Method for controlling a steer-by-wire steering system of a road vehicle with feedback actuator position calibration
A method for calibrating a position of a feedback actuator of a steer-by-wire steering system of a road vehicle includes moving the feedback actuator to a first end stop of the feedback actuator and from there moving the feedback actuator to a second end stop, recording a position of the two end stops and based thereon determining a newly defined center position, moving the feedback actuator to the newly defined center position, and storing the newly defined center position in a memory as an offset value of an absolute steering wheel angle.
1 . A method for calibrating a position of a feedback actuator of a steer-by-wire steering system of a road vehicle, the method comprising:
moving the feedback actuator to a first mechanical end stop of the feedback actuator and from there moving the feedback actuator to a second mechanical end stop;
recording a position of the first and second mechanical end stops and based thereon determining a newly defined center position;
moving the feedback actuator to the newly defined center position; and
storing the newly defined center position in a memory as an offset value of an absolute steering wheel angle; wherein
the steer-by-wire steering system includes a steering wheel, a road wheel actuator to actuate road wheels, and the feedback actuator;
the feedback actuator applies a feedback torque to the steering wheel; and
the positions of the first and second mechanical end stops are updated during operation of the feedback actuator if an actual position of the feedback actuator is at a steering wheel angle greater than a stored position.
2 . The method according to claim 1 , further comprising:
if the first and second mechanical end stops change, recording modified end stop positions of the first and second mechanical end stops, and setting functions performed by the steering system using the positions of the first and second mechanical end stops to the modified end stop positions.
3 . The method according to claim 1 , wherein stored feedback actuator end stop positions are updated during operation of the feedback actuator if a mechanical end stop is determined to be at a steering wheel angle smaller than a previously stored steering wheel angle.
4 . The method according to claim 3 , wherein determining if the mechanical end stop is at a steering wheel angle smaller than the previously stored steering wheel angle is based on at least one of an estimated motor torque, a direction of the estimated motor torque, or a combination of a feedback actuator position and movement.
5 . The method according to claim 1 , further comprising using updated feedback actuator end stop positions in feedback actuator position-related functions for a torque request.
6 . The method according to claim 1 , further comprising adjusting a position request to send to a road wheel actuator updated feedback actuator end stop positions.
7 . A steer-by-wire steering system for a road vehicle comprising:
a feedback actuator;
a road wheel actuator; and
a controller configured or programmed to control the feedback actuator and the road wheel actuator; wherein
the controller is configured or programmed to perform the method according to claim 1 .