Abstract: A number of illustrative variations may include the steps of providing a first vehicle including at least one sensor, a controller configured to process sensor data, and a vehicle communication system; providing a driving surface having an actual coefficient of friction; determining at least one estimated driving surface coefficient of friction; communicating the at least one estimated driving surface coefficient from the first vehicle to the vehicle communication system; and communicating the at least one estimated driving surface coefficient from the vehicle communication system to at least one other vehicle directly or indirectly.

Abstract: Technical features of a steering system include a control module that dynamically determines an operating mode based on a set of input signal values such as lateral acceleration signal values and corresponding handwheel position values. The control module dynamically determines and learns classification boundaries between multiple operating modes based the input signal values. The control module further calibrates the steering system according to operating mode that is determined using the classification boundaries.

Abstract: A number of illustrative variations may include a method of diagnosing and/or calibrating components in vehicles.

Abstract: According to one or more embodiments a steer by wire steering system includes a handwheel actuator that provides a commanded position for a rack of a vehicle. The steer by wire steering system further includes a roadwheel actuator that moves the rack to a rack position based on the commanded position from the handwheel actuator. The steer by wire steering system further includes a diagnostic apparatus to compute a reference position based on the commanded position, and to compute a reference tracking error based on a difference between the reference position and the rack position. The diagnostic apparatus further determines a fault condition with the steer by wire system using the reference tracking error.

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.

Abstract: Steering a vehicle may include applying a net brake-steering force to a steered wheel sufficient to affect a steering moment upon the steered wheel sufficient to move the steered wheel away from a zero steering angle, and resisting movement of the steered wheel back toward the zero steering angle.

Abstract: According to one or more embodiments described herein, a steer by wire steering system includes a pair of actuators, a handwheel actuator that provides a commanded position to a roadwheel actuator, which moves a rack of the vehicle to a rack position based on the commanded position from the handwheel actuator. The steer by wire steering system further includes a controller that generates a handwheel torque command, the handwheel actuator generates a feedback torque based on the handwheel torque command. The controller further computes a tracking error based on a difference between the commanded position and the rack position. The controller further determines a catch motor torque value using the tracking error. The controller further modifies the handwheel torque command using the catch motor torque, the handwheel actuator generates an amount of torque that is substantially a sum of the feedback torque and the catch motor torque.

Abstract: According to one or more embodiments, a steer by wire steering system includes a handwheel actuator, a roadwheel actuator, and a resynchronization module to dynamically adjust handwheel position that is used for rack position reference calculation. The dynamic adjustment includes determining a desynchronization amount based on a difference in an actual handwheel position and a synchronized handwheel position. The dynamic adjustment further includes computing a handwheel adjustment using the desynchronization amount, a vehicle speed, and a handwheel speed. The dynamic adjustment further includes computing an adjusted handwheel position based on the handwheel adjustment and the actual handwheel position. The dynamic adjustment further includes updating the reference rack position based on the adjusted handwheel position. The dynamic adjustment is continuously repeated until the handwheel adjustment is substantially equal to zero.

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, an autonomous steering system may comprise a number of logic modules intended to autonomously address a number of areas of control within the realm of vehicle steering and travel including but not limited to vehicle acceleration, vehicle braking, and lateral control of the vehicle. The logic for the modules of the autonomous steering system may account for driver assistance or intervention.

Abstract: Technical solutions are described herein for steer-by-wire (SBW) steering systems to detect an end-of-travel condition dynamically and generate responsive handwheel torque for a driver. According to one or more embodiments, a steer-by-wire steering system includes a first controller that generates a plurality of torque commands. Generating the plurality of torque commands includes generating a curb torque command in response to detecting a curb condition in which road wheels are stationary despite a change in handwheel position, and generating an end-of-travel torque command in response to detecting an end-of-travel condition. The steer-by-wire steering system further includes an arbitrator module that determines a notification torque command by arbitrating between the plurality of torque commands, which comprises the curb torque command and the end-of-travel torque command.

Abstract: According to one or more embodiments described herein, a steer by wire steering system includes a pair of actuators, a handwheel actuator that provides a commanded position to a roadwheel actuator, which moves a rack of the vehicle to a rack position based on the commanded position from the handwheel actuator. The steer by wire steering system further includes a controller that generates a handwheel torque command, the handwheel actuator generates a feedback torque based on the handwheel torque command. The controller further computes a tracking error based on a difference between the commanded position and the rack position. The controller further determines a catch motor torque value using the tracking error. The controller further modifies the handwheel torque command using the catch motor torque, the handwheel actuator generates an amount of torque that is substantially a sum of the feedback torque and the catch motor torque.

Abstract: According to one or more embodiments a steer by wire steering system includes a handwheel actuator that provides a commanded position for a rack of a vehicle. The steer by wire steering system further includes a roadwheel actuator that moves the rack to a rack position based on the commanded position from the handwheel actuator. The steer by wire steering system further includes a diagnostic apparatus to compute a reference position based on the commanded position, and to compute a reference tracking error based on a difference between the reference position and the rack position. The diagnostic apparatus further determines a fault condition with the steer by wire system using the reference tracking error.

Abstract: Technical features are described for a steering system to compute a state flag value that is indicative of a vehicle motion state, such as an understeer or an oversteer condition. The steering system further generates a reference torque signal based on the state flag value, and generates a motor-assist torque signal based on the reference torque signal. The state flag value indicates the vehicle motion state in both a dynamic-state or a steady-state. Further, the steering system generates the reference torque signal based on the state flag value by blending a first rack force generated based on a vehicle-speed signal and motor angle, and a second rack force generated based on a motor torque and an input torque provided to a handwheel of the steering system.

Abstract: Technical features of a steering system include a control module that dynamically determines an operating mode based on a set of input signal values such as lateral acceleration signal values and corresponding handwheel position values. The control module dynamically determines and learns classification boundaries between multiple operating modes based the input signal values. The control module further calibrates the steering system according to operating mode that is determined using the classification boundaries.

Abstract: Technical features are described for a steering system to compute a state flag value that is indicative of a vehicle motion state, such as an understeer or an oversteer condition. The steering system further generates a reference torque signal based on the state flag value, and generates a motor-assist torque signal based on the reference torque signal. The state flag value indicates the vehicle motion state in both a dynamic-state or a steady-state. Further, the steering system generates the reference torque signal based on the state flag value by blending a first rack force generated based on a vehicle-speed signal and motor angle, and a second rack force generated based on a motor torque and an input torque provided to a handwheel of the steering system.

Abstract: A gas sensor is created comprising an electrochemical cell having a solid electrolyte layer disposed between an exhaust gas electrode and a reference electrode. A resistor is disposed in electrical communication with a heater and the reference electrode. The resistor can be disposed on a side of the gas sensor; on a side of the gas sensor such that the resistor is electrically connected through a via hole; over at least a portion of at least two sides of the gas sensor; or disposed in a void extending at least from the heater to the pump electrode, such that the void extends to at least a surface of the gas sensor, extends to at least partially through the gas sensor, or extends completely through the gas sensor. A method for using this gas sensor comprises applying a voltage to the heater within the gas sensor. A current is directed through the resistor to the reference electrode to pump oxygen into the reference electrode.