Steering system and related method

Abstract

Steering systems and related methods are disclosed. An example apparatus includes a vehicle frame and a steering linkage assembly including a drag link having a first end and a second end opposite the first end. The apparatus further includes at least one of: a hydraulic power assist system for coupling to the vehicle frame, the hydraulic power assist system for coupling to the first end of the drag link via a first steering rocker arm; or an electric power system for coupling to a vehicle frame, the electric power system for coupling to a first end of a drag link via a second steering rocker arm, the first steering rocker arm being different from the second steering rocker arm, the first steering rocker arm and the second steering rocker arm can have a common steering rocker arm-to-hard point connection with a drag link of the steering linkage assembly.

Description

Technical Field

[0001] This disclosure relates generally to vehicles, and more specifically to steering systems and related methods. Background Technology

[0002] A vehicle comprises multiple subsystems to perform various functions. The steering subsystem enables the vehicle operator to control the direction of the vehicle's movement. Additionally, power steering makes it easier for the driver to turn the steering wheel and, consequently, the road wheels when maneuvering the vehicle. For example, when the driver turns the steering wheel, hydraulic and / or electric actuators apply controlled energy to the steering gears to reduce the physical effort required to turn the road wheels. Summary of the Invention

[0003] The vehicle includes a power steering assist system to reduce the amount of torque required by the driver to turn the vehicle's wheels. Power steering systems include: a hydraulic power steering (HPAS) system, which uses engine-pressurized hydraulic fluid to apply steering assistance force to the steering system; and an electric power steering (EPAS) system, which uses an electric motor to directly apply torque to the steering system.

[0004] Vehicles such as heavier vehicles, heavy-duty trucks, pickup trucks, and sport utility vehicles (SUVs) can employ hydraulically assisted or electrically assisted steering systems. However, due to the different envelopes of HPAS and EPAS systems, the position of the steering gear associated with the power steering system relative to the vehicle frame differs between hydraulic and electric steering gears. For example, an electrically assisted steering gear package typically has a larger envelope than a hydraulically assisted one. Consequently, HPAS and EPAS systems have different linkages to the steering rocker arm hardpoint connection location (e.g., in the y-direction or across the width of the vehicle). Therefore, hydraulically assisted and electrically assisted steering gears cannot be interchanged on the same vehicle or vehicle platform (e.g., heavy-duty trucks) because employing HPAS or EPAS systems requires different steering ratios between the two systems, thus necessitating different steering linkage assemblies.

[0005] Therefore, due to the different linkage mechanisms connecting the HPAS and EPAS systems to the steering rocker arm hardpoints, each system requires a dedicated steering linkage assembly (e.g., tie rods, lateral tie rods, steering rocker arms, steerable axles, center tie rods, steering follower arms, etc.) to achieve a symmetrical steering ratio. However, having a dedicated steering assembly for each of the HPAS and EPAS systems results in increased linkage complexity and / or an increased parts count at the assembly plant.

[0006] Because of the different linkage mechanisms connecting to the hardpoint of the steering rocker arm, using a common steering linkage assembly between the HPAS and EPAS systems results in an asymmetry in steering wheel rotation between straight-line and fully left-locked and fully right-locked steering. In other words, for example, the steering wheel can be turned to the left by a greater amount (e.g., 720 degrees) than to the right (e.g., 680 degrees) to achieve a left-lock to right-lock rotation. These examples demonstrate that left and right steering wheel inputs achieve the same vehicle movement (e.g., steering angle) in opposite directions (e.g., even if the steering wheel inputs used to achieve the same vehicle movement are different). Such an asymmetric steering relationship between left and right turns can pose a challenge to the operation of advanced driver assistance technologies (e.g., driver-assisted steering, trailer backing assist, etc.).

[0007] The examples disclosed herein demonstrate the interchangeability of EPAS or HPAS systems using a common steering linkage assembly on a common vehicle platform. For example, using the examples disclosed herein, the tie rod or center tie rod can be common between the EPAS and HPAS systems. Therefore, the steering linkage complexity is the same for both hydraulic and electric steering systems, thereby facilitating or reducing manufacturing complexity. To accommodate the steering ratio difference between electrically assisted and hydraulically assisted gear systems when using a common steering linkage assembly, the examples disclosed herein employ a steering compensation module to compensate for asymmetric steering. Specifically, when using an advanced driver assistance system, the controller circuitry can be split or separated between left-hand and right-hand steering to compensate for asymmetric steering between left-hand and right-hand steering. Attached Figure Description

[0008] Figure 1 This is a perspective view of an example vehicle from which the examples disclosed herein can be implemented.

[0009] Figure 2 yes Figure 1 The example vehicle is shown in the schematic diagram of an example steering system, which includes an example steering control circuit system.

[0010] Figure 3 yes Figure 2 A bottom view of an example steering linkage assembly of an example steering system.

[0011] Figure 4A yes Figure 3 A bottom view of an example steering linkage assembly, which includes an example first power assist system.

[0012] Figure 4B yes Figure 4A Example perspective view of the first power assist system.

[0013] Figure 4CThis is a front view of the example first steering rocker arm disclosed in this article.

[0014] Figure 5A yes Figure 3 A bottom view of an example steering linkage assembly, which includes an example second power assist system.

[0015] Figure 5B yes Figure 5A Example of a perspective view of a second power assist system.

[0016] Figure 5C This is a front view of the example second steering rocker arm disclosed in this article.

[0017] Figure 6 yes Figure 2 A schematic diagram of the example process control for an example steering system.

[0018] Figure 7 yes Figure 2 A block diagram of an example implementation of a steering control circuit system.

[0019] Figure 8 This is a flowchart illustrating example machine-readable instructions and / or example operations that can be executed, instantiated, and / or implemented by an example programmable circuit system. Figure 7 Example of a steering control circuit system.

[0020] Figure 9 This is a block diagram of an example processing platform including a programmable circuit system structured to execute, instantiate, and / or implement example machine-readable instructions and / or execute... Figure 8 Example operations to implement Figure 7 Example of a steering control circuit system.

[0021] Figure 10 , Figures 11A to 11B and Figure 12 It is a view of other example vehicles having other example steering assemblies in which the examples disclosed herein can be implemented.

[0022] Generally, the same reference numerals will be used throughout the accompanying drawings and written description to refer to the same or similar parts. The drawings are not necessarily drawn to scale. Instead, the thickness of layers or areas may be magnified in the drawings. Although the drawings show layers and areas with simple lines and boundaries, some or all of these lines and / or boundaries may be idealized. In reality, boundaries and / or lines may be unobservable, mixed, and / or irregular. Detailed Implementation

[0023] Figure 1An example vehicle 100 in which the teachings of this disclosure can be implemented is shown. Figure 1 In the example shown, vehicle 100 is a pickup truck. In other examples, vehicle 100 can be any type of vehicle (e.g., van, coupe, sedan, SUV, semi-truck, minivan, rail vehicle, all-terrain vehicle (ATV), boat, construction equipment, agricultural equipment, etc.). Figure 1 In the example shown, vehicle 100 is a two-axle vehicle. In other examples, vehicle 100 may have additional axles and / or additional wheels. Vehicle 100 may have a body-frame split configuration and / or an integral configuration.

[0024] exist Figure 1 In the illustrated example, vehicle 100 includes an example steering system 102, an example first wheel 104A, and an example second wheel 104B. The steering system 102 includes an example steering wheel 106 for transmitting driver input to the steering system 102 (e.g., by rotating a steering wheel, etc.). The steering system 102 receives these user inputs via the steering wheel 106, transforms the input into a lateral force (e.g., in the y-direction), and rotates the wheels 104A, 104B to change the steering angle 110 (e.g., driving wheel angle (RWA)) and direction of travel (in the x-direction) of vehicle 100. The following is in conjunction with... Figure 2 Steering system 102 is described in additional detail. Although steering system 102 is used to control the front axle of vehicle 100, the examples disclosed herein also apply to steering systems associated with the rear steering axle.

[0025] The examples disclosed herein are suitable for driven and / or undriven axles, front axles, rear axles, and non-independent and / or independent suspension architectures (e.g., double I-beam front suspension). The examples disclosed herein can be used with heavy-duty trucks, light-duty trucks, pickup trucks, SUVs, and other light-duty vehicles. The examples disclosed herein feature reduced vehicle package space requirements and reduced vehicle weight, which increases vehicle fuel efficiency and payload capacity.

[0026] Figure 2 It is implemented in accordance with the teachings of this disclosure. Figure 1 A schematic diagram of the steering system 102 of vehicle 100. The steering system 102 includes an example steering gearbox 200 (which includes a steering gear 202 and an example power steering (PAS) system 204), an example steering column 206, an example steering linkage assembly 208, and an example steering controller circuit system 210.

[0027] Steering column 206 (e.g., steering shaft and intermediate shaft) transmits steering input from steering wheel 106 to steering gear 202. In some examples, steering column 206 includes a universal joint (U-joint). In other examples, steering column 206 includes multiple steering columns and / or steering shafts that can be coupled together via any suitable component. Steering linkage assembly 208 is a plurality of mechanical parts (e.g., tie rods, rocker arms, drag links, center tie rods, etc.) that operatively connect steering gear 202 to wheels 104A, 104B. In some examples, some or all of the shafts in steering system 102 may be absent. In some such examples, steering system 102 may be a steer-by-wire system.

[0028] The steering column 206 includes a steering wheel angle sensor (SWA) 212 and a steering wheel torque sensor 214, which output signals in response to rotational movement of the steering wheel 106 and / or steering column 206 and / or torque applied to the steering wheel 106 and / or steering column 206. The SWA sensor 212 measures the angular or rotational position of the steering wheel 106 (e.g., relative to a reference (e.g., zero-degree position)), and the steering wheel torque sensor 214 can measure the rate of rotation of the steering wheel 106 and / or steering column 206.

[0029] The steering gear 202 can convert input motion (e.g., caused by rotation of the steering wheel 106, commands from the steering controller circuitry 210, commands from the example advanced driver assistance system (ADAS) 218, etc.) into a lateral force or forward / rear force applied to the steering linkage assembly 208 connected to it. The lateral force output by the steering gear 202 changes the steering angle 110 of the wheels 104A, 104B of the vehicle 100 via the steering linkage assembly 208, thereby controlling the direction of travel of the vehicle 100 (e.g., Figure 1 (Steering angle 110). For example, the output 220 of the steering gearbox 200 (e.g., pinion or output shaft) is connected to the steering linkage assembly 208 via the steering rocker arm 222.

[0030] The illustrated steering gear 202 includes a PAS system 204 to assist in the rotation of the steering gear 202. The steering gear 202 and PAS system 204 can be an integral structure. For example, the steering gear 202 and PAS system 204 can be an HPAS system, an EPAAS system, a hydraulic electric power steering system, and / or any other power steering system. The illustrated steering linkage assembly 208 is common (e.g., identical) to all types of power steering systems used with the steering system 102. Therefore, the EPAAS system can be interchanged with the HPAS system without changing the components of the steering linkage assembly 208.

[0031] exist Figure 2 In the illustrated example, the steering controller circuitry 210 receives sensor information from an example SWA sensor 212, an example steering wheel torque sensor 214, an example vehicle speed sensor 216, and / or ADAS 218. In response to a received input (e.g., possibly caused by the driver turning the steering wheel 106), the steering controller circuitry 210 commands the PAS system 204 to facilitate and / or cause rotation of the steering gear 202. For example, the steering controller circuitry 210 determines the steering assist to be applied to the steering gear 202 via the PAS system 204. In some examples, the steering controller circuitry 210 may determine the steering assist to be applied to the steering gear 202 based on one or more inputs from the SWA sensor 212, the steering wheel torque sensor 214, and / or the vehicle speed sensor 216. In some examples, the steering controller circuitry 210 may determine the steering assist based on user input and / or user preferences.

[0032] In some examples, when vehicle 100 is in autonomous or hands-free driving mode, steering controller circuitry 210 operates to control PAS system 204 to adjust the steering of vehicle 100 along a path (e.g., target path, path follower angle request, etc.). For example, steering controller circuitry 210 receives input from ADAS 218 of vehicle 100 providing a target travel path for vehicle 100.

[0033] The ADAS 218 example shown automates certain aspects of driving and / or improves driver situational awareness to increase safety. For example, ADAS 218 (which may include a path follower circuitry system) determines and / or executes machine-readable instructions (e.g., path follower angle requests and / or any other autonomous driving commands) to steer vehicle 100 along a target or desired path. Figure 2In this diagram, ADAS 218 is shown as separate from the steering controller circuitry 210. For example, ADAS 218 may be implemented by a separate controller of the electronic control unit. However, ADAS 218 may be part of the steering controller circuitry 210. When the driver of vehicle 100 does not interact with steering wheel 106 during autonomous driving mode and / or other hands-free driving events (e.g., applying zero input torque), ADAS 218 controls the steering angle 110 of vehicle 100 (e.g., via a path follower angle request). In some examples, ADAS 218 determines the path follower angle request based on the target path of vehicle 100, the speed of vehicle 100, the current steering angle of steering wheel 106, and / or the expected path of vehicle 100. For example, ADAS 218 employs sensors (e.g., lidar sensors), radar, cameras, and / or other sensors to assess the vehicle's environment, desired vehicle travel path, vehicle speed, and / or any other vehicle conditions. Some example features of ADAS 218 include, but are not limited to, driver assistance technologies, autonomous driving, power steering, lane assist, active steering, blind spot information, adaptive cruise control, hands-free assistance, trailer back-up assist, etc. ADAS 218 can determine the vehicle's travel path and / or the desired vehicle wheel angles for the desired travel path, and can input control signals to the steering controller circuitry 210 to move the rotational position of the steering gearbox 200 based on the control input from ADAS 218. Therefore, in examples involving hands-free and / or autonomous driving requests, the steering gearbox 200 (e.g., PAS system 204 and steering gear 202) receives input from the steering controller circuitry 210 and / or ADAS 218, but not from the steering wheel 106. In some examples, the steering controller circuitry 210 may be implemented in the electronic control unit (ECU) of the vehicle 100. Alternatively or additionally, the steering controller circuitry 210 may be implemented in another control system, control unit, and / or computing system of the vehicle 100.

[0034] Figure 3 yes Figure 2 A bottom view of the steering linkage assembly 208. In the example shown, the steering gear 202 of the steering gearbox 200 is connected to the steering linkage assembly 208 via a steering rocker arm 222. Therefore, rotational output of the steering gear 202 causes rotational output of the steering rocker arm 222, which causes the steering linkage assembly 208 to move laterally to change the steering angle of the wheels 104A, 104B (e.g., ...). Figure 1The steering angle 110 of wheels 104A and 104B is adjusted. To change the steering angle 110 of wheels 104A and 104B, the illustrated example steering linkage assembly 208 includes multiple mechanical components operatively connecting the steering rocker arm 222 and wheels 104A and 104B. Specifically, the illustrated example steering linkage assembly 208 includes a tie rod 304, an adjusting sleeve 306, a tie rod end 308 (e.g., a first tie rod), a tie rod 310 (e.g., a steering tie rod), and a tie rod end 312 (e.g., a second tie rod). The illustrated example tie rod 304 includes: a first end coupled to the steering rocker arm 222 to provide a hard-point connection with the steering rocker arm 222; and a second end coupled to the tie rod end 308 via the adjusting sleeve 306. The tie rod 310 connects the tie rod 304 and the tie rod end 312. Additionally, the tie rod end 308 is connected to a first steering knuckle 314 that rotates the steering angle of the second wheel 104B. The lateral tie rod end 312 is connected to a second steering knuckle 316 that rotates the steering angle of the first wheel 104A. Therefore, in response to the rotational output of the steering gear 202, the steering rocker arm 222 rotates, thereby causing the tie rod 304 to move laterally, which in turn causes the first steering knuckle 314 and the second steering knuckle 316 to rotate via the steering linkage assembly 208. The tie rod 304, the adjusting sleeve 306, and the tie rod end 308 have an overall length L.

[0035] Figure 4A yes Figure 1 A bottom view of the vehicle 100, showing the steering gearbox 200 implemented as an example of a first steering gearbox system 400. Figure 4B This is a perspective side view of the example first steering gearbox system 400. Figure 4C This is a front view of the example first steering rocker arm 410 disclosed in this article. Reference Figures 4A to 4CThe first steering gearbox system 400 shown in the example is an HPAS system 402. The HPAS system 402 shown in the example has a housing 404 connected to a vehicle frame 406 of the vehicle 100. The housing 404 has a first housing envelope 408 (e.g., width in a generally lateral or y-direction). Therefore, the first hard-point connection 418 between the first steering rocker arm 410 and the tie rod 304 is influenced by or determined by the first housing envelope 408 of the HPAS system 402. The HPAS system 402 shown in the example is connected to the tie rod 304 of the steering linkage assembly 208 via the first steering rocker arm 410. The first steering rocker arm 410 shown in the example has an angled body 412. To accommodate the first housing envelope 408 and provide a first hard-point connection 418 based on the length L of the tie rod 304, adjusting sleeve 306, and tie rod end 308, the angled body 412 of the first steering rocker arm 410 is offset inward (e.g., angled toward the center of the vehicle 100 or longitudinal axis 414). For example, when coupled to the frame 406, the angled body 412 of the first steering rocker arm 410 bends or angles toward the longitudinal axis 414 of the frame 406. Reference Figure 4A and Figure 4C The first steering rocker arm 410 includes a first opening 420 for coupling to the HPAS system 402 (e.g., output gear 220) and a second opening 422 opposite the first opening 420 for coupling to the tie rod 304. For example, refer to Figure 4C The longitudinal axis 413 of the angled main body 412 is bent or angled between the first opening 420 and the second opening 422. (Reference) Figure 4A When the first steering rocker arm 410 is coupled to the vehicle 100, the angled body 412 causes the second opening 422 to be offset laterally (e.g., in the y-direction) relative to the first opening 420. For example, the first hard-point connection 418 is offset by a first distance 425 from a reference 429 of the frame 406 (e.g., the right side of the frame 406). Additionally, the first opening 420 is offset relative to the frame 406 by a second distance 427 from the reference 429 of the frame 406. In this example, when the linkage assembly 208 is positioned (e.g., ... Figure 4A and Figure 5A The second distance 427 is smaller than the first distance 425 when the wheels 104A and 104B are in a straight-line orientation. Therefore, the second opening 422 of the first steering rocker arm 410 is closer to the longitudinal axis 414 of the frame 406 (e.g., in the y direction) than the position or location of the first opening 420.

[0036] Figure 5A yes Figure 1 A bottom view of the vehicle 100, showing the steering gearbox 200 implemented as an example of a second steering gearbox system 500. Figure 5BThis is a perspective side view of the second steering gearbox system 500. Figure 5C This is a front view of the example second steering rocker arm 508 disclosed in this article. References Figures 5A to 5C The second steering gearbox system 500 shown in the example is an EPAS system 502. The EPAS system 502 shown in the example has a housing 504 coupled to a vehicle frame 406. The housing 504 has a second housing envelope 506 (e.g., width in a generally lateral or y-direction). The second housing envelope 506 of the EPAS system 502 shown in the example is larger than the first housing envelope 408 of the HPAS system 402. Therefore, the second hardpoint connection 512 between the second steering rocker arm 508 and the tie rod 304 is influenced by or determined by the second housing envelope 506 of the EPAS system 502. The EPAS system 502 shown in the example is coupled to the tie rod 304 of the steering linkage assembly 208 via the second steering rocker arm 508. The second steering rocker arm 508 shown in the example has an angled body 510. To accommodate the second housing envelope 506 and provide a second hard-point connection 512 based on the length L of the tie rod 304, adjusting sleeve 306, and tie rod end 308, the angled body 510 of the second steering rocker arm 508 is offset outward (e.g., angled away from the longitudinal axis 414 of the vehicle 100). For example, when coupled to the frame 406, the angled body 510 of the second steering rocker arm 508 is bent or angled toward the longitudinal axis 414 of the frame 406. Reference Figure 5A and Figure 5C The second steering rocker arm 508 includes a first opening 520 for coupling to the EPAS system 502 (e.g., output gear 220) and a second opening 522 opposite the first opening 520 for coupling to the tie rod 304. For example, see reference. Figure 5C The longitudinal axis 513 of the angled main body 510 is bent or angled between the first opening 520 and the second opening 522. (Reference) Figure 5A When the second steering rocker arm 508 is engaged with the vehicle 100, the angled body 510 causes the second opening 522 to be laterally (e.g., in the y-direction) offset relative to the first opening 520. For example, the second hard-point connection 512 is offset by a first distance 525 from a reference 429 of the frame 406 (e.g., the right side of the frame 406). Additionally, the first opening 520 is offset relative to the frame 406 by a second distance 527 from the reference 429 of the frame 406.

[0037] refer to Figure 4A and Figure 5A The first distance 425 and the second distance 525 are substantially similar to or equal to a reference 429 of the frame 429. Therefore, the steering system 102 of the example shown employs a common linkage mechanism to the steering rocker arm hardpoint. (Reference) Figure 4A and Figure 5AThe first hardpoint connection 418 is aligned with the second hardpoint connection 512 in the y-direction relative to the vehicle frame 406 to provide a common hardpoint connection (e.g., the first hardpoint connection 418 and the second hardpoint connection 512) between the HPAS system 402 and the EPAS system 502. For example, the tie rod 304 is configured to be coupled to both the HPAS system 402 and the EPAS system 502. Therefore, when either the HPAS system 402 or the EPAS system 502 is coupled to the vehicle frame 406, the tie rod 304, the adjusting sleeve 306, and the tie rod end 308 have the same overall length L. In the absence of a common linkage mechanism to the steering rocker arm hardpoint, different linkage assemblies would be required when using the HPAS system 402 and the EPAS system 502. Because of the common linkage mechanism to the steering rocker arm hardpoint connection, the same steering linkage assembly 208 can be used with either the HPAS system 402 or the EPAS system 502, thus eliminating manufacturing complexity. By employing a first steering rocker arm 410 having a first shape (e.g., for HPAS system 402, the angled body 412 is offset inward) and a second steering rocker arm 508 having a second shape different from the first shape (e.g., for EPAS system 502, the angled body 510 is offset outward), a common linkage mechanism to the steering rocker arm hardpoint is achieved. For example, when the first steering rocker arm 410 is coupled to vehicle 100, the first opening 420 of the first steering rocker arm 410 coupled to HPAS 400 is positioned at a first distance 431 relative to the longitudinal axis 414 of the frame 406. When the second steering rocker arm 508 is coupled to vehicle 100, the first opening 520 of the second steering rocker arm 508 coupled to EPAS 500 is positioned at a second distance 531 relative to the longitudinal axis 414 of the frame 406, wherein the first distance 431 is greater than the second distance 531. However, the second opening 422 of the first steering rocker arm 410 is aligned with the second opening 522 of the second steering rocker arm 508 to provide a common linkage mechanism to the steering rocker arm connections 418, 512.

[0038] The use of steering linkage assembly 208, together with both HPAS system 402 and EPAS system 502, results in asymmetric steering wheel rotation from straight-ahead to fully left-locked and fully right-locked. Therefore, the steering system 102 of the illustrated example employs a first steering ratio associated with turning wheels 104A, 104B to the left or right and a second steering ratio associated with turning wheels 104A, 104B to the right or right. In other words, the steering system 102 disclosed herein has an asymmetric steering relationship between a center-turning position and a fully left-locked position (e.g., left-hand turn) and a center-turning position and a fully right-locked position (e.g., right-hand turn). For example, the first steering ratio means that rotating the steering wheel 106 counterclockwise by x degrees from the center position (e.g., left turn) causes the steering angle 110 of wheels 104A, 104B to rotate by y degrees. In contrast, the second steering ratio means that rotating the steering wheel 106 clockwise by x degrees (e.g., to the right) from its center position causes the steering angle 110 of wheels 104A and 104B to rotate by z degrees, where y degrees is different from z degrees. In other words, the same absolute degree of rotation of the steering wheel 106 to the left and to the right does not provide the same absolute steering angle 110 for wheels 104A and 104B. In other words, to achieve a 20-degree steering angle rotation of wheels 104A and 104B to the left, a leftward rotation of the steering wheel 106 would require a SWA of approximately 60 degrees, while to achieve a 20-degree steering angle rotation of wheels 104A and 104B to the right, a rightward rotation of the steering wheel 106 would require a SWA of approximately 50 degrees.

[0039] Figure 6This is a schematic overview of an example system 600 disclosed herein for compensating for asymmetric steering of the steering system 102 when employing advanced driver assistance systems or hands-free driving operations. As described above, the steering ratios for left-hand and right-hand turns are asymmetric. A first set and a second set of ratios are provided by the Ackermann steering principle. Therefore, the steering controller circuitry 210 of the illustrated example employs a first dataset 602 providing the RWA to SWA ratio (e.g., a first steering ratio) associated with a left-turn event (e.g., a steering angle 110 pointing to the left direction of rotation) and a second dataset 604 providing the RWA to SWA ratio (e.g., a second steering ratio) associated with a right-turn event (or a steering angle 110 pointing to the right direction of rotation). For example, a change in the steering pinion angle (SPA) of the steering gear 202 causes a corresponding change in the steering angle 110 of wheels 104A, 104B based on the first steering ratio provided by the first dataset 602 and the second steering ratio provided by the second dataset 604 of the steering system 102. The SWA (e.g., provided by the SWA sensor 212) is correlated with the SPA of the steering gear 202 (e.g., one-to-one correlation, two-to-one correlation, etc.). Therefore, during events such as autonomous, reverse assist, lane assist, and / or other hands-free driving, the example system 600 determines the target SPA of the steering gear 202 based on the RWA request 610 (e.g., the desired vehicle travel path) provided by ADAS 218 and the RWA-SWA conversion provided by the first dataset 602 or the second dataset 604. Specifically, the illustrated example system 600 splits or separates the SPA determination associated with the RWA request from ADAS 218 between the left turn process 606 and the right turn process 608. In other words, the system 600 determines the SPA associated with the right-hand RWA request independently and / or separately from it.

[0040] SPA is not measured, but determined through its correlation with SWA. SPA can be determined as follows:

[0041] Equation 1: SPA = Turning Ratio (SR) * RWA, where SPA is related to SWA associated with a first dataset 602 and / or a second dataset 604 that provides the RWA to SWA ratio (e.g., one-to-one correlation).

[0042] In operation, the steering controller circuitry 210 of the illustrated example receives a RWA request 610 from, for example, ADAS 218. Steering controller circuitry 210 includes a first dataset 602 associated with a left-turn event and a second dataset 604 associated with a right-turn event. Therefore, after receiving RWA request 610 from ADAS 218, steering controller circuitry 210 determines whether the direction of the RWA request is a left turn or left-hand direction (e.g., counter-clockwise rotation of steering wheel 106) or a right turn or right-hand direction (e.g., clockwise rotation of steering wheel 106). Thus, steering controller circuitry 210 determines whether RWA request 610 is a left-turn RWA request 610a or a right-turn RWA request 610b. Based on the direction of RWA requests 610a, 610b (e.g., steering angle requests), the steering controller circuitry 210 receives an SWA request 612 from a first dataset 602 (e.g., RWA to SWA ratio) in response to determining a left turn RWA request 610a, or receives an SWA request 614 from a second dataset 604 (e.g., RWA to SWA ratio) in response to determining a right turn RWA request 610b.

[0043] The steering controller circuitry 210 can also be configured to verify whether the SWA and steering wheel rate associated with RWA requests 610a and 610b are within an acceptable operating threshold 616 (e.g., within the operating domain limits). In some examples, RWA requests 610a and 610b can be cancelled if SWA requests 612 or 614 associated with RWA requests 610a or 610b exceed the operating threshold range, respectively. In some examples, if SWA requests 612 or 614 associated with RWA requests 610a or 610b exceed the operating threshold range, respectively, SWA requests 612 or 614 can be adjusted based on a maximum permissible threshold (e.g., a maximum permissible SWA angle and / or rate). Therefore, instead of cancelling the RWA requests, SWA requests 612 or 614 are modified or adjusted based on the maximum operating design domain (ODD).

[0044] The steering controller circuitry 210 is configured to determine the relative SPA 618 (e.g., steering angle offset 620) based on an RWA request 610a or 610b associated with a corresponding determined SWA request 612 or determined SWA request 614. For example, the steering angle offset 620 is determined by the following formula:

[0045] Equation 2: Steering angle offset = (relative angle) - (compensated angle).

[0046] The relative angle is based on the center position of the SPA of the steering gear 202 (e.g., the midpoint rotation position between the fully left-locked and fully right-locked positions of the steering gear 202), and the compensated angle is based on the current position of the SPA (e.g., the SWA provided by the SWA sensor 212) of the vehicle's current direction (e.g., the vehicle's straight-ahead position).

[0047] Steering angle offset 620 can be determined dynamically and / or continuously using a compensated angle and relative angle relationship. This relationship is related to the determination of the relative SPA required to control vehicle 100 based on the desired steering angle of RWA request 610a or 610b. For example, relative SPA 618 is based on the difference between the current position of SPA (e.g., provided by SWA sensor 212) and the target position of SPA associated with RWA request 610a or 610b. In other words, if vehicle 100 is in a straight position and SPA is zero degrees, the relative angle is zero. Therefore, the 20-degree steering angle required by RWA request 610a or 610b for wheels 104A, 104B is determined by subtracting the current SWA from the target SWA. Additionally, steering angle offset 620 may include other adjustments that may be caused by other conditions such as crosswinds, vehicle speed, road angle, road inclination, and / or any other environmental factors. The steering controller circuit system 210 commands the PAS system 204 (e.g., HPAS system 400 or EPAS system 500) to move the steering gear 202 relative to the SPA 618, which causes the vehicle 100 to move in the direction of the requested travel path provided by the ADAS 218.

[0048] Figure 7 yes Figure 2 A block diagram of an example embodiment of the steering controller circuit system 210 of the steering system 102. The steering controller circuit system 210 operates the steering gear 202 and / or PAS system 204 of the vehicle 100. Figure 7 The steering control circuitry system 210 can be instantiated (e.g., instantiated, formed, materialized, implemented, etc.) by a programmable circuitry system (such as a central processing unit (CPU) that executes first instructions). Alternatively or concurrently, Figure 7 The steering controller circuitry 210 can be instantiated (e.g., instantiated, formed, materialized, implemented, etc.) by (i) an application-specific integrated circuit (ASIC) and / or (ii) a field-programmable gate array (FPGA) that can be structured and / or configured to perform operations corresponding to the first instruction in response to the execution of the second instruction. It should be understood that... Figure 7 Some or all of the circuit system can therefore be instantiated at the same or different times. Figure 7Some or all of the circuitry in the system may be instantiated, for example, in one or more threads that execute concurrently on hardware and / or serially on hardware. Furthermore, in some examples, Figure 7 Some or all of the circuitry in the system can be implemented by executing instructions through a microprocessor circuitry and / or performing operations through an FPGA circuitry to implement one or more virtual machines and / or containers.

[0049] The example steering controller circuit system 210 includes an example driving wheel angle (RWA) request circuit system 702, an example driving wheel angle (RWA) direction circuit system 704, an example driving wheel angle to steering wheel angle (RWA to SWA) conversion circuit system 706, an example steering wheel angle (SWA) verification circuit system 708, and an example offset angle determiner circuit system 710.

[0050] Example RWA request circuitry 702 receives an RWA request from ADAS218 (e.g., Figure 6 The request can be an autonomous driving request, a hands-free driving request, lane departure assist, trailer reversing assist, and / or any other hands-free request. As used herein, a hands-free request means that the steering angle 110 of wheels 104A, 104B is provided by the steering system 102 without input from the steering wheel 106 (e.g., a user).

[0051] In some examples, the RWA request circuitry 702 is instantiated by a programmable circuitry that executes RWA request instructions, and / or is configured to perform actions such as... Figure 8 The flowchart illustrates the operations of those actions. In some examples, the RWA request circuitry 702 includes components for determining, retrieving, and / or obtaining the RWA request, steering angle, and / or travel path of vehicle 100. For example, the component for determination may be implemented by the RWA request circuitry 702. In some examples, the RWA request circuitry 702 may be implemented by a programmable circuitry (such as...) Figure 9 Example programmable circuit system 900). For example, RWA request circuit system 702 can be instantiated by executing machine-executable instructions (such as those by at least Figure 9The RWA request circuit system 702 is instantiated by a microprocessor (the instructions implemented in blocks 912, 914, and 916). In some examples, the RWA request circuit system 702 may be instantiated by a hardware logic circuit system, which may be implemented by an ASIC, XPU, or FPGA circuit system configured and / or structured to perform operations corresponding to machine-readable instructions. Alternatively or concurrently, the RWA request circuit system 702 may be instantiated by any other combination of hardware, software, and / or firmware. For example, the RWA request circuit system 702 may be implemented by at least one or more hardware circuits (e.g., processor circuit systems, discrete and / or integrated analog and / or digital circuit systems, FPGAs, ASICs, XPUs, comparators, operational amplifiers, logic circuits, etc.) configured and / or structured to perform some or all of the machine-readable instructions, and / or perform some or all of the operations corresponding to the machine-readable instructions, without performing software or firmware, but other structures are equally applicable.

[0052] Example RWA direction circuit system 704 determines the desired direction of movement based on an RWA request received by RWA request circuit system 702. For example, RWA direction circuit system 704 includes a comparator for comparing the RWA request with a threshold. In the illustrated example, the threshold is a zero value (e.g., zero degrees). Specifically, the threshold is a rotation value or position of steering wheel 106 that causes the steering angle of wheels 104A, 104B to point in the straight-ahead direction. In other words, the threshold is a center rotation value and / or SPA of steering wheel 106 that causes vehicle 100 to move in the straight-ahead (e.g., non-turning) direction. In operation, RWA direction circuit system 704 determines that RWA request 610 is a left-turn RWA request 610a when RWA request 610 is greater than the threshold, and determines that RWA request 610 is a right-turn RWA request 610b when RWA request 610 is less than the threshold.

[0053] In some examples, the RWA direction circuitry 704 is instantiated by a programmable circuitry that executes RWA request instructions, and / or is configured to perform actions such as... Figure 8 The flowchart illustrates the operations of those actions. In some examples, the RWA direction circuit system 704 includes components for determining the direction of the RWA request and / or travel path of the vehicle 100. For example, the components for determination may be implemented by the RWA direction circuit system 704. In some examples, the RWA direction circuit system 704 may be implemented by a programmable circuit system (such as... Figure 9 Example programmable circuit system 900). For example, RWA direction circuit system 704 can be instantiated by executing machine-executable instructions (such as those by at least Figure 9The RWA direction circuit system 704 is instantiated by a microprocessor (the instructions implemented in blocks 912, 914, and 916). In some examples, the RWA direction circuit system 704 may be instantiated by a hardware logic circuit system, which may be implemented by an ASIC, XPU, or FPGA circuit system configured and / or structured to perform operations corresponding to machine-readable instructions. Alternatively or concurrently, the RWA direction circuit system 704 may be instantiated by any other combination of hardware, software, and / or firmware. For example, the RWA direction circuit system 704 may be implemented by at least one or more hardware circuits (e.g., processor circuit systems, discrete and / or integrated analog and / or digital circuit systems, FPGAs, ASICs, XPUs, comparators, operational amplifiers, logic circuits, etc.) configured and / or structured to perform some or all of the machine-readable instructions, and / or perform some or all of the operations corresponding to the machine-readable instructions, without performing software or firmware, but other structures are equally applicable.

[0054] RWA to SWA conversion circuitry system 706 receives a detected RWA request 610a or 610b and determines the corresponding SWA associated with RWA request 610a or 610b. Based on the detected RWA request 610a or 610b, RWA direction circuitry system 704 obtains an SWA value (e.g., RWA to SWA correlation value) from a first dataset 602 or from a second dataset 604. For example, when RWA direction circuitry system 704 determines that RWA request 610 is greater than a threshold (e.g., RWA request 610a) (e.g., indicating a left turn), RWA to SWA conversion circuitry system 706 determines the corresponding SWA associated with RWA request 610a from the first dataset 602 (e.g., ...). Figure 6 SWA request 612). In contrast, when the RWA direction circuitry 704 determines that the RWA request 610 is less than a threshold (e.g., RWA request 610b) (e.g., indicating a right turn), the RWA to SWA conversion circuitry 706 determines from the second dataset 604 the corresponding SWA associated with the RWA request 610b (e.g., ...). Figure 6 SWA request 614).

[0055] The first dataset 602 and the second dataset 604 (e.g., RWA to SWA ratio) can be determined from testing. Values ​​determined from testing can be provided in separate or isolated lookup tables, where the first dataset 602 is associated with left-hand turn and the second dataset 604 with right-hand turn. For example, for each degree of rotation of the steering wheel 106 from the center position to the fully locked left-hand turn position, the corresponding steering angles of wheels 104A and 104B can be measured, and the steering ratio of the steering wheel 106 for left-hand turn can be determined. Similarly, for each degree of rotation of the steering wheel 106 from the center position to the fully locked right-hand turn position, the corresponding steering angles of wheels 104A and 104B can be measured, and the steering ratio of the steering wheel 106 for right-hand turn can be determined. In some examples, a first functional equation or algorithm (e.g., based on the Ackermann steering principle) can be used to provide, determine, or otherwise calculate the correlation between the RWA request and the corresponding SWA for each left-hand turn position of the steering wheel, and a second functional equation or algorithm can be used to provide the correlation between the RWA request and the corresponding SWA for each right-hand turn position of the steering wheel.

[0056] In some examples, the RWA to SWA conversion circuitry 706 is instantiated by a programmable circuitry that executes RWA request instructions, and / or is configured to perform actions such as... Figure 8 The flowchart illustrates the operations of those actions. In some examples, the RWA to SWA conversion circuit system 706 includes components for converting, determining, or obtaining an SWA based on a road RWA request. For example, the component for determining may be implemented by the RWA to SWA conversion circuit system 706. In some examples, the RWA to SWA conversion circuit system 706 may be implemented by a programmable circuit system (such as... Figure 9 Example programmable circuit system 900). For example, RWA to SWA conversion circuit system 706 can be instantiated by executing machine-executable instructions (such as those by at least Figure 9The RWA to SWA conversion circuit system 706 is instantiated by a microprocessor (the instructions implemented in blocks 912, 914, and 916). In some examples, the RWA to SWA conversion circuit system 706 can be instantiated by a hardware logic circuit system, which can be implemented by an ASIC, XPU, or FPGA circuit system configured and / or structured to perform operations corresponding to machine-readable instructions. Alternatively or concurrently, the RWA to SWA conversion circuit system 706 can be instantiated by any other combination of hardware, software, and / or firmware. For example, the RWA to SWA conversion circuit system 706 can be implemented by at least one or more hardware circuits (e.g., processor circuit systems, discrete and / or integrated analog and / or digital circuit systems, FPGAs, ASICs, XPUs, comparators, operational amplifiers, logic circuits, etc.) configured and / or structured to perform some or all of the machine-readable instructions, and / or perform some or all of the operations corresponding to the machine-readable instructions, without performing software or firmware, but other structures are equally applicable.

[0057] Example SWA verification circuitry 708 determines whether SWA request 612 or 614 is within an operational threshold. Generally, after determining an SWA (e.g., SWA request 612 or SWA request 614) from a first dataset 602 or a second dataset 604, steering controller circuitry 210 determines whether the SWA and / or SWA rate associated with SWA request 612 or SWA request 614 is within threshold operational parameters. For example, if the SWA and SWA rate are within the operational threshold range, steering controller circuitry 210 continues with the RWA request. However, if the SWA and SWA rate are not within the operational threshold range, steering controller circuitry 210 may cancel the request. For example, if SWA request 612 or SWA request 614 requires an SWA and / or SWA rate exceeding an operating threshold, the SWA verification circuitry 708 may cancel or ignore the RWA request, or alternatively, adjust SWA request 612 or SWA request 614 based on the maximum value of the operating threshold (e.g., the maximum permissible SWA angle and / or SWA rate). Therefore, instead of canceling the RWA request, SWA requests 612, 614 are modified or adjusted based on the maximum ODD. For example, the SWA verification circuitry 708 determines whether the SWA is within the SWA threshold based on the direction and / or speed of vehicle 100 (e.g., provided by feedback signals from SWA sensor 212, steering wheel torque sensor 214, and speed sensor 216). Additionally, the SWA verification circuitry 708 of the illustrated example determines whether the SWA rate associated with the SWA is within a rate threshold (e.g., based on the vehicle speed provided by speed sensor 216). For example, if, based on the vehicle's speed, the SWA request 612 or 614 requires rapid or fast rotation of the steering wheel and / or SPA (i.e., the SWA rate exceeds a rate threshold), the SWA verification circuitry 708 may cancel the SWA requests 610a, 610b, or adjust the SWA requests 612, 614 based on the maximum permissible SWA and / or SWA rate associated with the operating threshold. If the SWA verification circuitry 708 determines that the SWA and / or SWA rate associated with SWA request 612 or 614 does not exceed the operating threshold, the SWA verification circuitry 708 instructs the offset angle determiner circuitry 710 to continue.

[0058] In some examples, the SWA verification circuit system 708 is instantiated by a programmable circuit system that executes RWA request instructions, and / or is configured to perform actions such as... Figure 8The flowchart illustrates the operations of those actions. In some examples, the SWA verification circuitry 708 includes components for verifying that the SWA determined based on the RWA request is acceptable or within operating parameters (e.g., the SWA and / or SWA rate are within acceptable thresholds based on the vehicle and / or the orientation of vehicle 100). For example, the components for determination may be implemented by the SWA verification circuitry 708. In some examples, the SWA verification circuitry 708 may be implemented by a programmable circuitry system (such as...). Figure 9 Example programmable circuit system 900). For example, SWA verification circuit system 708 can be instantiated by executing machine-executable instructions (such as those by at least Figure 9 The microprocessor is instantiated with the instructions implemented in blocks 912, 914, and 916. In some examples, the SWA verification circuit system 708 can be instantiated by a hardware logic circuit system, which can be implemented by an ASIC, XPU, or FPGA circuit system configured and / or structured to perform operations corresponding to machine-readable instructions. Alternatively or concurrently, the SWA verification circuit system 708 can be instantiated by any other combination of hardware, software, and / or firmware. For example, the SWA verification circuit system 708 can be implemented by at least one or more hardware circuits (e.g., processor circuit systems, discrete and / or integrated analog and / or digital circuit systems, FPGAs, ASICs, XPUs, comparators, operational amplifiers, logic circuits, etc.) configured and / or structured to perform some or all of the machine-readable instructions, and / or perform some or all of the operations corresponding to the machine-readable instructions, without performing software or firmware, but other structures are equally applicable.

[0059] Example offset angle determiner circuit system 710 determines the offset angle (e.g., Figure 6 The steering angle offset 620), which is based on SWA request 612 or SWA request 614 (e.g., by...). Figure 6 The RWA request 610 provides (see Equation 1 and / or Equation 2 above) the target or relative SPA required to guide vehicle 100 (e.g., Figure 6 The relative position of the SPA (618) is related to the target position of the SPA. For example, the offset angle determiner circuitry 710 determines the relative SPA based on the difference between the current position of the SPA (e.g., provided by the SWA sensor 212) and the target position of the SPA provided by the SWA request 612 or SWA request 614 associated with RWA request 610a or 610b, respectively. The offset angle determiner circuitry 710 can determine other factors including, for example, crosswinds, road slope, road inclination, and / or any other conditions.

[0060] In some examples, the offset angle determiner circuit system 710 is instantiated by a programmable circuit system that executes RWA request instructions, and / or is configured to perform actions such as... Figure 8 The flowchart illustrates the operations of those actions. In some examples, the offset angle determiner circuit system 710 includes components for determining the SWA offset based on the RWA request. For example, the components for determination may be implemented by the offset angle determiner circuit system 710. In some examples, the offset angle determiner circuit system 710 may be implemented by a programmable circuit system (such as...) Figure 9 Example programmable circuit system 900). For example, offset angle determiner circuit system 710 can be instantiated by executing machine-executable instructions (such as those by at least Figure 9 The microprocessor instantiates the offset angle determiner circuit system 710 (the instructions implemented in blocks 912, 914, and 916). In some examples, the offset angle determiner circuit system 710 may be instantiated by a hardware logic circuit system, which may be implemented by an ASIC, XPU, or FPGA circuit system configured and / or structured to perform operations corresponding to machine-readable instructions. Alternatively or concurrently, the offset angle determiner circuit system 710 may be instantiated by any other combination of hardware, software, and / or firmware. For example, the offset angle determiner circuit system 710 may be implemented by at least one or more hardware circuits (e.g., processor circuit systems, discrete and / or integrated analog and / or digital circuit systems, FPGAs, ASICs, XPUs, comparators, operational amplifiers, logic circuits, etc.) configured and / or structured to perform some or all of the machine-readable instructions, and / or perform some or all of the operations corresponding to the machine-readable instructions, without performing software or firmware, but other structures are equally applicable.

[0061] although Figure 7 The implementation is shown in the figure. Figure 2 The example of the steering controller circuit system 210, but Figure 7 One or more of the elements, processes, and / or devices shown may be combined, divided, rearranged, omitted, eliminated, and / or implemented in any other way. Furthermore, Figure 7 The example RWA request circuitry 702, example RWA direction circuitry 704, example RWA to SWA conversion circuitry 706, example SWA verification circuitry 708, and example offset angle determiner circuitry 710, and / or more generally, example steering controller circuitry 210, can be implemented individually in hardware or in combination with software and / or firmware. Therefore, for example, Figure 7Any of the example RWA request circuitry 702, example RWA direction circuitry 704, example RWA to SWA conversion circuitry 706, example SWA verification circuitry 708, and example offset angle determiner circuitry 710 and / or more generally example steering controller circuitry 210 can be implemented by a programmable circuitry system in combination with machine-readable instructions (e.g., firmware or software), processor circuitry, analog circuitry, digital circuitry, logic circuitry, programmable processor, programmable microcontroller, graphics processing unit (GPU), digital signal processor (DSP), ASIC, programmable logic device (PLD), and / or field-programmable logic device (FPLD) (such as FPGA). Furthermore, Figure 7 Example steering controller circuitry 210 may include one or more elements, processes and / or devices to complement or replace Figure 7 Those shown, and / or may include more than one of any or all of the elements, processes and apparatus shown.

[0062] Figure 8 The diagram illustrates example machine-readable instructions and / or example operations, which can be executed by a programmable circuit system to implement and / or instantiate. Figure 7 Example steering controller circuitry 210, whose example operation can be implemented and / or instantiated by a programmable circuitry system. Figure 7 Example steering controller circuitry 210. Machine-readable instructions can be provided by programmable circuitry (such as those combined below). Figure 9 The programmable circuit system 912 shown in the example programmable circuit system platform 900 discussed herein executes one or more executable programs or portions of one or more executable programs, and / or may be one or more functions or portions of functions to be performed by the example programmable circuit system. In some examples, machine-readable instructions cause operations, tasks, etc., to be implemented and / or performed in an automated manner in the real world. As used herein, “automation” means without human intervention.

[0063] The program may be embodied in instructions (e.g., software and / or firmware) stored on one or more non-transitory computer-readable and / or machine-readable storage media, such as cache memory, magnetic storage devices or disks (e.g., floppy disks, hard disk drives (HDDs), etc.), optical storage devices or optical discs (e.g., Blu-ray discs, compact discs (CDs), digital versatile discs (DVDs), etc.), redundant arrays of independent disks (RAID), registers, ROM, solid-state drives (SSDs), SSD memory, non-volatile memory (e.g., electrically erasable programmable read-only memory (EEPROM), flash memory, etc.), volatile memory (e.g., random access memory (RAM) of any type), and / or any other storage device or disk. The instructions of the non-transitory computer-readable and / or machine-readable media may be programmed and / or executed by a programmable circuit system located in one or more hardware devices, but the entire program and / or portions thereof may alternatively be executed and / or instantiated by one or more hardware devices rather than a programmable circuit system, and / or embodied in dedicated hardware. Machine-readable instructions may be distributed across multiple hardware devices and / or executed by two or more hardware devices (e.g., server and client hardware devices). For example, client hardware devices may be implemented by endpoint client hardware devices (e.g., hardware devices associated with human and / or machine users) or by an intermediate client hardware device gateway (e.g., a radio access network (RAN)) that facilitates communication between the server and endpoint client hardware devices. Similarly, non-transitory computer-readable storage media may include one or more media. Further, although references... Figure 8 The flowchart shown describes the example program, but an alternative implementation can be used. Figure 7The example turns to many other methods of the controller circuit system 210. For example, the execution order of the flowchart boxes can be changed, and / or some of the described boxes can be changed, eliminated, repeated, or combined. Alternatively or additionally, any or all of the flowchart boxes can be implemented by one or more hardware circuits (e.g., processor circuit systems, discrete and / or integrated analog and / or digital circuit systems, ASICs, comparators, operational amplifiers (op-amps), logic circuits, etc.) that are structured to perform the corresponding operations without executing software or firmware. The programmable circuit system can be distributed in different network locations and / or distributed locally on one or more hardware devices (e.g., single-core processors (e.g., single-core CPUs), multi-core processors (e.g., multi-core CPUs, XPUs, etc.)). For example, the programmable circuit system can be a CPU located in the same package (e.g., the same integrated circuit (IC) package or in two or more separate housings), one or more processors in a single machine, multiple processors distributed across multiple servers in a server rack, multiple processors distributed across one or more server racks, etc., and / or any combination thereof.

[0064] The machine-readable instructions described herein can be stored in one or more of the following formats: compressed format, encrypted format, segmented format, compiled format, executable format, and packaged format. As described herein, machine-readable instructions can be stored as data (e.g., computer-readable data, machine-readable data, one or more bits (e.g., one or more computer-readable bits, one or more machine-readable bits, etc.), bit streams (e.g., computer-readable bit streams, machine-readable bit streams, etc.)) or data structures (e.g., stored as parts of instructions, code, representations of code, etc.). For example, machine-readable instructions can be segmented and stored on one or more storage devices, disks, and / or computing devices (e.g., servers) located in the same or different locations (e.g., in the cloud, on an edge device, etc.) within a network or network set. Machine-readable instructions may require one or more of the following processes: installation, modification, rewriting, updating, combination, supplementation, configuration, decryption, decompression, unpacking, distribution, reallocation, compilation, etc., to enable them to be directly read, interpreted, and / or executed by computing devices and / or other machines. For example, machine-readable instructions may be stored in multiple parts, which are individually compressed, encrypted, and / or stored on separate computing devices, wherein the parts, when decrypted, decompressed, and / or combined, form a set of computer-executable and / or machine-executable instructions that implement one or more functions and / or operations of a program that together form a program such as the program described herein.

[0065] In another example, machine-readable instructions may be stored in a state where they can be read by a programmable circuit system, but libraries (e.g., dynamic link libraries (DLLs)), software development kits (SDKs), application programming interfaces (APIs), etc., need to be added to enable the machine-readable instructions to be executed on a specific computing device or other device. In another example, it may be necessary to configure the machine-readable instructions (e.g., store settings, input data, record network addresses, etc.) before they can be executed in whole or in part. Therefore, machine-readable, computer-readable, and / or machine-readable media as used herein may include instructions and / or programs, regardless of their specific format or state.

[0066] The machine-readable instructions described in this article can be represented by any past, present, or future instruction language, scripting language, programming language, etc. For example, any of the following languages ​​can be used to represent machine-readable instructions: C, C++, Java, C#, Perl, Python, JavaScript, Hypertext Markup Language (HTML), Structured Query Language (SQL), Swift, etc.

[0067] As mentioned above, Figure 8Example operations can be implemented using executable instructions (e.g., computer-readable and / or machine-readable instructions) stored on one or more non-transitory computer-readable and / or machine-readable media. As used herein, the terms non-transitory computer-readable medium, non-transitory computer-readable storage medium, non-transitory machine-readable medium, and / or non-transitory machine-readable storage medium are expressly defined to include any type of computer-readable storage device and / or storage disk, excluding propagated signals and transmission media. Examples of such non-transitory computer-readable media, non-transitory computer-readable storage media, non-transitory machine-readable media, and / or non-transitory machine-readable storage media include optical storage devices, magnetic storage devices, HDDs, flash memory, read-only memory (ROM), CDs, DVDs, caches, any type of RAM, registers, and / or any other storage device or storage disk in which information is stored for any duration (e.g., extended time period, permanently, for short-term cases, for temporary buffering, and / or for caching information). As used herein, the terms "non-transitory computer-readable storage device" and "non-transitory machine-readable storage device" are defined as including any physical (mechanical, magnetic, and / or electrical) hardware that retains information for a period of time, excluding the propagation of signals and the transmission medium. Examples of non-transitory computer-readable storage devices and / or non-transitory machine-readable storage devices include any type of random access memory, any type of read-only memory, solid-state memory, flash memory, optical disk, magnetic disk, disk drive, and / or RAID system. As used herein, the term "device" refers to a physical structure, such as mechanical and / or electrical equipment, hardware, and / or circuitry, that may or may not be configured and / or manufactured to execute computer-readable instructions, machine-readable instructions, etc.

[0068] Figure 8 This is a flowchart representing example machine-readable instructions and / or example operations 800, which can be executed, instantiated, and / or implemented by an example programmable circuit system to take into account asymmetric steering ratios during hands-free and / or autonomous driving events. Example machine-readable instructions and / or Figure 8 Example operation 800 begins at box 802, where example RWA request circuitry 702 obtains, receives, and / or otherwise retrieves a desired RWA request. For example, RWA request circuitry 702 receives RWA request 610 from ADAS 218.

[0069] At box 804, RWA direction circuitry 704 determines whether the RWA request is less than a threshold. For example, the threshold can be zero (0). If at box 804, RWA direction circuitry 704 determines that the RWA request is not less than the threshold, the process moves to box 806.

[0070] At box 806, RWA direction circuitry 704 determines whether the RWA request is greater than a threshold. For example, RWA direction circuitry 704 determines whether the angle associated with RWA request 610 is greater than zero.

[0071] If at box 806, the RWA direction circuitry 704 determines that the RWA request is not greater than the threshold, the process returns to box 802.

[0072] If at box 806, the RWA direction circuitry 704 determines that the RWA request is greater than a threshold (e.g., Figure 6 If the RWA request is 610a), then the RWA direction circuit system 704 transmits the following to the RWA to SWA conversion circuit system 706: RWA request (e.g., Figure 6 The RWA request (610a) is greater than a threshold (e.g., greater than zero indicates a left-hand turn or a left-angled angle request).

[0073] At box 808, the RWA to SWA conversion circuitry 706 employs a left asymmetric steering ratio (LSR). For example, the RWA to SWA conversion circuitry 706 uses the first dataset 602 associated with the RWA request 610a.

[0074] Next, at box 810, the RWA to SWA conversion circuitry 706 obtains, retrieves, calculates, and / or otherwise determines the SWA associated with the RWA request based on the LSR. For example, the RWA to SWA conversion circuitry 706 retrieves the SWA associated with RWA request 610a (e.g., SWA request 612) from a first dataset 602. The process then moves to box 816.

[0075] Returning to box 804, if the RWA direction circuitry 704 determines that the RWA request is less than a threshold (e.g., zero), then the RWA direction circuitry 704 transmits the following to the RWA-to-SWA conversion circuitry 706: the RWA request (e.g., ... Figure 6 The RWA request (610b) is less than a threshold (e.g., less than zero indicates a right turn or a right angle request). Then, the process moves to box 812.

[0076] At box 812, the RWA to SWA conversion circuitry 706 employs a right-side asymmetric steering ratio (RSR). For example, the RWA to SWA conversion circuitry 706 uses a second dataset 604 associated with the RWA request 610b.

[0077] Next, at box 814, the RWA to SWA conversion circuitry 706 obtains, retrieves, calculates, and / or otherwise determines the SWA associated with the RWA request 610b based on the RSR (e.g., Figure 6 SWA 614). For example, RWA to SWA conversion circuitry 706 retrieves the SWA associated with RWA request 610b (e.g., SWA request 614) from second dataset 604.

[0078] At box 816, example SWA verification circuitry 708 determines whether the SWA request is within acceptable threshold limits. For example, example SWA verification circuitry 708 determines whether the SWA request 612 (e.g., box 810) or SWA request 614 (e.g., box 814) determined by RWA to SWA conversion circuitry 706 is within acceptable threshold angle limits based on factors such as vehicle speed, current vehicle path, crosswind conditions, road conditions and / or gradient and / or any other conditions. If SWA requests 612, 614 are not within acceptable threshold angle limits, steering control circuitry 210 cancels RWA request 610a or 610b and maintains the direction of vehicle 100 and / or the position of steering gear 202. If SWA verification circuitry 708 determines that SWA requests 612, 614 are within acceptable threshold angle limits, SWA verification circuitry 708 determines whether the SWA rate required to move the steering wheel based on SWA requests 612, 614 exceeds a rate threshold.

[0079] If the SWA verification circuitry 708 determines that the SWA rate associated with SWA requests 612 and 614 is not within the acceptable threshold angle limit (box 816), then process 800 terminates and proceeds to control circuitry 210 to cancel RWA requests 610a or 610b. If the SWA verification circuitry 708 determines that the SWA rate associated with SWA requests 612 and 614 is within the acceptable threshold angle limit (box 816), then process 800 continues with SWA requests 612 and 614.

[0080] Steering controller circuitry 210 converts the determined SWA into a relative SPA (block 818). For example, example offset angle determiner circuitry 710 determines an offset angle relative to the target or relative SPA required to guide vehicle 100 based on the RWA request. For example, offset angle determiner circuitry 710 determines the relative SPA based on the difference between the current position of the SPA (e.g., provided by SWA sensor 212) and the target position of the SPA provided by the SWA associated with SWA requests 612, 614. Offset angle determiner circuitry 710 may determine other factors used to determine the offset angle, including, for example, crosswinds, road gradient, road incline, and / or any other conditions.

[0081] At box 820, the example offset angle determiner circuit system 710 instructs the PAS system 204 to move the steering gear 202 to the relative SPA determined by the offset angle determiner circuit system 710. The process ends or returns to box 802.

[0082] Figure 9 This is a block diagram of an example programmable circuit system platform 900, which is structured for execution and / or instantiation. Figure 8 Example machine-readable instructions and / or example operations for implementation Figure 2 and Figure 7 Example steering controller circuit system 210. Programmable circuit system platform 900 can be, for example, a server, personal computer, workstation, self-learning machine (e.g., neural network), mobile device (e.g., mobile phone, smartphone, tablet) or other wearable device, or any other type of computing and / or electronic device.

[0083] The illustrated example programmable circuit system platform 900 includes a programmable circuit system 912. The illustrated example programmable circuit system 912 is hardware. For example, the programmable circuit system 912 can be implemented by one or more integrated circuits, logic circuits, microprocessors, CPUs, GPUs, DSPs, and / or microcontrollers from any desired family or manufacturer. The programmable circuit system 912 can be implemented by one or more semiconductor-based (e.g., silicon-based) devices. In this example, the programmable circuit system 912 implements an example steering controller circuit system 210, an example RWA request circuit system 702, an example RWA direction circuit system 704, an example RWA to SWA conversion circuit system 706, an example SWA verification circuit system 708, an example offset angle determiner circuit system 710, a first set of RWA to SWA ratios 714, and a second set of RWA to SWA ratios 716.

[0084] The programmable circuit system 912 shown in the example includes local memory 913 (e.g., cache, registers, etc.). The programmable circuit system 912 shown in the example communicates via bus 918 with main memories 914 and 916, including volatile memory 914 and non-volatile memory 916. Volatile memory 914 may be synchronous dynamic random access memory (SDRAM), dynamic random access memory (DRAM), etc. Dynamic Random Access Memory (DRAM) The non-volatile memory 916 may be implemented using flash memory and / or any other desired type of memory device. Access to the main memory 914, 916 in the illustrated examples is controlled by the memory controller 917. In some examples, the memory controller 917 may be implemented by one or more integrated circuits, logic circuits, microcontrollers, or any other type of circuit system from any desired family or manufacturer to manage the flow of data to and from the main memory 914, 916.

[0085] The programmable circuit system platform 900 shown in the example also includes an interface circuit system 920. The interface circuit system 920 can be implemented in hardware according to any type of interface, such as an Ethernet interface, a Universal Serial Bus (USB) interface, etc. Interfaces, Near Field Communication (NFC) interfaces, Peripheral Component Interconnect (PCI) interfaces, and / or Peripheral Component Interconnect High Speed ​​(PCIe) interfaces.

[0086] In the illustrated example, one or more input devices 922 are connected to the interface circuitry system 920. The input devices 922 allow users (e.g., human users, machine users, etc.) to input data and / or commands into the programmable circuitry system 912. The input devices 922 can be implemented, for example, audio sensors, microphones, cameras (still or video), keyboards, buttons, mice, touchscreens, trackpads, trackballs, dot devices, and / or voice recognition systems.

[0087] One or more output devices 924 are also connected to the interface circuitry 920 of the illustrated example. The output devices 924 may be implemented, for example, via display devices (e.g., light-emitting diode (LED), organic light-emitting diode (OLED), liquid crystal display (LCD), cathode ray tube (CRT) display, in-situ switch (IPS) display, touchscreen, etc.), haptic output devices, and / or speakers. Therefore, the interface circuitry 920 of the illustrated example includes a graphics driver card, a graphics driver chip, and / or a graphics processor circuitry, such as a GPU.

[0088] The interface circuit system 920 of the example shown also includes communication devices, such as transmitters, receivers, transceivers, modems, residential gateways, wireless access points, and / or network interfaces, to facilitate data exchange with external machines (e.g., any type of computing device) via network 926. Communication can be carried out via, for example, Ethernet connections, digital subscriber line (DSL) connections, telephone line connections, coaxial cable systems, satellite systems, beyond-line-of-sight wireless systems, line-of-sight wireless systems, cellular telephone systems, optical connections, etc.

[0089] The programmable circuit system platform 900 illustrated also includes one or more mass storage disks or devices 928 for storing firmware, software, and / or data. Examples of such mass storage disks or devices 928 include magnetic storage devices (e.g., floppy disks, drives, HDDs, etc.), optical storage devices (e.g., Blu-ray discs, CDs, DVDs, etc.), RAID systems, and / or solid-state storage disks or devices, such as flash memory devices and / or SSDs.

[0090] It can be by Figure 8 The machine-readable instructions 932 implemented by the machine-readable instructions may be stored in a mass storage device 928, a volatile memory 914, a non-volatile memory 916, and / or may be on at least one removable non-transitory computer-readable storage medium (such as a CD or DVD).

[0091] Figure 10 This is a bottom view of another example vehicle 1000 with another example steering linkage assembly 1002 disclosed herein, wherein the examples disclosed herein can be implemented. The steering linkage assembly 1002 of the example shown is a non-driven independent axle two-wheel drive steering assembly (e.g., 4×2 drivetrain, front-wheel drive, etc.). The steering linkage assembly 1002 has multiple mechanical components that operatively connect the steering rocker arm 222 and the wheels (wheels 104A, 104B) of the vehicle 1000. In the example shown, the steering linkage assembly 1002 includes a center tie rod 1004, a tie rod 1006, a steering driven arm 1008, a steering rocker arm 222, and a steering gearbox 200. The center tie rod 1004 is coupled to the steering rocker arm 222. The tie rod 1006 connects the center tie rod 1004 of the vehicle 1000 to the corresponding steering knuckle 1010. Therefore, the steering rocker arm 222 causes the steering knuckle 1010 to rotate via the tie rod 1006 and the center tie rod 1004 through the rotation of the steering gearbox 200. The steering gearbox 200 of the example shown can be implemented with either the HPAS system 400 or the EPAS system 500. Additionally, the steering rocker arm 222 can be implemented with either the first steering rocker arm 410 or the second steering rocker arm 508. In other words, the steering linkage assembly 1002 is the same whether the HPAS system 400 is coupled to the vehicle 1000 or the EPAS system 500 is used with the vehicle 1000. The vehicle 1000 of the example shown includes a steering control circuit system 210.

[0092] Figure 11A This is a perspective side view of another example vehicle 1100 that can implement the examples disclosed herein. Figure 11B yes Figure 11AA bottom view of an example vehicle 1100. The example vehicle 1100 shown has a steering linkage assembly 1102 that provides front and rear forces or tie rod assemblies to rotate the steering angle of the vehicle 1100 (e.g., a 4×2 drivetrain). In the example shown, the steering linkage assembly 1102 includes a tie rod 1104, a steering arm 1106, a tie rod tube 1108, a steering rocker arm 222, and a steering gearbox 200. The tie rod 1104 is coupled to the steering rocker arm 222, which is coupled to the steering gearbox 200. The tie rod tube 1108 is coupled to the steering arm 1106. The steering arm 1106 operatively connects the tie rod 1104 of the vehicle 1100 to the corresponding steering knuckle 1110. Therefore, the rotation of the steering gearbox 200 causes the tie rod 1104 to move in the fore-and-aft direction, which in turn causes the steering knuckle 1110 to rotate via the steering arm 1106 and the tie rod tube 1108. The steering gearbox 200 of the example shown can be implemented with either the HPAS system 400 or the EPAS system 500. Additionally, the steering arm 222 can be implemented with either the first steering arm 410 or the second steering arm 508. In other words, the steering linkage assembly 1102 is the same whether the HPAS system 400 is coupled to the vehicle 1000 or the EPAS system 500 is used with the vehicle 1100. The example vehicle 1100 shown includes a steering control circuit system 210.

[0093] Figure 12 This is a bottom view of another example vehicle 1200 in which the examples disclosed herein can be implemented. In the example shown, the HPAS system 400 is superimposed on the EPAS system 500. The vehicle 1200 includes a steering linkage assembly 1202 having a first linkage to a steering rocker arm hardpoint 1204 between the steering linkage assembly 1202 and the HPAS system 400. The steering linkage assembly 1202 has a second linkage to a steering rocker arm hardpoint 1206 between the steering linkage assembly 1202 and the EPAS system 500. In the example shown, the first linkage to the steering rocker arm hardpoint 1204 is offset in the x-direction relative to the second linkage to the steering rocker arm hardpoint 1206. Although the first linkage to the steering rocker arm hardpoint 1204 is offset in the x-direction relative to the second linkage to the steering rocker arm hardpoint 1206, the first linkage to the steering rocker arm hardpoint 1206 and the second linkage to the steering rocker arm hardpoint are aligned in the y-direction. Therefore, the common linkage assembly can be used with both the HPAS system 400 and the EPAS system 500.

[0094] "Including" and "comprising" (and all their forms and tenses) are used herein as open-ended terms. Therefore, whenever a claim uses any form of "include" or "comprise" (e.g., includes, includes, comprising, including, having, etc.) as a preamble or within any kind of claim statement, it should be understood that additional elements, items, etc., may be present without falling outside the scope of the corresponding claim or statement. As used herein, when the phrase "at least" is used as a transitional term in the preamble of a claim, it becomes an open-ended term in the same way that the terms "comprising" and "including" become open-ended terms. The term "and / or," when used, for example, in the form of A, B, and / or C, refers to any combination or subset of A, B, and C, such as (1) only A, (2) only B, (3) only C, (4) A and B, (5) A and C, (6) B and C, or (7) A and B and C. As used herein in the context of describing structures, components, articles, objects, and / or things, the phrase "at least one of A and B" is intended to refer to an implementation that includes any one of (1) at least one A, (2) at least one B, or (3) at least one A and at least one B. Similarly, as used herein in the context of describing structures, components, articles, objects, and / or things, the phrase "at least one of A and B" is intended to refer to an implementation that includes any one of (1) at least one A, (2) at least one B, or (3) at least one A and at least one B. As used herein in the context of describing the implementation or execution of processes, instructions, actions, activities, etc., the phrase "at least one of A and B" is intended to refer to an implementation that includes any one of (1) at least one A, (2) at least one B, or (3) at least one A and at least one B. Similarly, as used herein in the context of describing the implementation or execution of processes, instructions, actions, activities, etc., the phrase "at least one of A and B" is intended to refer to an implementation that includes any one of (1) at least one A, (2) at least one B, or (3) at least one A and at least one B.

[0095] As used herein, singular references (e.g., "a," "an," "first," "second," etc.) do not exclude plurals. As used herein, the term "a / an" refers to one or more of those objects. The terms "a / an," "one or more," and "at least one" are used interchangeably herein. Furthermore, although listed separately, multiple components, elements, or actions may be implemented by, for example, the same entity or object. Additionally, while individual features may be included in different examples or claims, they may be combined, and inclusion in different examples or claims does not imply that the combination of features is impractical and / or disadvantageous.

[0096] As used herein, unless otherwise stated, the term "above" describes the relationship between two parts relative to the Earth. The first part is above the second part if the second part has at least one portion between the Earth and the first part. Similarly, as used herein, the first part is "below" the second part when the first part is closer to the Earth than the second part. As stated above, the first part may be above or below the second part in one or more of the following ways: when there are other parts between them, when there are no other parts between them, when the first and second parts are in contact, or when the first and second parts are not in direct contact with each other.

[0097] As used in this patent, a statement that any part (e.g., layer, film, region, area, or plate) is located on another part in any way (e.g., positioned on it, situated on it, disposed on it, or formed on it, etc.) indicates that the referenced part is in contact with the other part, or that the referenced part is above the other part, wherein one or more intermediate parts are located between them.

[0098] As used herein, unless otherwise indicated, a connection reference (e.g., attachment, coupling, linking, and linking) may include intermediate components between the elements referenced by the connection reference and / or relative movement between these elements. Therefore, a connection reference does not necessarily imply that two elements are directly connected and / or fixed to each other. As used herein, a statement that any part is “in contact” with another part is defined as meaning that there is no intermediate part between the two parts.

[0099] Unless otherwise specifically stated, descriptors such as “first,” “second,” and “third” as used herein do not in any way impose or otherwise indicate any meaning of priority, physical order, arrangement in a list, and / or sorting, but are merely used as labels and / or arbitrary names to distinguish elements in order to facilitate understanding of the disclosed examples. In some examples, the descriptor “first” may be used to refer to an element in a detailed description, while in the claims, different descriptors such as “second” or “third” may refer to the same element. In such cases, it should be understood that such descriptors are only used to clearly identify these elements in the context of the discussion (e.g., within the claims), in which the element may otherwise share the same name.

[0100] As used herein, “approximately” and “about” modify their subject / value to identify the potential presence of variations that occur in real-world applications. For example, “approximately” and “about” may modify dimensions that may be imprecise due to manufacturing tolerances and / or other real-world defects, as will be understood by one of ordinary skill in the art. For example, unless otherwise stated herein, “approximately” and “about” may indicate that such dimensions are within tolerances of + / - 10%.

[0101] As used in this article, “substantially real-time” means that it occurs in a near-instantaneous manner, recognizing that there may be real-world delays for calculations, transmissions, etc. Therefore, unless otherwise stated, “substantially real-time” means real-time + 1 second.

[0102] As used herein, the phrase “to communicate” (including its variations) encompasses direct communication and / or indirect communication via one or more intermediate components, and does not require direct physical (e.g., wired) communication and / or continuous communication, but additionally includes selective communication at periodic intervals, scheduled intervals, non-periodic intervals and / or one-off events.

[0103] As used herein, a “programmable circuit system” is defined to include: (i) one or more special-purpose circuits (e.g., application-specific integrated circuits (ASICs)) that are structured to perform specific operations and include one or more semiconductor-based logic devices (e.g., electrical hardware implemented by one or more transistors); and / or (ii) one or more general-purpose semiconductor-based circuits that can be programmed with instructions to perform specific functions and / or operations and include one or more semiconductor-based logic devices (e.g., electrical hardware implemented by one or more transistors). Examples of programmable circuit systems include programmable microprocessors, such as a central processing unit (CPU) that executes first instructions to perform one or more operations and / or functions, a field-programmable gate array (FPGA) (which can be programmed with second instructions to instantiate one or more operations and / or functions corresponding to the first instructions through FPGA configuration and / or structuring), a graphics processing unit (GPU) that executes first instructions to perform one or more operations and / or functions, a digital signal processor (DSP) that executes first instructions to perform one or more operations and / or functions, an XPU, a network processing unit (NPU), one or more microcontrollers that execute first instructions to perform one or more operations and / or functions, and / or integrated circuits such as application-specific integrated circuits (ASICs). For example, an XPU can be implemented by a heterogeneous computing system that includes a variety of types of programmable circuit systems (e.g., one or more FPGAs, one or more CPUs, one or more GPUs, one or more NPUs, one or more DSPs, etc., and / or any combination thereof) and orchestration techniques (e.g., application programming interfaces (APIs)) that can assign computational tasks to any one or more of the various types of programmable circuit systems best suited to perform the computational tasks.

[0104] As used herein, an integrated circuit / circuit system is defined as one or more semiconductor packages containing one or more circuit elements, such as transistors, capacitors, inductors, resistors, current paths, diodes, etc. For example, an integrated circuit can be implemented as one or more of an ASIC, FPGA, chip, microchip, programmable circuit system, semiconductor substrate connecting multiple circuit elements, system-on-a-chip (SoC), etc.

[0105] From the foregoing, it should be understood that example systems, apparatuses, articles, and methods have been disclosed that enable the same steering linkage assembly to be used with hydraulic power steering assist systems or electric power steering assist systems. The disclosed systems, apparatuses, articles, and methods are intended to account for asymmetric steering ratios resulting from the use of a common or identical linkage assembly with HPAS or EPAS systems. The disclosed systems, apparatuses, articles, and methods therefore relate to vehicle operation.

[0106] This document discloses example methods, apparatuses, systems, and articles of art for considering asymmetric steering ratios. Further examples and combinations thereof include the following:

[0107] Example 1 includes a device comprising a steering linkage assembly including a tie rod having a first end and a second end opposite the first end. The tie rod is configured to be coupled to a hydraulic power steering system and an electric power steering system. The hydraulic power steering system is coupled to a vehicle frame and the first end of the tie rod via a first steering rocker arm, and the electric power steering system is coupled to the vehicle frame and the first end of the tie rod via a second steering rocker arm. The first steering rocker arm has a different shape than the second steering rocker arm, such that the first and second steering rocker arms can share a common steering rocker arm-to-hardpoint connection with the tie rod of the steering linkage assembly.

[0108] Example 2 includes the device as described in Example 1, wherein the steering linkage assembly provides asymmetric steering wheel rotations between straight driving and fully left-hand locking and fully right-hand locking.

[0109] Example 3 includes the device as described in Example 1 or 2, wherein the tie rods have the same length when the hydraulic power assist system or the electric power assist system is coupled to the vehicle frame.

[0110] Example 4 includes the device as described in any one of Examples 1 to 3, wherein the steering linkage assembly further includes: a tie rod end for connection to the second end of the straight rod; and an adjusting sleeve for connection between the straight rod and the tie rod end.

[0111] Example 5 includes a device as described in any one of Examples 1 to 4, wherein when the hydraulic power assist system or the electric power assist system is coupled to the vehicle frame, the tie rod, the tie rod end, and the adjusting sleeve have the same corresponding length.

[0112] Example 6 includes a device as described in any one of Examples 1 to 5, wherein the first steering rocker arm is tilted inward relative to the vehicle frame to be coupled to the hydraulic power assist system and the pull rod.

[0113] Example 7 includes a device as described in any one of Examples 1 to 6, wherein the second steering rocker arm is tilted outward relative to the vehicle frame to connect the electric power steering system and the tie rod.

[0114] Example 8 includes a device as described in any one of Examples 1 to 7, wherein when the first steering rocker arm is coupled to the vehicle, a first opening of the first steering rocker arm coupled to the hydraulic power assist system is positioned at a first distance relative to the longitudinal axis of the vehicle frame; and when the second steering rocker arm is coupled to the vehicle, a second opening of the second steering rocker arm coupled to the electric power assist system is positioned at a second distance relative to the longitudinal axis of the vehicle frame; wherein the first distance is greater than the second distance.

[0115] Example 9 includes an apparatus comprising an interface circuit system, machine-readable instructions, and a programmable circuit system, the programmable circuit system being configured to perform at least one of the following: instantiate or execute the machine-readable instructions to: compare a driving wheel angle request with a threshold; in response to determining that the driving wheel angle request is greater than the threshold, determine a first steering wheel angle corresponding to the driving wheel angle request from a first dataset relating driving wheel angles to steering wheel angles, and calculate a first steering pinion angle based on the first steering wheel angle and a first steering ratio obtained from the first dataset; in response to determining that the driving wheel angle request is less than the threshold, determine a second steering wheel angle corresponding to the driving wheel angle from a second dataset relating driving wheel angles to steering wheel angles, wherein the second dataset is asymmetrical relative to the first dataset, and calculate a second steering pinion angle based on the second steering wheel angle and a second steering ratio obtained from the second dataset.

[0116] Example 10 includes a device as described in Example 9, wherein the programmable circuitry is used to determine the first steering pinion angle based on a first steering angle offset.

[0117] Example 11 includes a device as described in Example 10 or 11, wherein the programmable circuitry is configured to determine the first steering angle offset based on the difference between the first steering wheel angle and the actual steering wheel angle at the current position of the steering wheel.

[0118] Example 12 includes a device as described in any one of Examples 9 to 11, further including a programmable circuit system for performing at least one of the following: instantiating or executing the machine-readable instructions to cause the steering gear to move to the first steering pinion angle.

[0119] Example 13 includes a device as described in any one of Examples 9 to 12, wherein the programmable circuitry is used to determine the second steering pinion angle based on a second steering angle offset.

[0120] Example 14 includes a device as described in any one of Examples 9 to 13, wherein the programmable circuitry is configured to determine the second steering angle offset based on the difference between the second steering wheel angle and the actual steering wheel angle at the current position of the steering wheel.

[0121] Example 15 includes a device as described in any one of Examples 9 to 14, further including a programmable circuit system for performing at least one of the following: instantiating or executing the machine-readable instructions to cause the steering gear to move to the second steering pinion angle.

[0122] Example 16 includes at least one non-transitory machine-readable medium, the at least one non-transitory machine-readable medium including machine-readable instructions that cause at least one processor circuitry to at least: compare a driving wheel angle request with a threshold; in response to determining that the driving wheel angle request is greater than the threshold, determine a first steering wheel angle corresponding to the driving wheel angle request from a first dataset relating driving wheel angles and steering wheel angles, and calculate a first steering pinion angle based on the first steering wheel angle and a first steering ratio obtained from the first dataset; in response to determining that the driving wheel angle request is less than the threshold, determine a second steering wheel angle corresponding to the driving wheel angle from a second dataset relating driving wheel angles and steering wheel angles, wherein the second dataset is asymmetrical relative to the first dataset, and calculate a second steering pinion angle based on the second steering wheel angle and a second steering ratio obtained from the second dataset.

[0123] Example 17 includes at least one non-transitory machine-readable medium as described in Example 16, wherein the machine-readable instructions are used to cause one or more of the at least one processor circuitry to: determine the first steering pinion angle based on a first steering angle offset.

[0124] Example 18 includes at least one non-transitory machine-readable medium as described in Example 17 or 18, wherein the machine-readable instructions are used to cause one or more of the at least one processor circuitry to determine the first steering angle offset based on the difference between the first steering wheel angle and the actual steering wheel angle of the current position of the steering wheel.

[0125] Example 19 includes at least one non-transitory machine-readable medium as described in any one of Examples 16 to 18, wherein the machine-readable instructions are used to cause one or more of the at least one processor circuitry to: determine a second steering pinion angle based on a second steering angle offset, the second steering angle offset being provided by the difference between the second steering wheel angle and the actual steering wheel angle of the current position of the steering wheel.

[0126] Example 20 includes at least one non-transitory machine-readable medium as described in any one of Examples 16 to 19, wherein the machine-readable instructions are used to cause one or more of the at least one processor circuitry to: move a steering gear to a first steering pinion angle in response to determining that the driving wheel angle request is greater than the threshold, or move a steering gear to a second steering pinion angle in response to determining that the driving wheel angle request is less than the threshold.

[0127] The appended claims are hereby incorporated by reference into this specific embodiment. While certain example systems, devices, articles of manufacture, and methods have been disclosed herein, the scope of this patent is not limited thereto. Rather, this patent covers all systems, devices, articles of manufacture, and methods that fall fully within the scope of the claims of this patent.

Claims

1. An apparatus comprising: a steering linkage assembly including a straight drag link having a first end and a second end opposite the first end, the straight drag link configured to be coupled to a hydraulic power assist system for coupling to a vehicle frame and the first end of the straight drag link via a first steering arm, and an electric power assist system for coupling to the vehicle frame and the first end of the straight drag link via a second steering arm, the first steering arm shaped differently than the second steering arm to enable the first and second steering arms to have a common steering arm to hard point connection with the straight drag link of the steering linkage assembly.

2. The apparatus of claim 1, wherein the steering linkage assembly provides asymmetric steering wheel revolutions between straight ahead and full left and full right lock.

3. The apparatus of any one of claims 1-2, wherein the straight drag link has a same length when the hydraulic power assist system or the electric power assist system is coupled to the vehicle frame.

4. The apparatus of any one of claims 1-3, wherein the steering linkage assembly further comprises: a cross drag link end for coupling to the second end of the straight drag link; and an adjustment sleeve for coupling the straight drag link and the straight drag link end.

5. The apparatus of any one of claims 1-4, wherein the straight drag link, the straight drag link end, and the adjustment sleeve have a same respective length when the hydraulic power assist system or the electric power assist system is coupled to the vehicle frame.

6. The apparatus of any one of claims 1-5, wherein the first steering arm is angled inward relative to the vehicle frame to couple to the hydraulic power assist system and the straight drag link.

7. The apparatus of any one of claims 1-6, wherein the second steering arm is angled outward relative to the vehicle frame to couple the electric power assist system and the straight drag link. a second opening of the second steering arm coupled to the electric power assist system is positioned at a second distance relative to the longitudinal axis of the frame when the second steering arm is coupled to the vehicle; 8. The apparatus of any one of claims 1-7, wherein a first opening of the first steering arm coupled to the hydraulic power assist system is positioned at a first distance relative to a longitudinal axis of the vehicle frame when the first steering arm is coupled to a vehicle; wherein the first distance is greater than the second distance.

9. The apparatus of any one of claims 1-8, further comprising: interface circuitry; machine readable instructions; and programmable circuitry to at least one of instantiate or execute the machine readable instructions to: compare a road wheel angle request to a threshold value; in response to determining that the road wheel angle request is greater than the threshold value: determine a first steering wheel angle corresponding to the road wheel angle request from a first data set of associated road wheel angles and steering wheel angles; and calculate a first steering pinion angle based on the first steering wheel angle and a first steering ratio obtained from the first data set; in response to determining that the road wheel angle request is less than the threshold value: ​ ​ determine a second steering wheel angle corresponding to the travel wheel angle from a second data set relating travel wheel angles to steering wheel angles, wherein the second data set is asymmetric with respect to the first data set; and calculate a second steering pinion angle based on the second steering wheel angle and a second steering ratio obtained from the second data set.

10. The apparatus of any of claims 1 to 9, wherein the programmable circuitry is to determine the first steering pinion angle based on a first steering angle offset.

11. The apparatus of any of claims 1 to 10, wherein the programmable circuitry is to determine the first steering angle offset based on a difference between the first steering wheel angle and an actual steering wheel angle of a current position of a steering wheel.

12. The apparatus of any of claims 1 to 9, further comprising programmable circuitry to at least one of instantiate or execute the machine-readable instructions to cause a steering gear to move to the first steering pinion angle.

13. The apparatus of any of claims 1 to 12, wherein the programmable circuitry is to determine the second steering pinion angle based on a second steering angle offset.

14. The apparatus of any of claims 1 to 13, wherein the programmable circuitry is to determine the second steering angle offset based on a difference between the second steering wheel angle and an actual steering wheel angle of a current position of a steering wheel.

15. The apparatus of any of claims 1 to 9, further comprising programmable circuitry to at least one of instantiate or execute the machine-readable instructions to cause a steering gear to move to the second steering pinion angle.

Images