction to reduce a difference between the handwheel orientation offset value and a predetermined handwheel zero value.
1. A steer by wire system, the system comprising:
a handwheel actuator; and
a controller operable to:
determine whether a handwheel orientation, defined by an angular position of a handwheel, having a handwheel orientation offset value corresponding to a substantially straight desired direction of travel with respect to a predetermined handwheel zero value, wherein the predetermined handwheel zero value is less than a predetermined handwheel orientation threshold; and
in response to determining that the handwheel orientation offset value corresponds to the substantially straight desired direction of travel with respect to the predetermined handwheel zero value:
determine whether a yaw rate associated with a rate of a change of a yaw position about a yaw axis is less than a predetermined yaw rate threshold; and
determine whether a lateral acceleration is less than a predetermined lateral acceleration threshold; and
activate a timer in response to determining that (1) the yaw rate associated with the rate of the change of the yaw position about the yaw axis is less than the predetermined yaw rate threshold, and (2) the lateral acceleration is less than the predetermined lateral acceleration threshold;
deactivate the timer in response to at least one of (1) the yaw rate associated with the rate of the change of the yaw position about the yaw axis is not less than the predetermined yaw rate threshold, and (2) the lateral acceleration is not less than the predetermined lateral acceleration threshold; and
in response to an elapsed time of the timer being greater than or equal to an elapsed time threshold:
adjust a rack force observer to remove feedback forces or torque associated with drift, wherein the rack force observer is adjusted based on a handwheel angle and an estimated rack force; and
operate the handwheel actuator such that a torque command applied to the handwheel actuator, based on the rack force observer, is a magnitude in an opposite direction to reduce a difference between a handwheel torque and a steady state resistance torque, wherein the handwheel torque is equal to the steady state resistance torque when the predetermined handwheel zero value corresponds to the substantially straight desired direction of travel, and wherein the substantially straight desired direction of travel is defined by a predetermined deadband threshold.
2. The steer by wire system of claim 1 , wherein the handwheel torque is derived from a roadwheel actuation based on the handwheel orientation offset value on the handwheel orientation and the predetermined handwheel zero value.
3. The steer by wire system of claim 1 , wherein the controller is further operable to receive the handwheel orientation and the yaw rate.
4. The steer by wire system of claim 1 , wherein the controller is further operable to receive instructions to operate the handwheel actuator based on the handwheel orientation offset value and the yaw rate to reduce a difference.
5. The steer by wire system of claim 1 , wherein the handwheel actuator is a handwheel electric motor configured to apply the handwheel torque to the handwheel.
6. The steer by wire system of claim 1 , wherein the predetermined handwheel orientation threshold is based on a vehicle speed.