CPC B62D 5/0463 (2013.01) [B62D 6/00 (2013.01)] | 9 Claims |
1. A system for vehicle steering control, the system comprising:
a processor; and
a memory including instructions that, when executed by the processor, cause the processor to:
receive a sensed handwheel angle corresponding to a position of a handwheel;
receive a sensed handwheel torque value indicating an amount of torque applied by an operator on the handwheel;
generate a first roadwheel angle based on the sensed handwheel angle and a vehicle speed;
generate a second roadwheel angle based on the sensed handwheel torque value and the vehicle speed; and
in response to a determination that a handwheel motor is in an unlocked condition, selectively control one or more roadwheels based on the first roadwheel angle;
in response to a determination that the handwheel motor is in a locked condition, generate a blended roadwheel angle based on the first roadwheel angle and the second roadwheel angle and selectively control one or more roadwheels based on the blended roadwheel angle; and
in response to a determination that the locked condition of the handwheel motor is an intermittent condition, maintain the handwheel motor in the locked condition and restrict the handwheel motor from being in the unlocked condition, wherein the locked condition of the handwheel motor corresponds to a fault.
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