Systems and methods for position sensing in wheel actuators of steering by wire steering systems

Abstract

An apparatus includes a probe housing assembly of a wheel actuator, a first spur gear disposed on a first portion of the probe housing assembly, a pinion shaft arm, and a second spur gear disposed on a first portion of the pinion shaft arm, the second spur gear configured to mesh with the first spur gear and rotate with the pinion shaft arm, thereby causing the first spur gear to rotate.

Description

Technical Field

[0001] This disclosure relates to steer-by-wire systems, and more particularly to systems and methods for position sensing in wheel actuators of steer-by-wire systems. Background Technology

[0002] Vehicles (such as cars, trucks, SUVs, crossovers, minivans, ships, aircraft, all-terrain vehicles, recreational vehicles, or other suitable forms of transportation) typically include various systems, such as steering systems (which may include electric power steering (EPS), steer-by-wire (SbW), hydraulic steering, or other suitable steering systems) and / or other suitable systems (e.g., braking systems, propulsion systems, etc.). These systems of a vehicle typically control various aspects of the vehicle's steering (e.g., including providing steering assistance to the operator, controlling the vehicle's steerable wheels, etc.), propulsion, braking, etc. Summary of the Invention

[0003] This disclosure generally relates to steering systems.

[0004] One aspect of the disclosed embodiments includes an apparatus comprising a probe housing assembly of a wheel actuator, a first spur gear disposed on a first portion of the probe housing assembly, a pinion shaft arm, and a second spur gear disposed on a first portion of the pinion shaft arm, the second spur gear being configured to mesh with the first spur gear and rotate together with the pinion shaft arm, thereby causing the first spur gear to rotate.

[0005] Another aspect of the disclosed embodiments includes a system comprising a probe housing assembly of a wheel actuator, the probe housing assembly including at least one sensor configured to provide measurement data associated with at least one aspect of a first spur gear. The system also includes a first spur gear disposed on a first portion of the probe housing assembly, a pinion shaft arm, and a second spur gear disposed on a first portion of the pinion shaft arm, the second spur gear being configured to mesh with the first spur gear and rotate together with the pinion shaft arm, thereby causing rotation of the first spur gear. The system further includes a controller configured to: receive measurement data from the at least one sensor; and determine an angle of the pinion shaft arm based on the measurement data.

[0006] Another aspect of the disclosed embodiments includes a method comprising: receiving measurement data from at least one sensor disposed in a probe housing assembly, the probe housing assembly including a first spur gear configured to mesh with a second spur gear disposed on a pinion shaft arm, the second spur gear being configured to rotate together with the pinion shaft arm, thereby causing the first spur gear to rotate, wherein the measurement data is associated with at least one aspect of the first spur gear; and determining an angle of the pinion shaft arm based on the measurement data.

[0007] These and other aspects of this disclosure are disclosed in the following detailed description of the embodiments, the appended claims and the accompanying drawings. Attached Figure Description

[0008] This disclosure is best understood by reading in conjunction with the accompanying drawings and through the following detailed description. It should be emphasized that, by convention, the various features in the drawings are not drawn to scale. Instead, for clarity, the dimensions of the various features have been arbitrarily enlarged or reduced.

[0009] Figure 1 A vehicle based on the principles of this disclosure is shown in general.

[0010] Figure 2 A controller based on the principles of this disclosure is shown in general.

[0011] Figure 3A and Figure 3B The conventional probe housing assembly and pinion shaft arm are generally shown.

[0012] Figures 4A to 4C The improved probe housing assembly and pinion shaft arm, based on the principles of this disclosure, are shown in general.

[0013] Figure 5 This is a flowchart that generally illustrates a position sensing method based on the principles of this disclosure. Detailed Implementation

[0014] The following discussion pertains to various embodiments of this disclosure. While one or more of these embodiments may be preferred, the disclosed embodiments should not be construed as or otherwise used to limit the scope of this disclosure, including the claims. Furthermore, those skilled in the art will understand that the following description has broad application, and the discussion of any embodiment is intended only as an illustrative discussion of that embodiment and not to imply that the scope of this disclosure, including the claims, is limited to that embodiment.

[0015] As described above, vehicles (such as automobiles, trucks, SUVs, crossovers, minivans, ships, aircraft, all-terrain vehicles, recreational vehicles, or other suitable forms of transportation) typically include various systems, such as steering systems (which may include electric power steering (EPS), steer-by-wire (SbW), hydraulic steering, or other suitable steering systems) and / or other suitable systems (e.g., braking systems, propulsion systems, etc.). These systems of a vehicle typically control various aspects of the vehicle's steering (e.g., including providing steering assistance to the operator, controlling the vehicle's steerable wheels, etc.), propulsion, braking, etc.

[0016] Usually, such as Figure 3A and Figure 3B As shown, for the wheel actuator (RWA) of the SbW steering system, the position sensor structure is carried out by the current rack-and-pinion electric power steering system, which typically includes a lower rotor and two spur gears. Each spur gear meshes with the lower rotor via teeth. The lower rotor rotates together with the pinion shaft arm, causing the two spur gears on the probe housing assembly (PHA) to rotate. The position sensor in the PHA is configured to sense the rotation of the spur gears. The associated controller can determine the angle of the pinion shaft arm based on the sensor data from the position sensor.

[0017] However, such a typical system is resource-intensive (e.g., relatively expensive and typically has a relatively large package). Furthermore, removal of the pinion shaft arm can be difficult because the bevel snap ring is blocked by the lower rotor (e.g., the bevel snap ring cannot be removed with the lower rotor in place).

[0018] Therefore, it may be desirable to have systems and methods like those described herein, configured to provide improved position sensing for the RWA while reducing the difficulty associated with removing the pinion shaft and / or the beveled retainer. In some embodiments, the systems and methods described herein can be configured to include clamping or mounting a spur gear on the pinion shaft while removing and eliminating the need for the lower rotor. The spur gear on the pinion shaft arm may include 11 teeth (11T), which can mesh with and drive another spur gear mounted on the PHA (e.g., which may have 10 teeth (10T)). The systems and methods described herein can be configured to provide improved designs for the PHA and the pinion shaft arm, such as... Figures 4A to 4C As shown in the general outline.

[0019] In some embodiments, the systems and methods described herein can be configured to calculate the steering angle based on the angle of the spur gear on the pinion shaft arm plus the period. For example, the systems and methods described herein can be configured to receive sensor data from a position sensor of the PHA. The systems and methods described herein can be configured to determine the angle of the pinion shaft arm based on the angle of the spur gear on the pinion shaft arm and the period of the spur gear. The systems and methods described herein can be configured to determine the steering angle based on the angle of the pinion shaft arm.

[0020] Additionally or alternatively, the systems and methods described herein can be configured to determine the angle of the pinion shaft arm based on the sum of the absolute angle of the spur gear on the PHA and the period of the spur gear on the PHA divided by the fear ratio (e.g., 1.1).

[0021] The systems and methods described herein can be configured to provide a PHA and pinion shaft arm with reduced manufacturing costs and resources by eliminating the cost of the lower rotor and improving the efficiency of removing the spline on the pinion shaft. Additionally or alternatively, the systems and methods described herein can be configured to provide a relatively small PHA (e.g., further reducing manufacturing costs).

[0022] In some embodiments, the device according to the principles of this disclosure includes a PHA of the RWA. The device may also include a first spur gear disposed on a first portion of the PHA. The first spur gear may include 10 teeth or any suitable number of teeth. The device may also include a pinion shaft arm and a second spur gear disposed on a first portion of the pinion shaft arm. The second spur gear may include 11 teeth or any suitable number of teeth. The second spur gear may be configured to mesh with the first spur gear. The second spur gear may rotate together with the pinion shaft arm, thereby causing the first spur gear to rotate.

[0023] In some embodiments, the device may further include a beveled retaining ring disposed between a first portion and a second portion of the pinion shaft arm. The circumference of the inner portion of the beveled retaining ring may be greater than the circumference of the outer portion of the second spur gear. The beveled retaining ring can be removed from the pinion shaft arm if the second spur gear is disposed on the first portion of the pinion shaft arm.

[0024] In some embodiments, the PHA is configured to house at least one sensor. The at least one sensor may include at least one position sensor. A controller associated with the wheel actuator can receive at least one measurement from the at least one sensor. The controller can determine the angle of the pinion shaft arm based on the at least one measurement. The controller can determine the steering angle based on the angle of the pinion shaft arm.

[0025] Figure 1A vehicle 10 according to the principles of this disclosure is generally shown. Vehicle 10 may include any suitable vehicle, such as a car, truck, SUV, minivan, crossover, any other passenger vehicle, any suitable commercial vehicle, or any other suitable vehicle. Although vehicle 10 is illustrated as a wheeled passenger vehicle used on a road, the principles of this disclosure can be applied to other vehicles, such as airplanes, ships, trains, drones, or other suitable vehicles.

[0026] Vehicle 10 includes a body 12 and a hood 14. A passenger compartment 18 is defined at least partially by the body 12. Another portion of the body 12 defines an engine compartment 20. The hood 14 is movably attached to a portion of the 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 located at the rear of the vehicle 10 (as opposed to what is typically shown).

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

[0028] In some embodiments, vehicle 10 may include a gasoline engine or a gasoline-fueled engine, such as a spark-ignition engine. In some embodiments, vehicle 10 may include a diesel-fueled engine, such as a compression-ignition engine. Engine compartment 20 houses and / or surrounds at least some components of the propulsion system of vehicle 10. Additionally or alternatively, propulsion control devices (e.g., accelerator actuators (e.g., accelerator pedal), brake actuators (e.g., brake pedal), steering wheel, and other such components) are disposed in passenger compartment 18 of vehicle 10. The propulsion control devices may be actuated or controlled by the operator of vehicle 10 and may be directly connected to corresponding components of the propulsion system, such as throttle, brakes, axles, vehicle transmission, etc. In some embodiments, the propulsion control devices may transmit signals to a vehicle computer (e.g., drive-by-wire), which in turn may control the corresponding propulsion components of the propulsion system. Thus, in some embodiments, vehicle 10 may be an autonomous vehicle.

[0029] In some embodiments, vehicle 10 includes a transmission communicated with a crankshaft via a flywheel, clutch, or hydraulic 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 hybrid vehicle, vehicle 10 may include one or more pistons that cooperate with the crankshaft to generate force, which is transmitted via the transmission to one or more axles, causing wheels 22 to rotate. When vehicle 10 includes one or more electric motors, a vehicle battery and / or fuel cell provides energy to the electric motors to rotate the wheels 22.

[0030] Vehicle 10 may include an autonomous vehicle propulsion system, such as cruise control, adaptive cruise control, automatic braking control, other autonomous vehicle propulsion systems, or combinations thereof. Vehicle 10 may be an autonomous or semi-autonomous vehicle, or other suitable type of vehicle. Vehicle 10 may include additional or fewer structures compared to the structures generally shown and / or disclosed herein.

[0031] In some embodiments, 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 brake-by-wire system), and a local interconnect component (LIN) 32. Vehicle 10 may use the CAN bus 26, MOST 28, FlexRay component 30, LIN 32, other suitable network or communication systems, or combinations 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. Vehicle 10 may include additional or fewer features compared to those generally shown 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 system (e.g., which may include or be connected to one or more controllers that control components of the steering system without using a mechanical connection between the 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 a hydraulic steering system), or other suitable steering systems.

[0033] A 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, inputs 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 auxiliary torque based on various inputs. The steering system may be configured to use the auxiliary torque to selectively control the motor of the steering system to provide steering assistance to the operator of the vehicle 10.

[0035] In some embodiments, the vehicle 10 may include a controller, such as controller 100, as... Figure 2 The controller 100 may include any suitable controller, such as an electronic control unit or other suitable controller. For example, the controller 100 may be configured to control 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 those described herein. Additionally or alternatively, the controller 100 may include any suitable number of processors other than or excluding the processor 102. The memory 104 may include a single disk or multiple disks (e.g., a hard disk drive) and includes a storage management module that manages one or more partitions within the memory 104. In some embodiments, the memory 104 may include flash memory, semiconductor (solid-state) memory, etc. The memory 104 may include random access memory (RAM), 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 from various measuring devices or sensors 106, which indicate sensed or measured characteristics of the vehicle 10. Sensors 106 may include any suitable sensors, measuring devices, and / or other suitable mechanisms. For example, 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. 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 can be configured to determine the angle of the pinion shaft arm of the RWA, such as Figures 4A to 4CAs generally shown. The RWA may include or be associated with a PHA 200, which may include a first spur gear 204 disposed on a first portion 202 of the PHA 200. The first spur gear 204 may include 10 teeth or any suitable number of teeth. The pinion shaft arm 206 may include a second spur gear 208 disposed on a first portion 210 of the pinion shaft arm 206. The second spur gear 208 may include 11 teeth or any suitable number of teeth. The second spur gear 208 may be configured to mesh with the first spur gear 204. The second spur gear 208 may rotate together with the pinion shaft arm 206, thereby causing the first spur gear 204 to rotate.

[0038] The pinion shaft arm 206 may include a beveled retainer 212 disposed between a first portion 210 and a second portion 214 of the pinion shaft arm 206. The circumference of the inner portion of the beveled retainer 212 may be greater than the circumference of the outer portion of the second spur gear 208. The beveled retainer 212 may be removed from the pinion shaft arm 206 if the second spur gear 208 is disposed on the first portion 210 of the pinion shaft arm 206 (e.g., the beveled retainer 212 may be large enough to be removed from the pinion shaft arm 206 beyond the second spur gear 208 without removing other components of the pinion shaft arm 206).

[0039] PHA 200 may include at least one sensor 106, which may include a position sensor or any suitable sensor. Controller 100 may receive at least one measurement result from at least one sensor 106. Controller 100 may determine the angle of pinion shaft arm 206 based on at least one measurement result. Controller 100 may determine the steering angle based on the angle of pinion shaft arm 206.

[0040] The controller 100 can control various aspects of the steering system of the vehicle 10 based on the steering angle.

[0041] In some embodiments, controller 100 may perform the methods described herein. However, the methods performed by controller 100 as described herein are not intended to be limiting, and any type of software executing on the controller or processor may perform the methods described herein without departing from the scope of this disclosure. For example, a controller (such as a processor executing software within a computing device) may perform the methods described herein.

[0042] Figure 5This is a flowchart generally illustrating a position sensing method 300 according to the principles of this disclosure. At 302, method 300 receives measurement data from at least one sensor disposed in a probe housing assembly, the probe housing assembly including a first spur gear configured to mesh with a second spur gear disposed on a pinion shaft arm, the second spur gear being configured to rotate together with the pinion shaft arm, thereby causing the first spur gear to rotate. The measurement data is associated with at least one aspect of the first spur gear.

[0043] At 304, method 300 determines the angle of the pinion shaft arm based on the measurement data.

[0044] In some embodiments, a device includes a probe housing assembly of a wheel actuator, a first spur gear disposed on a first portion of the probe housing assembly, a pinion shaft arm, and a second spur gear disposed on a first portion of the pinion shaft arm, the second spur gear being configured to mesh with the first spur gear and rotate together with the pinion shaft arm, thereby causing the first spur gear to rotate.

[0045] In some embodiments, the first spur gear includes 10 teeth. In some embodiments, the second spur gear includes 11 teeth. In some embodiments, the device further includes a beveled retainer disposed between a first portion and a second portion of the pinion shaft arm. In some embodiments, the circumference of the inner portion of the beveled retainer is greater than the circumference of the outer portion of the second spur gear. In some embodiments, the beveled retainer is removable from the pinion shaft arm when the second spur gear is disposed on the first portion of the pinion shaft arm. In some embodiments, the probe housing assembly is configured to house at least one sensor. In some embodiments, the at least one sensor includes at least one position sensor. In some embodiments, a controller associated with the wheel actuator receives at least one measurement from the at least one sensor. In some embodiments, the controller is configured to determine the angle of the pinion shaft arm based on the at least one measurement. In some embodiments, the wheel actuator is associated with a steer-by-wire system.

[0046] In some embodiments, a system includes a probe housing assembly for a wheel actuator, the probe housing assembly including at least one sensor configured to provide measurement data associated with at least one aspect of a first spur gear. The system also includes a first spur gear disposed on a first portion of the probe housing assembly, a pinion shaft arm, and a second spur gear disposed on a first portion of the pinion shaft arm, the second spur gear being configured to mesh with the first spur gear and rotate together with the pinion shaft arm, thereby causing rotation of the first spur gear. The system further includes a controller configured to: receive measurement data from the at least one sensor; and determine an angle of the pinion shaft arm based on the measurement data.

[0047] In some embodiments, the first spur gear includes 10 teeth. In some embodiments, the second spur gear includes 11 teeth. In some embodiments, the system further includes a beveled retainer disposed between a first portion and a second portion of the pinion shaft arm. In some embodiments, the circumference of the inner portion of the beveled retainer is greater than the circumference of the outer portion of the second spur gear. In some embodiments, the beveled retainer is removable from the pinion shaft arm when the second spur gear is disposed on the first portion of the pinion shaft arm. In some embodiments, at least one sensor includes at least one position sensor. In some embodiments, the wheel actuator is associated with a steer-by-wire system.

[0048] In some embodiments, a method includes: receiving measurement data from at least one sensor disposed in a probe housing assembly, the probe housing assembly including a first spur gear configured to mesh with a second spur gear disposed on a pinion shaft arm, the second spur gear being configured to rotate together with the pinion shaft arm, thereby causing the first spur gear to rotate, wherein the measurement data is associated with at least one aspect of the first spur gear; and determining an angle of the pinion shaft arm based on the measurement data.

[0049] The foregoing discussion is intended to illustrate the principles and various embodiments of this disclosure. Once the foregoing disclosure is fully understood, many variations and modifications will become apparent to those skilled in the art. The appended claims are intended to be construed as covering all such variations and modifications.

[0050] The word “example” is used herein to mean used as an example, illustration, or description. Any aspect or design described herein as an “example” is not necessarily to be construed as being more preferred or advantageous than other aspects or designs. Rather, the use of the word “example” is intended to present a concept in a specific manner. As used in this application, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise stated or clearly apparent from the context, “X comprises A or B” is intended to mean any natural inclusion. That is, if X comprises A; X comprises B; or X comprises both A and B, then “X comprises A or B” is satisfied in any of the foregoing cases. Additionally, the article “a / an” used in this application and the appended claims should generally be interpreted as meaning “one or more” unless otherwise stated or clearly apparent from the context to the singular form. Furthermore, unless so described, the use of the terms “implementation” or “an embodiment” throughout the document is not intended to refer to the same embodiment or implementation.

[0051] The systems, algorithms, methods, and instructions described herein can be implemented in hardware, software, or any combination thereof. Hardware may include, for example, a computer, intellectual property (IP) core, application-specific integrated circuit (ASIC), programmable logic array, optical processor, programmable logic controller, microcode, microcontroller, server, microprocessor, digital signal processor, or any other suitable circuit. In the claims, the term "processor" should be understood to include any of the foregoing hardware, individually or in combination. The terms "signal" and "data" are used interchangeably.

[0052] As used herein, the term "module" can 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 circuitry configured to perform a specific function, and a self-contained hardware or software component that interfaces with a larger system. For example, a module can include an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), circuitry, digital logic circuitry, analog circuitry, a combination of discrete circuitry, gate circuits, and other types of hardware, or combinations thereof. In other embodiments, a module can include a memory storing instructions executable by a controller to implement the features of the module.

[0053] Furthermore, in one respect, for example, the system described herein can be implemented using a general-purpose computer or general-purpose processor with a computer program that, when executed, implements any of the corresponding methods, algorithms, and / or instructions described herein. Additionally or alternatively, for example, a special-purpose computer / processor may be utilized, which may contain additional hardware for implementing any of the methods, algorithms, or instructions described herein.

[0054] Furthermore, all or part of the embodiments of this disclosure may take the form of a computer program product accessible from, for example, a computer-usable or computer-readable medium. A computer-usable or computer-readable medium may be, for example, any means capable of tangibly containing, storing, conveying, or transmitting a program for use by or in conjunction with any processor. The medium may be, for example, an electrical, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media may also be used.

[0055] The above embodiments, implementations, and aspects have been described to allow for easy understanding of this disclosure and do not limit it. Rather, this disclosure is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, which should be interpreted in the broadest possible sense to cover all such modifications and equivalent structures permitted by law.

Claims

1. An apparatus comprising: Probe housing assembly for wheel actuator; A first spur gear is disposed on the first part of the probe housing assembly; Small gear shaft arm; as well as A second spur gear is disposed on the first part of the pinion shaft arm. The second spur gear is configured to mesh with the first spur gear and rotate together with the pinion shaft arm, thereby causing the first spur gear to rotate.

2. The device according to claim 1, wherein, The first spur gear has 10 teeth.

3. The device according to claim 1, wherein, The second spur gear has 11 teeth.

4. The device according to claim 1 further includes a beveled retaining ring, the beveled retaining ring being disposed between the first part of the pinion shaft arm and the second part of the pinion shaft arm.

5. The device according to claim 4, wherein, The circumference of the inner portion of the inclined retaining ring is greater than the circumference of the outer portion of the second spur gear.

6. The device according to claim 4, wherein, The beveled retainer can be removed from the pinion shaft arm when the second spur gear is mounted on the first part of the pinion shaft arm.

7. The device according to claim 1, wherein, The probe housing assembly is configured to accommodate at least one sensor.

8. The device according to claim 7, wherein, The at least one sensor includes at least one position sensor.

9. The device according to claim 7, wherein, The controller associated with the wheel actuator receives at least one measurement result from the at least one sensor.

10. The device according to claim 9, wherein, The controller is configured to determine the angle of the pinion shaft arm based on the at least one measurement result.

11. The device according to claim 1, wherein, The wheel actuators are associated with the steer-by-wire system.

12. A system comprising: A probe housing assembly for a wheel actuator, the probe housing assembly including at least one sensor configured to provide measurement data associated with at least one aspect of a first spur gear; The first spur gear is disposed on the first part of the probe housing assembly; Small gear shaft arm; A second spur gear is disposed on the first part of the pinion shaft arm. The second spur gear is configured to mesh with the first spur gear and rotate together with the pinion shaft arm, thereby causing the first spur gear to rotate. as well as The controller is configured as follows: Receive the measurement data from the at least one sensor; as well as The angle of the pinion shaft arm is determined based on the measurement data.

13. The system according to claim 12, wherein, The first spur gear has 10 teeth.

14. The system according to claim 12, wherein, The second spur gear has 11 teeth.

15. The system of claim 12 further includes a beveled retaining ring disposed between the first portion of the pinion shaft arm and the second portion of the pinion shaft arm.

16. The system according to claim 15, wherein, The circumference of the inner portion of the inclined retaining ring is greater than the circumference of the outer portion of the second spur gear.

17. The system according to claim 15, wherein, The beveled retainer can be removed from the pinion shaft arm when the second spur gear is mounted on the first part of the pinion shaft arm.

18. The system according to claim 12, wherein, The at least one sensor includes at least one position sensor.

19. The system according to claim 12, wherein, The wheel actuators are associated with the steer-by-wire system.

20. A method comprising: Measurement data is received from at least one sensor disposed in a probe housing assembly, the probe housing assembly including a first spur gear configured to mesh with a second spur gear disposed on a pinion shaft arm, the second spur gear being configured to rotate together with the pinion shaft arm, thereby causing the first spur gear to rotate, wherein the measurement data is associated with at least one aspect of the first spur gear; and The angle of the pinion shaft arm is determined based on the measurement data.

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