Dynamic steering angle ratio adjustment indication for vehicle steering system

Abstract

Embodiments of the present disclosure relate to dynamic steering angle ratio adjustment indication of a vehicle steering system. In some examples, a vehicle includes a steering system having a user-operated steering control configured to steer the vehicle. The vehicle includes a controller independent of the steering system and configured to receive an indication of a dynamic steering angle ratio adjustment of the steering system employing steering control, and modify operation of the controller based on the indication.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 579,597, filed on August 30, 2023, entitled “Dynamic Steering Angle Ratio Adjustment Indication for a Vehicle Steering System,” which is incorporated herein by reference. Background Art

[0003] The vehicle may include a steering system having a steering control operated by a user to adjust the direction of travel of the vehicle. Examples of steering controls may include any or some combination of the following: a steering wheel, a steering yoke, a steering lever, or any other type of steering control operable by the driver. When the steering control is displaced by the driver, the steering control causes the wheels to pivot relative to the current direction of travel of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] Some embodiments of the present disclosure are described with reference to the following drawings.

[0005] Figure 1 is a block diagram of an arrangement of a vehicle including dynamic steering angle ratio adjustment to support steering control of the vehicle according to some embodiments of the present disclosure.

[0006] Figure 2A and Figure 2B is a block diagram of a computing module according to some examples of the present disclosure.

[0007] Figure 3 is a flow diagram of a process according to some examples.

[0008] Figure 4 is a block diagram of a system according to some examples.

[0009] Throughout the drawings, the same reference numerals refer to similar, but not necessarily identical, elements. The figures are not necessarily drawn to scale, and the dimensions of some components may be exaggerated to more clearly illustrate the examples shown. In addition, the drawings provide examples and / or implementations consistent with the description; however, the description is not limited to the examples and / or implementations provided in the drawings. DETAILED DESCRIPTION

[0010] Examples of vehicles include cars, trucks, buses, motorcycles, or other types of vehicles, whether existing or coming later. The steering system of a vehicle may include steering controls that can be operated by a driver of the vehicle. The steering control may be a steering wheel, a steering yoke, a steering rod, or any other type of control that, when displaced, causes the wheels to pivot relative to the current direction of travel of the vehicle. A "wheel" on a vehicle refers to a round object that rotates around an axle and includes an element (such as a tire) that engages the road surface. A vehicle may include two wheels, three wheels, four wheels, or more than four wheels.

[0011] The "displacement" of the steering control may refer to a rotational displacement or a linear displacement. For example, the steering wheel or steering yoke is rotated by the driver to cause the wheels to pivot. In another example, the steering rod (which is an elongated member operable by the user) may be linearly displaced, such as in a lateral direction (e.g., left-right direction), to cause the wheels to pivot. The displacement of the steering control may cause the front wheels and / or the rear wheels to pivot.

[0012] The "current direction of travel" of a vehicle may refer to the direction in which the vehicle is traveling if the vehicle is moving, or the direction in which the vehicle would travel if the vehicle were to start moving from a stationary state. "Pivoting" a wheel relative to the current direction of travel of the vehicle causes the wheel's forward direction to deviate from the vehicle's current direction of travel.

[0013] Traditionally, steering systems employ a mechanical link between a steering column (to which the steering control is attached) and the wheels. The displacement of the steering control will be mechanically coupled to the wheels to cause the wheels to pivot. For such conventional steering systems, the steering angle ratio between the displacement of the steering control and the pivoting of the wheels is constant.

[0014] Another type of steering system is a steer-by-wire system, in which the displacement of the steering control is transmitted electrically to an electronic control unit, which controls an actuator to cause pivoting of the wheel. In a steer-by-wire system, there is no mechanical link between the steering control and the wheel.

[0015] A steer-by-wire system may implement dynamic steering angle ratio adjustment to adjust the degree to which the displacement of the steering control of the steering system affects the pivoting of the wheels. Dynamic steering angle ratio adjustment involves changing the steering angle ratio between the displacement of the steering control and the corresponding pivoting of the wheels. The steering angle ratio may change in response to changes in any or some combination of the following: vehicle speed, vehicle acceleration, vehicle position (e.g., based on Global Positioning System (GPS) coordinates), vehicle engine torque, driver preference, driver experience level, operating conditions (e.g., weather conditions, presence of road hazards, etc.), or any other factor. Dynamically adjusting the steering angle ratio may improve steering agility at low speeds and steering stability at high speeds.

[0016] In examples where the steering control is rotated by the driver, the steering angle ratio may refer to the number of degrees the steering control must be rotated to pivot the wheel one degree. More generally, the steering angle ratio may refer to the amount of rotation of the steering control that causes the wheel to pivot a target angle. In other examples where the steering control is linearly displaced, the steering angle ratio may refer to the amount of linear displacement that causes the wheel to pivot a target angle.

[0017] In an example using dynamic steering angle ratio adjustment, at lower vehicle speeds, the steering angle ratio may be set to a higher value so that a larger displacement of the steering control is used to cause a target pivot amount of the wheel. At higher vehicle speeds, the steering angle ratio may be set to a lower value so that a smaller displacement of the steering control is used to cause a target pivot amount of the wheel. The steering angle ratio may be inversely proportional to vehicle speed. In other words, for a steering system employing dynamic steering angle ratio adjustment, changes in the steering angle ratio at different vehicle speeds cause a given displacement of the steering control to produce a different amount of pivot of the wheel (i.e., the amount of pivot of the wheel for a given displacement of the steering control is compensated based on the steering angle ratio). When dynamic steering angle ratio adjustment is employed, the steering of the vehicle is more sensitive to steering control displacement at higher vehicle speeds and less sensitive to steering control displacement at lower vehicle speeds.

[0018] In other examples, dynamic steering angle ratio adjustment can cause the steering angle ratio to change in response to a changing acceleration of the vehicle or in response to any of the other factors mentioned above. For example, the steering angle ratio can change as the vehicle changes position; the steering angle ratio can change as the vehicle engine torque changes; the steering angle ratio can change based on driver preferences (e.g., stored as user settings in the vehicle's memory); the steering angle ratio can change based on the driver's experience level (e.g., the vehicle can include sensors to detect who the driver is and the driver's experience level); the steering angle ratio can change as operating conditions change (when there is no rain or snow or hail, the steering angle ratio can be set to a first value, and when there is rain or snow or hail or other inclement weather, the steering angle ratio can be set to a different second value); and so on.

[0019] The vehicle may include a controller (which may include a program or hardware processing circuit) that generates an output (e.g., a prediction, an analysis output, etc.) based on various inputs, where the inputs include displacement of a steering control of the vehicle. An example controller may predict that the driver of the vehicle is impaired. For example, the driver may be intoxicated or may be experiencing serious health issues that may impair the driver's ability to safely operate the vehicle. As another example, the driver may be an inexperienced driver who may make erratic adjustments to the steering control, which may result in unsafe vehicle operation.

[0020] A controller may base its output on an absolute displacement of a steering control. However, in a vehicle having a steering system that employs dynamic steering angle ratio adjustment, the output generated by the controller based on the absolute displacement of the steering control may be inaccurate. For example, for a steering system that employs dynamic steering angle ratio adjustment, a driver making large adjustments to the steering control at low vehicle speeds is consistent with normal driving behavior, such as when the driver is parking or driving around an obstacle in a parking lot or another location. However, at higher vehicle speeds, the same large displacement of the steering control (particularly if such displacement of the steering control is unstable) may indicate that the driver is impaired. It is not taken into account that a controller for a steering system that employs dynamic steering angle ratio adjustment may erroneously indicate that the driver is impaired when the driver makes a large displacement of the steering control at low vehicle speeds, or that the controller may erroneously indicate that the driver is not impaired when the driver makes a small displacement of the steering control at high vehicle speeds.

[0021] According to some embodiments of the present disclosure, an indicator is used to indicate that a steering system of a vehicle adopts dynamic steering angle ratio adjustment of a steering control of the steering system. The indicator can be in the form of a signal or an information element. For example, information elements can be exchanged between programs, such as in the form of messages, using a memory, using an application programming interface, or using any other type of interface. The information element can be set to a first value or a different second value, wherein the information element set to the first value indicates that the steering system adopts dynamic steering angle ratio adjustment, and the information element set to the second value indicates that the steering system does not adopt dynamic steering angle ratio adjustment.

[0022] In other examples, the indicator can be a signal, such as a signal on a bus of the vehicle. The bus can connect various electronic components of the vehicle to allow the electronic components to communicate with each other. The signal can be set to a first state or a different second state. The signal set to the first state indicates that the steering system uses dynamic steering angle ratio adjustment. However, the signal set to the second state indicates that the steering system does not use dynamic steering angle ratio adjustment.

[0023] More generally, the indicator may be set to a first state to indicate that dynamic steering angle ratio adjustment is employed, and to a different second state to indicate that dynamic steering angle ratio adjustment is not employed. A controller in the vehicle may receive the indicator, and the controller may determine whether a steering system of the vehicle employs dynamic steering angle ratio adjustment based on the state of the indicator. The controller may modify calculations or behaviors of the controller based on whether a steering system of the vehicle employs dynamic steering angle ratio adjustment.

[0024] Figure 1is a block diagram of an example arrangement including a vehicle 100 having a steering system 102. The steering system 102 includes a steering control 104, which may be operated by a driver of the vehicle 100. Operation of the steering control 104 by the driver causes displacement (rotational or linear) of the steering control 104.

[0025] Steering control 104 outputs steering displacement value 150, which indicates the amount of displacement of steering control 104 when adjusted by the driver. Steering displacement value 150 may be a rotation angle indicating how many degrees steering control 104 is rotated or an offset indicating the amount of linear displacement of steering control 104 when displaced.

[0026] The steering displacement value 150 is provided to a dynamic steering angle ratio adjustment (DSARA) module 106, which dynamically adjusts the steering angle ratio of the steering system 102 based on input information 152 representing the movement of the vehicle 100. As an example, the input information 152 includes the speed of the vehicle 100, or the acceleration of the vehicle 100, or both. The acceleration of the vehicle 100 may include longitudinal acceleration (acceleration in the current direction of travel of the vehicle 100), or lateral acceleration (acceleration in a direction orthogonal to the current direction of travel of the vehicle 100), or both. Based on the speed or acceleration or both, the DSARA module 106 may adjust the steering angle ratio of the steering system 102. In further examples, the input information 152 may include additional or alternative parameters, such as any or some combination of the following: vehicle position, vehicle engine torque, driver preference, driver experience level, operating conditions, or any other factor.

[0027] The DSARA module 106 may be implemented using machine-readable instructions executed by one or more hardware processors. Alternatively, the DSARA module 106 may be implemented using a hardware processing circuit, such as a programmable integrated circuit, a programmable gate array, or another hardware processing circuit.

[0028] Based on the steering displacement value 150 from the steering control 104 and the steering angle ratio set by the DSARA module 106, the DSARA module 106 generates a steering adjustment value 154, which is output to the wheel control subsystem 112 that controls the pivoting of the wheel 108. The steering adjustment value 154 represents the amount of pivoting of the wheel 108. The wheel is mounted to the axle 110 of the vehicle 100.

[0029] The wheel control subsystem 112 may include an electronic control unit that receives the steering adjustment value 154. Based on the steering adjustment value 154, the electronic control unit controls the actuator to cause the wheel 108 to pivot.

[0030] The vehicle 100 also includes an onboard controller 120 that is independent of the steering system 102. The onboard controller 120 is separate and distinct from the steering system 102. If the onboard controller 120 performs non-steering operations that are independent of the steering operations of the vehicle 100, then the onboard controller 120 is "independent" of the steering system 102.

[0031] As used herein, a "controller" may refer to a hardware processing circuit, which may include any or some combination of a microprocessor, a core of a multi-core microprocessor, a microcontroller, a programmable integrated circuit, a programmable gate array, or another hardware processing circuit. Alternatively, a "controller" may refer to a combination of a hardware processing circuit and machine-readable instructions (software or firmware or both) that may be executed on the hardware processing circuit.

[0032] The DSARA module 106 outputs a DSARA indicator 156 and a steering angle ratio indicator 158 to the onboard controller 120. If the DSARA indicator 156 is set to a first state, the DSARA indicator 156 indicates that dynamic steering angle ratio adjustment is enabled (or supported). If the DSARA indicator 156 is set to a second state, the DSARA indicator 156 indicates that dynamic steering angle ratio adjustment is disabled (or not supported).

[0033] The steering angle ratio indicator 158 represents the value of the steering angle ratio as adjusted by the DSARA module 106 based on the input information 152. The value can be one of a range of values ​​representing different steering angle ratios. These values ​​can be floating point values, integer values, etc.

[0034] In some examples, the steering displacement value 150, the DSARA indicator 156, and the steering angle ratio indicator 158 can be signals according to a standard such as the Connected Car Systems Alliance (COVESA) Vehicle Signaling Specification (VSS). The current version of the COVESA VSS does not specify such a steering angle ratio indicator. However, future versions of the COVESA VSS may include such a steering angle ratio indicator. In other examples, the steering displacement value 150, the DSARA indicator 156, and the steering angle ratio indicator 158 can be according to other protocols, whether proprietary, standardized, or open source.

[0035] In some examples, the onboard controller 120 includes a calculation module 122 that performs calculations (e.g., predictions, analytical calculations, etc.) based on various inputs, including a steering displacement value 150 received from the steering control 104, and a DSARA indicator 156 and a steering angle ratio indicator 158 from the DSARA module 106. The calculations performed by the calculation module 122 involve aspects of the vehicle 100 or the driver of the vehicle 100, and the calculations take into account whether the steering system 102 employs dynamic steering angle ratio adjustment (DSARA indicator 156 set to a first state). If dynamic steering angle ratio adjustment is employed, the calculation module 122 performs calculations that take into account both the steering displacement value 150 and the steering angle ratio represented by the steering angle ratio indicator 158. If dynamic steering angle ratio adjustment is not employed, the calculation module 122 performs calculations that take into account the steering displacement value 150 that is not affected by the steering angle ratio.

[0036] The computing module 122 generates a computing output 124 based on various inputs. For example, the computing output 124 may include an indication of whether the driver of the vehicle 100 is impaired. The indication may be in the form of a flag that may be set to different states to indicate impairment or no impairment. Alternatively, the indication may be one of a series of values ​​indicating the corresponding different impairment levels of the driver. The computing output 124 may be stored in a memory for later analysis. As another example, the computing output 124 is sent to an entity in the vehicle 100 to take action in response to the computing output 124. The entity may issue an audible alarm (using a vehicle speaker), a visual alarm (displayed by a display device of the vehicle 100), or a tactile alarm (by vibrating the steering control 104 or another element in the vehicle 100) to provide a warning that the driver is impaired. As another example, in response to the computing output 124 indicating that the driver is impaired, the entity may disable the vehicle engine (assuming that it is safe to do so), start the vehicle 100's autonomous driving (assuming that the vehicle 100 supports autonomous driving), or perform another operation to mitigate the risk of driver impairment. In other examples, the computation output 124 is sent to an entity external to the vehicle 100 , such as law enforcement, a family member's mobile device, or another entity.

[0037] In other examples, the calculation module 122 can perform other types of calculations based on the steering displacement value 150, the DSARA indicator 156, and the steering angle ratio indicator 158. Examples of other calculations can include calculations to rank the driver's driving behavior (e.g., safe driver, unsafe driver), calculations to determine whether the vehicle 100 is experiencing or is expected to experience a fault, or other calculations. In addition, the calculation module 122 can perform calculations based on measurement data from other sensors or other input information.

[0038] In other examples, instead of or in addition to the onboard controller, the external controller 130 (such as a controller in a cloud or server) includes a calculation module 132 to generate a calculation output 134 based on the steering displacement value 150, the DSARA indicator 156, and the steering angle ratio indicator 158. The calculation of the calculation module 132 in the external controller 130 can be similar to the calculation of the calculation module 122 in the onboard controller 120. The external controller 130 can communicate wirelessly with the vehicle 100. For example, the steering displacement value 150, the DSARA indicator 156, and the steering angle ratio indicator 158 can be wirelessly sent from the vehicle 100 to the external controller 130. In addition, the calculation output 134 can be wirelessly sent to the vehicle 100.

[0039] Figure 2A and Figure 2B An example of a computing module that employs a machine learning model is shown. In other examples, the computing module does not employ a machine learning model.

[0040] Figure 2A Depicted is a computing module 200 according to some examples. The computing module 200 is Figure 1 An example of a computing module 122 or 132. Figure 2A In the example of , the computing module 200 is capable of selectively using one of a plurality of machine learning models including the machine learning model 202 and the machine learning model 204. A "machine learning model" refers to a model that can be trained to make predictions or more generally produce outputs based on a set of input features, such as parameters that can each be assigned a plurality of different values. Examples of inputs to the machine learning model 202 include steering displacement values ​​and steering angle ratios. The machine learning model 202 is trained using training data including steering angle ratios and steering displacement values. Thus, the machine learning model 202 recognizes that wheel pivoting is compensated based on applying the steering angle ratio to the steering displacement. For example, a machine learning model 202 that detects driver impairment can be trained on a vehicle that uses steering angle ratio adjustment.

[0041] On the other hand, the machine learning model 204 is trained without using the steering angle ratio. The machine learning model 204 generates output based on the steering displacement value and not based on the steering angle ratio. For example, the machine learning model 204 can be trained to recognize that certain steering displacement patterns indicate driver impairment.

[0042] The computation module 200 includes a model selector 206 that selects one of the machine learning model 202 or the machine learning model 204 based on the state of the DSARA indicator 156. If the DSARA indicator 156 is set to a first state to indicate that dynamic steering angle ratio adjustment is enabled, the model selector 206 selects the machine learning model 202 for use by the computation module 200. On the other hand, if the DSARA indicator 156 is set to a second state to indicate that dynamic steering angle ratio adjustment is not enabled, the model selector 206 selects the machine learning model 204 for use by the computation module 200.

[0043] Figure 2B The use of a single machine learning model 222 (rather than Figure 2A 2 (a) and (b) a plurality of machine learning models (e.g., a plurality of machine learning models) shown in FIG. The machine learning model 222 can generate an output based on a set of inputs that may or may not include a steering angle ratio. In other words, as long as the machine learning model 222 understands that a steering angle ratio adjustment has been applied, it can generate an output based on a steering displacement value, regardless of whether the steering displacement value is compensated by a steering angle ratio.

[0044] like Figure 2B As shown in , the input received by the machine learning model 222 includes the steering displacement value and, if applicable, the steering angle ratio. The machine learning model 222 also receives the DSARA indicator 156. If the DSARA indicator 156 is set to a first state, the machine learning model 222 generates an output based on the steering displacement value and the steering angle ratio. If the DSARA indicator 156 is set to a second state, the machine learning model 222 generates an output based on the steering displacement value but not the steering angle ratio.

[0045] The machine learning model 222 has been trained using training data that includes both steering displacement values ​​and steering angle ratios, as well as training data that includes steering displacement values ​​but does not include steering angle ratios.

[0046] Figure 3 is a flow chart of a process 300 according to some examples. The process 300 may be performed by a system (such as a vehicle (e.g., Figure 1 100) or computer system) executed.

[0047] Process 300 includes receiving, at a system (at 302), an indication that a steering system of a vehicle is employing a dynamic steering angle ratio adjustment of a steering control of the steering system. For example, the indication may include a DSARA indicator 156 ( Figure 1 The steering system is configured to apply dynamic steering angle ratio adjustment of the steering control by adjusting the relationship (eg, angular ratio) between the displacement of the steering control and the corresponding pivoting of the wheels based on the vehicle input information 152 .

[0048] Process 300 includes modifying, by the system (at 304), an output generated by software independent of the steering system based on the indication. The software may include Figure 1 The computing module 122 or 132, Figure 2A The computing module 200 or Figure 2B The calculation module 220 of the embodiment of the present invention. Modifying the output generated by the software may refer to the software generating an output that takes into account the change of the steering angle ratio (and more specifically, how the steering displacement value is compensated by the steering angle ratio). Figure 2A In the example, if the indication is received, the modification of the output generated by the software can be completed by selecting the machine learning model 202, and if the indication is received that the dynamic steering angle ratio adjustment is not adopted, the modification of the output generated by the software can be completed by selecting the machine learning model 204.

[0049] exist Figure 2B In the example of FIG. 1 , modifying the output software generated by the software can be accomplished based on the machine learning model 222 generating an output based on the steering angle ratio and the steering displacement based on receiving the indication. If the machine learning model 222 receives an indication that dynamic steering angle ratio adjustment is not to be employed, the machine learning model 222 generates an output based on the steering displacement but not based on the steering angle ratio.

[0050] Figure 4 is a block diagram of a system 400 according to some examples of the present disclosure. The system 400 may be Figure 1 The vehicle 100, the onboard controller 120 or the external controller 130. The system 400 includes one or more hardware processors 402. The hardware processor may include a microprocessor, a core of a multi-core microprocessor, a microcontroller, a programmable integrated circuit, a programmable gate array, or another hardware processing circuit.

[0051] The system 400 includes a non-transitory machine-readable or computer-readable storage medium 404 storing machine-readable instructions 406 that, when executed, cause the system 400 to perform various tasks. The machine-readable instructions 406, when executed, receive a dynamic steering angle ratio adjustment indication 408 for a steering system of a vehicle to employ a dynamic steering angle ratio adjustment of a steering control of the steering system. The machine-readable instructions 406 modify a non-steering operation for the vehicle based on the dynamic steering angle ratio adjustment indication.

[0052] In some examples, the non-steering operation includes a determination that the driver of the vehicle is impaired. In other examples, the non-steering operation includes a determination that a malfunction of the vehicle occurs.

[0053] In some examples, the non-steering operation is performed by software in the vehicle, and the modification of the non-steering operation modifies the operation of the software. The indication includes an indicator set to a first state, and the software generates an output based on the displacement of the steering control and the steering angle ratio in response to the indicator being set to the first state. The software generates an output based on the displacement of the steering control not compensated by the steering angle ratio in response to the indicator being set to a second state different from the first state.

[0054] In some examples, the non-steering maneuver generates an output indicative of a problem associated with the vehicle or a driver of the vehicle, and the machine-readable instructions 406 , when executed, cause the system to transmit the output to an entity to resolve the problem.

[0055] Storage media (such as Figure 4 404) may include any or some combination of the following: semiconductor memory devices, such as dynamic or static random access memory (DRAM or SRAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), and flash memory or other types of non-volatile memory devices; magnetic disks, such as fixed, floppy, and removable disks; another magnetic medium, including magnetic tape; optical media, such as compact disks (CDs) or digital video disks (DVDs); or another type of storage device. Note that the above instructions may be provided on one computer-readable or machine-readable storage medium, or may be provided on multiple computer-readable or machine-readable storage media distributed in a large system that may have multiple nodes. Such computer-readable or machine-readable storage media or media are considered part of an article (or article of manufacture). An article or article of manufacture may refer to any manufactured single component or multiple components. The storage medium or media may be located in a machine that runs machine-readable instructions, or at a remote site from which machine-readable instructions may be downloaded over a network for execution.

[0056] In the present disclosure, the use of the terms "a", "an" or "the" is also intended to include plural forms unless the context clearly indicates otherwise. In addition, the terms "includes", "comprising", "containing", "covering", "having" or "having" when used in the present disclosure specify the presence of stated elements, but do not exclude the presence or addition of other elements.

[0057] In the foregoing description, many details are set forth to provide an understanding of the subject matter disclosed herein. However, embodiments may be practiced without these details. Other embodiments may include modifications and variations from the above details. The appended claims are intended to cover such modifications and variations.

Claims

1. A vehicle comprising: a steering system including a user-operated steering control configured to steer the vehicle; as well as a controller, the controller being independent of the steering system and being configured to: receiving an indication that the steering system employs a dynamic steering angle ratio adjustment of the steering control, and The operation of the controller is modified based on the indication. 2 . The vehicle of claim 1 , wherein the indication comprises a signal set to a first state or an information element set to a first value. The vehicle of claim 1 , wherein the indication comprises a signal on a bus. 4 . The vehicle of claim 1 , wherein the indication comprises a signal in accordance with a COVESA vehicle signal specification. The vehicle of claim 1 , wherein the indication comprises information elements exchanged by software.

6. The vehicle of claim 1 , wherein the indication comprises an indicator set to a first state, and wherein modifying the operation of the controller comprises: A first model of a plurality of different models is selected, by the controller, to be used based on the indicator being set to the first state. 7 . The vehicle of claim 6 , wherein the controller is configured to select a second model of the plurality of different models in response to the indicator being set to a second state different from the first state.

8. The vehicle of claim 7, wherein the first model is trained using training data including steering displacement values ​​and steering angle ratios, and the second model is trained using training data including steering displacement values ​​but without steering angle ratios.

9. The vehicle of claim 1 , wherein modifying the operation of the controller comprises: The indication is provided as an input to a model capable of generating an output based on the steering displacement values, whether or not the steering displacement values ​​are compensated by the steering angle ratio.

10. The vehicle of claim 1 , wherein the steering system is configured to apply dynamic steering angle ratio adjustment of the steering control by adjusting the relationship between the displacement of the steering control and the corresponding pivoting of the wheels of the vehicle based on input information, and wherein the input information includes one or more selected from the following items: the speed of the vehicle, the acceleration of the vehicle, the position of the vehicle, the torque of the engine of the vehicle, the driver's preference, the driver's experience level, or operating conditions.

11. A non-transitory machine-readable storage medium comprising instructions that, when executed, cause a system to: receiving an indication that a steering system of the vehicle employs a dynamic steering angle ratio adjustment of a steering control of the steering system; and A non-steering operation for the vehicle is modified based on the indication.

12. The non-transitory machine-readable storage medium of claim 11, wherein the non-steering maneuver comprises a determination that a driver of the vehicle is impaired.

13. The non-transitory machine-readable storage medium of claim 11, wherein the non-steering operation comprises a determination of a malfunction of the vehicle.

14. The non-transitory machine-readable storage medium of claim 11, wherein the non-steering operation is performed by software in the vehicle and modifying the non-steering operation modifies the operation of the software.

15. The non-transitory machine-readable storage medium of claim 14, wherein the indication comprises an indicator set to a first state, and wherein the software generates an output based on the displacement of the steering control and the steering angle ratio in response to the indicator being set to the first state.

16. The non-transitory machine-readable storage medium of claim 15, wherein: The software generates an output based on a displacement of the steering control that is not compensated by a steering angle ratio in response to the indicator being set to a second state different from the first state.

17. The non-transitory machine-readable storage medium of claim 11, wherein the non-steering operation produces an output indicative of a problem associated with the vehicle or a driver of the vehicle, and wherein the instructions, when executed, cause the system to transmit the output to an entity to resolve the problem.

18. A method of a system including a hardware processor, comprising: receiving, at the system, an indication that a steering system of the vehicle employs a dynamic steering angle ratio adjustment of a steering control of the steering system; as well as An output generated by software independent of the steering system is modified by the system based on the indication.

19. The method of claim 18, wherein the output indicates a problem associated with the vehicle or a driver of the vehicle.

20. The method of claim 18, wherein the indication comprises: an indicator set to a first state, and wherein the software generates the output based on the displacement of the steering control and the steering angle ratio in response to the indicator being set to the first state, and wherein the software generates the output based on the displacement of the steering control not compensated by the steering angle ratio in response to the indicator being set to a second state different from the first state.

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