US 12,077,231 B2
Apparatus and method for controlling steer-by-wire system to provide improved feedback to steering wheel
Seong Joo Kim, Bay City, MI (US); Ramakrishnan Rajavenkitasubramony, Bay City, MI (US); and Tony Dodak, Bay City, MI (US)
Assigned to HL MANDO CORPORATION, Gyeonggi-Do (KR)
Filed by HL MANDO CORPORATION, Gyeonggi-do (KR)
Filed on Feb. 19, 2021, as Appl. No. 17/180,717.
Prior Publication US 2022/0266901 A1, Aug. 25, 2022
Int. Cl. B62D 5/04 (2006.01); B62D 5/00 (2006.01); B62D 6/00 (2006.01); B62D 6/02 (2006.01); B62D 6/06 (2006.01); B62D 6/08 (2006.01)
CPC B62D 6/008 (2013.01) [B62D 5/006 (2013.01); B62D 5/0481 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle steer-by-wire system, comprising:
a steering torque sensor configured to sense a steering torque applied to a steering wheel;
a steering feedback actuator operably connected with the steering wheel, the steering feedback actuator configured to generate a torque for a steering feedback to the steering wheel,
a road wheel actuator operably connected with one or more road wheels through a rack, the road wheel actuator configured to generate a torque for rotating the one or more road wheels, and
a controller configured to calculate an angular velocity of the steering feedback provided to the steering wheel of the steer-by-wire system, which has no mechanical linkage between the steering wheel and the one or more road wheels, using a model of a hypothetical steering system that has a mechanical linkage between the steering wheel and the one or more road wheels and a motor operably coupled with the mechanical linkage, and control the steering feedback actuator of the steer-by-wire system, which has no mechanical linkage between the steering wheel and the one or more road wheels, based on the angular velocity of the steering wheel calculated based on the model of the hypothetical steering system that has the mechanical linkage between the steering wheel and the one or more road wheels and the motor operably coupled with the mechanical linkage,
wherein the controller calculates the angular velocity of the steering wheel of the steer-by-wire system by estimating a rack force and a torque of the motor of the model of the hypothetical steering system, and calculating the angular velocity of the steering wheel of the steer-by-wire system based on the rack force, the torque of the motor of the model of the hypothetical steering system, and the steering torque sensed by the steering torque sensor.