| CPC B62D 6/008 (2013.01) [B62D 5/0481 (2013.01)] | 11 Claims |
|
1. An electronic steering apparatus of a vehicle, comprising:
a reaction torque generator configured to generate command reaction torque based on a steering condition; and
a reaction torque controller configured to;
receive a rack force and vehicle speed,
apply a band-pass filter to the rack force to extract road-induced force components, the band-pass filter having a center frequency and a bandwidth that are dynamically adjusted based on the vehicle speed using a predefined mapping;
generate road sensitive torque by applying a gain to the filtered rack force, the gain being selected based on at least one of vehicle speed, steering angular velocity, and column torque;
combine the road sensitive torque with the command reaction torque to produce a final reaction torque, and
output the reaction torque to a reaction motor operatively coupled to a steering wheel wherein
the filtering of rack force and gain application are performed independently of steering angle or wheel trajectory control, and are used exclusively to enhance road feel at the steering wheel.
|