Ford Global Technolgoies, LLC

Daniel F Slavin

Joseph M Raad

Jan Bremkens

Darrel Alan Recker

Imad Hassan Makki

Hassene Jammoussi

Timothy Panagis

Fakhreddine Landolsi

John Walsh

Bruce C Arnold

Simon Nolden

John Steven McWilliams

Kelly Trost

Tomas Mawyin

Alex Gidley

A present steering position of a manually actuatable steering unit of the motor vehicle is determined based on sensor data. A steering command is generated based on the present steering position of the steering unit. Then, based on sensor-detected present vehicle dynamics data, it is determined whether the motor vehicle is in a straight-ahead running situation during driving operation. It is determined whether, during the straight-ahead running situation of the motor vehicle, the present steering position of the steering unit deviates from a straight-ahead running position of the steering unit for at least one of a specified time period and a specified traveling distance of the motor vehicle. A compensation steering command is generated based on the determined deviation of the present steering position of the steering unit from the straight-ahead running position. A corrected steering command is generated based on combining the compensation steering command with the steering command.

Vehicle steering system

A steering system includes an electric motor drivably coupled to a steering column, and a computer communicatively coupled to the electric motor. The computer is programmed to isolate a nibble signal in data representing a torque of the steering column, and instruct the electric motor to output a motor torque based on the nibble signal shifted by a phase shift, the phase shift based on a vehicle-wheel frequency.

Steering nibble control

A system includes a computer including a processor and a memory, the memory storing instructions executable by the computer to determine a recursive standard deviation and a recursive mean offset of a plurality of steering component angles and to identify a wheel misalignment fault upon determining that the recursive standard deviation is below a deviation threshold and the recursive mean offset is above an offset threshold.

Wheel diagnostic

A system includes a computer including a processor and a memory, the memory storing instructions executable by the processor to identify a wheel having a force imbalance based on wheel speed data from each of a plurality of vehicle wheels, and to identify a wheel force imbalance fault when the force imbalance exceeds at least one of a distance threshold and a time threshold.

Vehicle force imbalance detection

Methods and apparatus for controlling steering nibble in position controlled steering systems are described. A controller is to determine actuator angle data based on steering wheel angle data associated with a steering wheel. The controller is also to determine nibble control angle data based on the steering wheel angle data. The controller is also to determine adjusted actuator angle data based on the actuator angle data and the nibble control angle data. The controller is also to generate a control signal based on the adjusted actuator angle data to apply a torque via an actuator of a position controlled steering system.

Methods and apparatus for controlling steering nibble in position controlled steering systems

A steering compensation apparatus includes a road camber determiner to determine a first road camber at a road position in front of a vehicle using wheel trajectory data and height data of the road position, a road camber logic circuit to select, via a torque mapper mapping a plurality of road cambers to a plurality of first compensating torques, a first compensating torque corresponding to the first road camber and a steering controller to drive a motor to deliver the selected first compensating torque to a steering rack at the road position responsive to the first road camber.

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Northville, MI, United States of America

Daniel F Slavin