System and method for steering wheel actuator jake and / or steering column detection

Abstract

A method for steering wheel actuator jamming and / or steering column detection includes receiving a steering wheel torque signal from a sensor associated with a steering wheel of a vehicle in response to a signal indicative of a change in position of a power steering column. The method also includes determining whether a torque value associated with the steering wheel torque signal is greater than a threshold. The method also includes initiating at least one countermeasure in response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This patent application claims priority to U.S. Provisional Patent Application No. 63 / 580,062, filed on September 1, 2023, which is incorporated herein by reference in its entirety. Technical Field

[0003] The present disclosure relates to steering systems, and in particular, to systems and methods for steering wheel actuator bind and / or steering column detection using torque sensing. Background Art

[0004] Vehicles (such as cars, trucks, sport utility vehicles, crossovers, minivans, boats, airplanes, all-terrain vehicles, recreational vehicles, or other suitable forms of transportation) typically include various systems, such as a steering system (which may include an electric power steering (EPS) system, a steer-by-wire (SbW) steering system, a hydraulic steering system, or other suitable steering systems) and / or other suitable systems (e.g., such as a braking system, a propulsion system, etc.). These systems of the vehicle typically control various aspects of the vehicle's steering (e.g., including providing steering assistance to the operator of the vehicle, controlling the steering wheel of the vehicle, etc.), vehicle propulsion, vehicle braking, etc. Summary of the invention

[0005] The present disclosure generally relates to steering systems.

[0006] One aspect of the disclosed embodiment includes a method for steering wheel actuator sticking and / or steering column detection. The method includes receiving a steering wheel torque signal from a sensor associated with a steering wheel of a vehicle in response to a signal indicating a change in position of a power steering column. The method also includes determining whether a torque value associated with the steering wheel torque signal is greater than a threshold. The method also includes initiating at least one countermeasure in response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold.

[0007] Another aspect of the disclosed embodiment includes a system for steering wheel actuator sticking and / or steering column detection. The system includes a processor and a memory. The memory includes instructions that, when executed by the processor, enable the processor to: receive a steering wheel torque signal from a sensor associated with a steering wheel of a vehicle in response to a signal indicating a change in position of a power steering column; determine whether a torque value associated with the steering wheel torque signal is greater than a threshold; and, in response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold, initiate at least one countermeasure.

[0008] Another aspect of the disclosed embodiment includes an apparatus for steering wheel actuator sticking and / or steering column detection. The apparatus includes a controller configured to: receive a steering wheel torque signal from a sensor associated with a steering wheel of a vehicle in response to a signal indicating a change in position of a power steering column of a steer-by-wire steering system; determine whether a torque value associated with the steering wheel torque signal is greater than a threshold indicating that the power steering column has encountered an obstacle; and, in response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold, initiate at least one countermeasure.

[0009] These and other aspects of the present disclosure are disclosed in the following detailed description of the embodiments, the appended claims and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The present disclosure can be better understood according to the following detailed description when read in conjunction with the accompanying drawings. It should be emphasized that, according to convention, the various features of the drawings are not drawn to scale. On the contrary, the sizes of the various features are arbitrarily enlarged or reduced for clarity.

[0011] Figure 1 A vehicle in accordance with the principles of the present disclosure is generally shown.

[0012] Figure 2 A controller according to the principles of the present disclosure is generally shown.

[0013] Figure 3 A steering column and steering wheel according to the principles of the present disclosure are generally shown.

[0014] Figure 4 is a flow chart generally illustrating a method of steering wheel actuator sticking and / or steering column detection according to the principles of the present disclosure.

[0015] Figure 5 is a flow chart generally illustrating an alternative steering wheel actuator sticking and / or steering column detection method in accordance with the principles of the present disclosure. DETAILED DESCRIPTION

[0016] The following discussion is directed to various embodiments of the present disclosure. Although one or more of these embodiments may be preferred, the disclosed embodiments should not be interpreted or otherwise used to limit the scope of the present disclosure (including the claims). In addition, it will be understood by those skilled in the art that the following description has a wide range of applications, and the discussion of any embodiment is only meant as an example of that embodiment, and is not intended to imply that the scope of the present disclosure (including the claims) is limited to that embodiment.

[0017] As described, a vehicle (such as a car, truck, sport utility vehicle, crossover, minivan, boat, airplane, all-terrain vehicle, recreational vehicle, or other suitable form of transportation) typically includes various systems, such as a steering system (which may include an electric power steering (EPS) system, a steer-by-wire (SbW) steering system, a hydraulic steering system, or other suitable steering system) and / or other suitable systems (e.g., such as a braking system, a propulsion system, etc.). These systems of the vehicle typically control various aspects of vehicle steering (e.g., including providing steering assistance to the operator of the vehicle, controlling the steering wheel of the vehicle, etc.), vehicle propulsion, vehicle braking, etc.

[0018] As described, such a vehicle includes a steering system including a steering wheel and a steering column. Increasingly, such a steering column includes a power steering column configured to be positioned in a driving position, a stowed position, and / or other suitable positions. Additionally or alternatively, the steering wheel and / or the power steering column may be selectively adjustable (e.g., including position) when in use and / or when stowed.

[0019] Because such steering wheels and power steering columns are positionable, they are susceptible to pinching, binding, etc. For example, during the positioning process, obstacles such as hands, knees, or other suitable obstacles may be in the path of the steering wheel and / or power steering column and the obstacles may contact the steering wheel and / or power steering column.

[0020] Typically, pinch detection systems rely on a feedback loop of current monitoring of the steering wheel actuator. When the monitored current level to the actuator increases, the data is interpreted and transmitted to the control module to stop the actuator (e.g., or an associated motor) or stop and reverse the direction of motion of the actuator (e.g., using an associated motor). However, such systems may be relatively slow to transmit data, which may delay stopping the motion of the actuator (e.g., or an associated motor) and / or changing the direction of the actuator (e.g., or an associated motor) before an adverse condition occurs. Additionally, such systems may be sensitive to noise, such as grease in a relatively cold environment that may cause a stick-slip phenomenon, which may trigger a false positive (e.g., being identified as a pinch or stick condition when there is no pinch or stick condition).

[0021] Therefore, systems and methods (such as those described herein) configured to use torque detection to provide steering wheel actuator clamping and / or binding detection may be desirable. In some embodiments, the systems and methods described herein may be configured to use sensors (e.g., which may include motion sensors, force sensors, rotation sensors, torque sensors, any other suitable sensors, or combinations thereof) and related sensor data associated with a steering wheel of a vehicle's steering system.

[0022] In some embodiments, the systems and methods described herein may be configured to detect movement (e.g., rotation or other suitable movement) of a steering column associated with a steering wheel caused by contact between the steering wheel and an obstacle or obstacles when an obstacle is encountered, the movement being measured by a sensor associated with the steering wheel. The systems and methods described herein may be configured to trigger a column actuator of the steering column to perform a specific countermeasure in response to detecting movement of the steering column, which may include reversing direction, stopping movement, returning to a starting position, issuing a warning, any other suitable countermeasure, or any combination thereof.

[0023] In some embodiments, the systems and methods described herein may be configured to use the measured movement of the steering wheel to detect obstacles in the path of the steering wheel and / or steering column during telescopic movement, rake movement, tilt movement, etc. of the steering column. The systems and methods described herein may be configured to detect movement of the steering wheel caused by any contact with an obstacle that causes the steering wheel to twitch or move. The systems and methods described herein may be configured to reverse a motor associated with an actuator of the steering column in response to detecting the movement of the steering wheel.

[0024] In some embodiments, the systems and methods described herein may be configured to provide steering wheel actuator and / or steering column stuck detection. The systems and methods described herein may be configured to receive a steering wheel torque signal from a sensor associated with a steering wheel of a vehicle in response to a signal indicating a change in position of a power steering column. The systems and methods described herein may be configured to determine whether a torque value associated with the steering wheel torque signal is greater than a threshold. The systems and methods described herein may be configured to initiate at least one countermeasure in response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold. The countermeasure may include reversing the direction of the power steering column, halting the movement of the power steering column, returning the power steering column to a starting position, providing an indication, any other suitable countermeasure, or any combination thereof.

[0025] Figure 1A vehicle 10 in accordance with the principles of the present disclosure is generally illustrated. The vehicle 10 may include any suitable vehicle, such as a car, a truck, a sport utility vehicle, a minivan, a crossover, any other passenger vehicle, any suitable commercial vehicle, or any other suitable vehicle. Although the vehicle 10 is shown as a passenger vehicle having wheels and for use on roads, the principles of the present disclosure may be applied to other vehicles, such as airplanes, boats, trains, drones, or other suitable vehicles.

[0026] The vehicle 10 includes a vehicle body 12 and a hood 14. A passenger compartment 18 is at least partially defined by the vehicle body 12. Another portion of the vehicle body 12 defines an engine compartment 20. The hood 14 may be removably attached to a portion of the vehicle body 12 such that when the hood 14 is in a first position, or open position, the hood 14 provides access to the engine compartment 20, and when the hood 14 is in a second position, or closed position, the hood 14 covers the engine compartment 20. In some embodiments, the engine compartment 20 may be disposed at the rear of the vehicle 10, rather than as generally illustrated.

[0027] The passenger compartment 18 may be disposed rearward of the engine compartment 20, but in embodiments where the engine compartment 20 is disposed at the rear of the vehicle 10, the passenger compartment 18 may be disposed forward of the engine compartment 20. The vehicle 10 may include any suitable propulsion system, including an internal combustion engine, one or more electric motors (e.g., an electric vehicle), one or more fuel cells, and a hybrid propulsion system including a combination of an internal combustion engine, one or more motors (e.g., a hybrid vehicle), and / or any other suitable propulsion system.

[0028] In some embodiments, the vehicle 10 may include a petrol or gasoline fuel engine, such as a spark ignition engine. In some embodiments, the vehicle 10 may include a diesel fuel engine, such as a compression ignition engine. The engine compartment 20 accommodates and / or encloses at least some components of the propulsion system of the vehicle 10. Additionally or alternatively, a propulsion controller (such as an accelerator actuator (e.g., an accelerator pedal), a brake actuator (e.g., a brake pedal), a steering wheel, and other such components) are disposed in the passenger compartment 18 of the vehicle 10. The propulsion control member may be actuated or controlled by an operator of the vehicle 10 and may be directly connected to corresponding components of the propulsion system, such as a throttle, a brake, a vehicle axle, a vehicle transmission, etc., respectively. In some embodiments, the propulsion controller may transmit a signal to a vehicle computer (e.g., via a drive-by-wire), which in turn may control corresponding propulsion components of the propulsion system. Therefore, in some embodiments, the vehicle 10 may be an autonomous vehicle.

[0029] In some embodiments, the vehicle 10 includes a transmission that is connected to the crankshaft via a flywheel or a clutch or a fluid coupling. In some embodiments, the transmission includes a manual transmission. In some embodiments, the transmission includes an automatic transmission. In the case of an internal combustion engine or a hybrid vehicle, the vehicle 10 may include one or more pistons that operate in conjunction with the crankshaft to generate a force that is transmitted through the transmission to rotate the wheel 22 One or more shafts. When the vehicle 10 includes one or more motors, the vehicle battery and / or fuel cell provides energy to these motors to rotate the wheel 22.

[0030] The vehicle 10 may include an automatic vehicle propulsion system, such as cruise control, adaptive cruise control, automatic braking control, other automatic vehicle propulsion systems, or combinations thereof. The vehicle 10 may be an autonomous or semi-autonomous vehicle, or other suitable type of vehicle. The vehicle 10 may include more or fewer features than those generally illustrated and / or disclosed herein.

[0031] In some embodiments, the vehicle 10 may include an Ethernet component 24, a controller area network (CAN) bus 26, a media oriented system transport component (MOST) 28, a FlexRay component 30 (e.g., a wire control brake system, etc.), and a local interconnect network component (LIN) 32. The vehicle 10 may use the CAN bus 26, the MOST 28, the FlexRay component 30, the LIN 32, other suitable networks or communication systems, or a combination thereof to transmit various information from sensors, such as those inside or outside the vehicle, to various processors or controllers, such as those inside or outside the vehicle. The vehicle 10 may include more or fewer features than those generally illustrated and / or disclosed herein.

[0032] In some embodiments, the vehicle 10 may include a steering system, such as an EPS system, a steer-by-wire steering system (e.g., which may include or communicate with one or more controllers that control components of the steering system without using a mechanical connection between a steering wheel and the wheels 22 of the vehicle 10), a hydraulic steering system (e.g., which may include a magnetic actuator incorporated into a valve assembly of the hydraulic steering system), or other suitable steering systems.

[0033] The steering system may include an open-loop feedback control system or mechanism, a closed-loop feedback control system or mechanism, or a combination thereof. The steering system may be configured to receive various inputs, including but not limited to steering wheel position, input torque, one or more wheel positions, other suitable inputs or information, or a combination thereof.

[0034] Additionally or alternatively, the input may include steering wheel torque, steering wheel angle, motor speed, vehicle speed, estimated motor torque command, other suitable inputs, or combinations thereof. The steering system may be configured to provide steering functionality and / or control to the vehicle 10. For example, the steering system may generate assist torque based on various inputs. The steering system may be configured to selectively control the motor of the steering system using the assist torque to provide steering assistance to the operator of the vehicle 10.

[0035] In some embodiments, vehicle 10 may include a controller such as Figure 21. The controller 100 is generally illustrated in FIG. 1. The controller 100 may include any suitable controller, such as an electronic control unit or other suitable controller. The controller 100 may be configured to control, for example, various functions of the steering system and / or various functions of the vehicle 10. The controller 100 may include a processor 102 and a memory 104. The processor 102 may include any suitable processor, such as the processor described herein. Additionally or alternatively, in addition to or different from the processor 102, the controller 100 may include any suitable number of processors. The memory 104 may include a single disk or multiple disks (e.g., a hard disk drive), and include a storage management module that manages one or more partitions within the memory 104. In some embodiments, the memory 104 may include a flash memory, a semiconductor (solid-state) memory, etc. The memory 104 may include a random access memory (RAM), a read-only memory (ROM), or a combination thereof. The memory 104 may include instructions that, when executed by the processor 102, cause the processor 102 to control at least various aspects of the vehicle 10.

[0036] The controller 100 may receive one or more signals indicating the sensed or measured characteristics of the vehicle 10 from various measuring devices or sensors 106. The sensors 106 may include any suitable sensors, measuring devices, and / or other suitable mechanisms. For example, the sensors 106 may include one or more torque sensors or devices, one or more steering wheel position sensors or devices, one or more motor position sensors or devices, one or more position sensors or devices, one or more radar sensors or devices, one or more lidar sensors or devices, one or more sonar sensors or devices, one or more image capture sensors or devices, other suitable sensors or devices, or combinations thereof. The one or more signals may indicate steering wheel torque, steering wheel angle, motor speed, vehicle speed, other suitable information, or combinations thereof.

[0037] In some embodiments, the controller 100 may be configured to provide steering wheel actuator and / or steering column stuck detection. In response to the signal indicating a change in position of the power steering column, the controller 100 may receive a steering wheel torque signal from a sensor 106 associated with the steering wheel of the vehicle 10. The controller 100 may determine whether the torque value associated with the steering wheel torque signal is greater than a threshold. In response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold, the controller 100 may initiate at least one countermeasure. The countermeasure may include reversing the direction of the power steering column, stopping the movement of the power steering column, returning the power steering column to a starting position, providing an indication, any other suitable countermeasure, or any combination thereof.

[0038] In some embodiments, the controller 100 may perform the methods described herein. However, the methods described herein as performed by the controller 100 are not meant to be limiting, and any type of software executed on a controller or processor may perform the methods described herein without departing from the scope of the present disclosure. For example, a controller, such as a processor executing software within a computing device, may perform the methods described herein.

[0039] Figure 4 2 is a flow chart generally illustrating a method 200 for detecting a stuck steering wheel actuator and / or steering column according to the principles of the present disclosure. At 202, the method 200 receives an indication that a user wishes to reposition and / or stow a power steering column. For example, the controller 100 may receive an indication that a user wishes to reposition and / or stow a power steering column.

[0040] At 204, method 200 causes the power steering column to move. For example, controller 100 of vehicle 10 or another suitable controller may cause the power steering column to move.

[0041] At 206, the method 200 determines whether the steering wheel associated with the power steering column has encountered an obstacle. For example, the controller 100 determines whether the steering wheel has encountered an obstacle. If the controller 100 determines that the steering wheel has encountered an obstacle, the method 200 continues at 210. Alternatively, if the controller 100 determines that the steering wheel has not encountered an obstacle, the method 200 continues at 208.

[0042] At 208 , method 200 allows the power steering column and / or steering wheel to reach the desired position. For example, controller 100 may control actuation of the power steering column and / or steering wheel to allow the power steering column and / or steering wheel to reach the desired position.

[0043] At 210, in response to the steering wheel contacting the obstacle, the method 200 receives sensor data from a sensor associated with the steering wheel, the sensor data indicating at least one of a motion, force, rotation, and / or torque of the steering wheel. For example, the controller 100 may receive sensor data from a sensor 106 associated with the steering wheel.

[0044] At 212, the method 200 determines whether the sensor data indicates that the value of the sensor data (e.g., indicating motion, force, rotation, and / or torque) is greater than a threshold. For example, the controller 100 may determine whether the value is greater than the threshold. If the controller 100 determines that the value is greater than the threshold, the method 200 continues at 216. Alternatively, if the controller 100 determines that the value is not greater than the threshold, the method 200 continues at 214.

[0045] At 214 , method 200 allows the power steering column and / or steering wheel to continue moving. Method 200 continues at 206 .

[0046] At 216 , method 200 performs a countermeasure on the power steering column and / or steering wheel, the countermeasure comprising reversing direction, stopping movement, returning to a starting position, issuing a warning, at least one of any other suitable countermeasures, and / or combinations thereof. For example, controller 100 may perform the countermeasure.

[0047] Figure 5 is a flow chart generally illustrating an alternative steering wheel actuator sticking and / or steering column detection method 300 according to the principles of the present disclosure. At 302, the method 300 receives a steering wheel torque signal from a sensor associated with a steering wheel of a vehicle in response to a signal indicating a change in position of a power steering column. For example, the controller 100 may receive a steering wheel torque signal from a sensor 106 associated with a steering wheel of the vehicle 10 in response to a signal indicating a change in position of the power steering column.

[0048] At 304 , the method 300 determines whether the torque value associated with the steering wheel torque signal is greater than a threshold. For example, the controller 100 may determine whether the torque value associated with the steering wheel torque signal is greater than a threshold.

[0049] At 306 , the method 300 initiates at least one countermeasure in response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold. For example, in response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold, the controller 100 initiates at least one countermeasure.

[0050] In some embodiments, a method for steering wheel actuator sticking and / or steering column detection includes: receiving a steering wheel torque signal from a sensor associated with a steering wheel of a vehicle in response to a signal indicating a change in position of a power steering column. The method also includes determining whether a torque value associated with the steering wheel torque signal is greater than a threshold. The method also includes: in response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold, initiating at least one countermeasure.

[0051] In some embodiments, the steering wheel is associated with a steering system of the vehicle. In some embodiments, the steering system includes an electric power steering system. In some embodiments, the steering system includes a steer-by-wire steering system. In some embodiments, the steering system includes a hydraulic steering system. In some embodiments, the at least one countermeasure includes reversing the direction of a power steering column. In some embodiments, the at least one countermeasure includes stopping the movement of the power steering column. In some embodiments, the at least one countermeasure includes returning the power steering column to a starting position. In some embodiments, the at least one countermeasure includes providing an indication.

[0052] In some embodiments, a system for steering wheel actuator sticking and / or steering column detection includes a processor and a memory. The memory includes instructions that, when executed by the processor, enable the processor to: receive a steering wheel torque signal from a sensor associated with a steering wheel of a vehicle in response to a signal indicating a change in position of a power steering column; determine whether a torque value associated with the steering wheel torque signal is greater than a threshold; and, in response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold, initiate at least one countermeasure.

[0053] In some embodiments, the steering wheel is associated with a steering system of the vehicle. In some embodiments, the steering system includes an electric power steering system. In some embodiments, the steering system includes a steer-by-wire steering system. In some embodiments, the steering system includes a hydraulic steering system. In some embodiments, the at least one countermeasure includes reversing the direction of a power steering column. In some embodiments, the at least one countermeasure includes stopping the movement of the power steering column. In some embodiments, the at least one countermeasure includes returning the power steering column to a starting position. In some embodiments, the at least one countermeasure includes providing an indication.

[0054] In some embodiments, an apparatus for steering wheel actuator sticking and / or steering column detection includes a controller configured to: receive a steering wheel torque signal from a sensor associated with a steering wheel of a vehicle in response to a signal indicating a change in position of a power steering column of a steer-by-wire steering system; determine whether a torque value associated with the steering wheel torque signal is greater than a threshold indicating that the power steering column has encountered an obstacle; and, in response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold, initiate at least one countermeasure.

[0055] In some embodiments, the at least one countermeasure includes stopping movement of a power steering column.

[0056] The above discussion is intended to illustrate the principles and various embodiments of the present disclosure. Once the above disclosure is fully understood, many changes and modifications will become apparent to those skilled in the art. The appended claims are intended to be interpreted as covering all such changes and modifications.

[0057] The word "example" is used herein to mean used as an example, instance or illustration. Any aspect or design described as an "example" herein is not necessarily interpreted as being preferred or advantageous over other aspects or designs. On the contrary, the use of the word "example" is intended to present the concept in a specific way. As used in this application, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X includes A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X includes A; X includes B; or X includes both A and B, "X includes A or B" is satisfied under any of the aforementioned examples. In addition, the articles "one" and "a" as used in this application and the appended claims should generally be interpreted as meaning "one or more", unless otherwise specified or clear from the context to refer to the singular form. In addition, the use of the term "a specific implementation" or "a specific embodiment" throughout the text is not intended to represent the same embodiment or specific implementation, unless described as such.

[0058] The specific implementation of the systems, algorithms, methods, instructions, etc. described herein can be implemented in hardware, software, or any combination thereof. The hardware may include, for example, a computer, an intellectual property (IP) core, an application specific integrated circuit (ASIC), a programmable logic array, an optical processor, a programmable logic controller, a microcode, a microcontroller, a server, a microprocessor, a digital signal processor, or any other suitable circuit. In the claims, the term "processor" should be understood to cover any of the aforementioned hardware, either individually or in combination. The terms "signal" and "data" are used interchangeably.

[0059] As used herein, the term module may include a packaged functional hardware unit designed for use with other components, a set of instructions executable by a controller (e.g., a processor executing software or firmware), processing circuits configured to perform specific functions, and independent hardware or software components that interface with a larger system. For example, a module may include an application specific integrated circuit (ASIC); a field programmable gate array (FPGA); an electrical circuit; a digital logic circuit; an analog circuit; a combination of discrete circuits, gates, and other types of hardware; or a combination thereof. In other embodiments, a module may include a memory that stores instructions that can be executed by a controller to implement the features of the module.

[0060] Furthermore, in one aspect, for example, a general purpose computer or general purpose processor with a computer program can be used to implement the systems described herein, which when executed implements any of the corresponding methods, algorithms and / or instructions described herein. Additionally or alternatively, for example, a special purpose computer / processor can be utilized, which may include other hardware for implementing any of the methods, algorithms or instructions described herein.

[0061] In addition, all or part of the specific embodiments of the present disclosure may take the form of a computer program product accessible from, for example, a computer usable medium or a computer readable medium. A computer usable medium or a computer readable medium may be any device that can, for example, tangibly contain, store, transmit, or transfer a program for use by or in conjunction with any processor. The medium may be, for example, an electronic device, a magnetic device, an optical device, an electromagnetic device, or a semiconductor device. Other suitable media are also available.

[0062] The above embodiments, specific implementations and aspects have been described to allow easy understanding of the present disclosure, and do not limit the present disclosure. On the contrary, the present disclosure is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, and its scope should be given the broadest interpretation to cover all such modifications and equivalent structures permitted under the law.

Claims

1. A method for steering wheel actuator sticking and / or steering column detection, the method comprising: receiving a steering wheel torque signal from a sensor associated with a steering wheel of the vehicle in response to a signal indicative of a change in position of a power steering column; determining whether a torque value associated with the steering wheel torque signal is greater than a threshold; as well as In response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold, at least one countermeasure is initiated.

2. The method of claim 1, wherein the steering wheel is associated with a steering system of a vehicle.

3. The method of claim 2, wherein the steering system comprises an electric power steering system. The method of claim 2 , wherein the steering system comprises a steer-by-wire steering system.

5. The method of claim 2, wherein the steering system comprises a hydraulic steering system.

6. The method of claim 1, wherein the at least one countermeasure comprises reversing the direction of the power steering column.

7. The method of claim 1, wherein the at least one countermeasure comprises stopping movement of the power steering column.

8. The method of claim 1, wherein the at least one countermeasure comprises returning the power steering column to a starting position.

9. The method of claim 1, wherein the at least one countermeasure comprises providing an indication.

10. A system for steering wheel actuator sticking and / or steering column detection, the system comprising: processor; and a memory comprising instructions that, when executed by the processor, enable the processor to: receiving a steering wheel torque signal from a sensor associated with a steering wheel of the vehicle in response to a signal indicative of a change in position of a power steering column; determining whether a torque value associated with the steering wheel torque signal is greater than a threshold; and In response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold, at least one countermeasure is initiated.

11. The system of claim 10, wherein the steering wheel is associated with a steering system of a vehicle.

12. The system of claim 11, wherein the steering system comprises an electric power steering system.

13. The system of claim 11, wherein the steering system comprises a steer-by-wire steering system.

14. The system of claim 11, wherein the steering system comprises a hydraulic steering system.

15. The system of claim 10, wherein the at least one countermeasure comprises reversing the direction of the power steering column.

16. The system of claim 10, wherein the at least one countermeasure comprises stopping movement of the power steering column.

17. The system of claim 10, wherein the at least one countermeasure comprises returning the power steering column to a starting position.

18. The system of claim 10, wherein the at least one countermeasure comprises providing an indication.

19. An apparatus for steering wheel actuator sticking and / or steering column detection, the apparatus comprising: The controller is configured as: receiving a steering wheel torque signal from a sensor associated with a steering wheel of the vehicle in response to a signal indicative of a change in position of a power steering column of a steer-by-wire steering system; determining whether a torque value associated with the steering wheel torque signal is greater than a threshold indicating that the power steering column has encountered an obstacle; and In response to determining that the torque value associated with the steering wheel torque signal is greater than the threshold, at least one countermeasure is initiated.

20. The apparatus of claim 19, wherein the at least one countermeasure comprises stopping movement of the power steering column.

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