Abstract: Technical solutions described herein include a method of controlling an electric power steering system includes determining that one or more hand wheel torque sensors of electric power steering system are not operational and in response generating an assist torque command by estimating a front slip angle based on a motor angle of a motor of the electric power steering system and a vehicle speed. The method also includes converting the front slip angle to a rack force. The method also includes determining an amount of assist torque based on the rack force and controlling the electric power steering system using the generated assist torque command.

Abstract: Disclosed is a number of variations that may include a method, system, or computer product useful in determining an intended yaw or yaw rate that a driver desires using a model, comparing the yaw or yaw rate with the actual vehicle yaw or yaw rate to determining a yaw error or yaw rate error, using the yaw error or yaw rate error in a model predictive control to determine the brake pressure required to minimize or reduced to zero the yaw error or the yaw rate error.

Abstract: A number of variations are disclosed including a system and method for modifying, in real-time, at least one brake or powertrain application to individual roadwheels of a vehicle to increase lateral maneuver capability in a vehicle having an operational, partially operational, failing, or failed electronic steering system. The system and method may include modifying at least one brake or powertrain command to individual roadwheels where vehicle instability is detected.

Abstract: A number of variations are disclosed including a system and method for modifying, in real-time, at least one brake or powertrain application to individual roadwheels of a vehicle to increase lateral maneuver capability in a vehicle having an operational, partially operational, failing, or failed electronic steering system. The system and method may include modifying at least one brake or powertrain command to individual roadwheels where vehicle instability is detected.

Abstract: A number of variations may include a method including using at least one of brakes or propulsion energy to steer an autonomous or semi-autonomous vehicle if a primary, secondary or other redundant steering system for an autonomous or semi-autonomous vehicle has failed or is insufficiently unhealthy to perform a desired function, the method including determining if a primary, secondary or other redundant steering system of an autonomous or semi-autonomous vehicle has failed or is not sufficiently healthy to perform a desired function, and if so, converting a steer request into a desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration, calculating a brake pressure sufficient to produce the desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration, delivering brake pressures signals via a lateral control module to an actuator for at least one brake connected to a wheel of the vehicle so that the brake pressure causes the vehicle ya

Abstract: Disclosed is a method, product, and system including the use of or using differential braking to determine a surface type or friction level under a road wheel of a vehicle and communicating the determined surface type or friction level under the road when to another system or component of the vehicle.

Abstract: A system and method of hands-off signature detection may include applying a unique sinusoidal motor command to an EPS or handwheel actuator of a vehicle and monitoring attenuation of the unique sinusoidal motor command to determine if a user's hands are on or off of a handwheel of a vehicle. Attenuation of the unique sinusoidal motor command may occur due to the physical presence of a driver's hand(s) on the steering wheel.

Abstract: A number of variations are disclosed including a computer program product and method of modifying brake-to-steer brake pressure commands, based on brake temperature, in real time as well as to create temperature dependent powertrain control and temperature dependent brake cooling.

Abstract: A number of illustrative variations may include a system including brake-to-steer algorithms may achieve lateral control of a vehicle without longitudinal compensation but may also force a vehicle to slow down too rapidly before appropriate lateral movement can be achieved and may deliver an unnatural driving experience for vehicle occupants. A more natural feeling deceleration may be achieved by optimally selecting appropriate transmission shifts to allow for optimal engine speed or electric motor speed and torque based on current vehicle speed thereby reducing undesirably longitudinal disturbance.

Abstract: A number of variations may include a system, method, a non-transitory computer readable medium having instructions thereon executable by an electronic processor to implement functionality comprising enhancing the curvature capability of a tertiary rack and pinion actuator by using brake-to-steer while the tertiary rack and pinion actuator is operating.

Abstract: Disclosed is a method using a brake-to-steer model predictive control to providing a limited level of lateral control for self-driving or semi-self-driving vehicles, when a component of a vehicle steering system fails or is failing.

Abstract: A number of illustrative variations may include a system including brake-to-steer algorithms may achieve lateral control of a vehicle without longitudinal compensation but may also force a vehicle to slow down too rapidly before appropriate lateral movement can be achieved and may deliver an unnatural driving experience for vehicle occupants. A more natural feeling deceleration may be achieved by optimally selecting appropriate transmission shifts to allow for optimal engine speed or electric motor speed and torque based on current vehicle speed thereby reducing undesirably longitudinal disturbance.

Abstract: A system and method of hands-off signature detection may include applying a unique sinusoidal motor command to an EPS or handwheel actuator of a vehicle and monitoring attenuation of the unique sinusoidal motor command to determine if a user's hands are on or off of a handwheel of a vehicle. Attenuation of the unique sinusoidal motor command may occur due to the physical presence of a driver's hand(s) on the steering wheel.

Abstract: A number of illustrative variations may include a system including brake-to-steer algorithms may achieve lateral control of a vehicle without longitudinal compensation but may also force a vehicle to slow down too rapidly before appropriate lateral movement can be achieved and may deliver an unnatural driving experience for vehicle occupants. A more natural feeling deceleration may be achieved by optimally selecting appropriate transmission shifts to allow for optimal engine speed or electric motor speed and torque based on current vehicle speed thereby reducing undesirably longitudinal disturbance.

Abstract: A number of illustrative variations may include a system and method of using vehicle brakes to steer a vehicle where steer-by-wire steering systems have failed. The system may include supplying varying brake pressure, as needed, to different vehicle wheels to steer the vehicle. The system may include supplying engine system commands to maintain vehicle speed or acceleration such that in the event of steering system failure, a vehicle may continue to operate safely without effecting driver input.

Abstract: A number of illustrative variations may include a system and method of modifying steering wheel effort and end of travel limits dynamically during electronic power steering failure, steer-by-wire failure, or brake-to-steer implementation within a vehicle where steering systems have degraded or failed to provide a driver with a normal or near-normal steering driving experience while brake-to-steer systems are in use.

Abstract: A number of illustrative variations may include a method of providing a reliable driving surface friction coefficient estimate.

Abstract: In a number of illustrative variations, a method may include providing an autonomous steering system that may include a steering interface. The method may include determining at least one trajectory; providing driving steering input on the steering interface; providing haptic feedback in the form of effort augmentation in the steering interface indicating the autonomous steering systems intent to remain on the at least one trajectory; and increasing or decreasing haptic feedback in intensity as a function of the magnitude of diversion from the at least one trajectory.

Abstract: A number of variations may include a method including using at least one of brakes or propulsion energy to steer an autonomous or semi-autonomous vehicle if a primary, secondary or other redundant steering system for an autonomous or semi-autonomous vehicle has failed or is insufficiently unhealthy to perform a desired function, the method including determining if a primary, secondary or other redundant steering system of an autonomous or semi-autonomous vehicle has failed or is not sufficiently healthy to perform a desired function, and if so, converting a steer request into a desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration, calculating a brake pressure sufficient to produce the desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration, delivering brake pressures signals via a lateral control module to an actuator for at least one brake connected to a wheel of the vehicle so that the brake pressure causes the vehicle ya

Abstract: A number of illustrative variations may include a method or product for monitoring and responding to component, system, or module changes in an autonomous driving system.