Systems and methods for coordinated chassis control
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.
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.