Steer-by-wire steering system with acceleration dependent steering torque feedback
A method to control a steer-by-wire steering system of a road vehicle including a road wheel actuator to turn steerable road wheels and a steering wheel actuator to apply a feedback torque to a steering wheel, includes calculating the feedback torque by modifying a base steering torque as a function of a longitudinal and/or lateral acceleration measured by sensors of the vehicle, and sending the calculated feedback torque to the steering wheel actuator to provide feedback to the driver at the steering wheel.
1 . A method to control a steer-by-wire steering system of a road vehicle including a road wheel actuator to turn steerable road wheels and a steering wheel actuator to apply a feedback torque to a steering wheel, the method comprising:
calculating the feedback torque by modifying a base steering torque as a function of a longitudinal and lateral acceleration measured by sensors of the vehicle to account for a weight transfer of the vehicle such that, when the vehicle experiences lateral acceleration, the feedback torque will be higher, direction independent, than the feedback torque would be when there is zero absolute lateral acceleration; and
sending the calculated feedback torque to the steering wheel actuator to provide feedback to the driver at the steering wheel.
2 . The method according to claim 1 , wherein the modifying includes multiplying the base steering torque by a lateral weight transfer torque factor, which is dependent on an absolute lateral acceleration.
3 . The method according to claim 2 , wherein an increment rate or a decrement rate of longitudinal and/or lateral weight transfer torque factors used in modifying the base steering torque is adjustable and dependent on the lateral acceleration.
4 . The method according to claim 1 , wherein the modifying includes multiplying the base steering torque by a longitudinal weight transfer torque factor, which is dependent on the longitudinal acceleration.
5 . The method according to claim 1 , wherein a longitudinal and/or lateral weight transfer torque factor used in modifying the base steering torque is vehicle speed dependent.
6 . The method according to claim 1 , wherein the base steering torque is calculated with a basic feedback function including multiple inputs and dependencies.
7 . The method according to claim 6 , wherein one of the inputs includes a representation of a load input.
8 . The method according to claim 7 , wherein the representation of the load input is offset by a longitudinal acceleration dependent value, resulting in a modified base steering torque which includes an effect of a longitudinal load transfer.
9 . The method according to claim 8 , wherein offset values are vehicle speed dependent.
10 . The method according to claim 8 , wherein an increment rate or a decrement rate of offset values is adjustable and dependent on the lateral acceleration.
11 . The method according to claim 7 , wherein the representation of the load input is offset by an absolute lateral acceleration dependent value, resulting in a modified base steering torque which includes an effect of a lateral load transfer.
12 . A steer-by-wire steering system for a road vehicle configured to carry out the method according to claim 1 .