Steering system for a vehicle and method for operating a steering system in a vehicle

Abstract

Steering system (24) for a vehicle (10), comprising: an upper shaft (50) having a first distal end (52) designed to support a steering wheel (54); a lower shaft (56) and a sliding sleeve (58) selectably movable between an engaged position and a disengaged position, wherein the sliding sleeve (58), when in the engaged position, is designed to connect the upper shaft (50) to the lower shaft (56), thus functionally connecting the steering wheel (54) to the steering system (24); and the sliding sleeve (58), when in the disengaged position, is designed to disconnect the upper shaft (50) from the lower shaft (56), thus functionally disconnecting the steering wheel (54) from the steering system (24);and fixing the upper shaft (50) and the steering wheel (54) in a fixed position, wherein the lower shaft (56) includes a cylindrical serrated collar (68), wherein a distal end (70) of the lower shaft (56) is inserted into the serrated collar (68) and an outer surface (72) of the lower shaft (56) and an inner surface (74) of the cylindrical serrated collar (68) have a serrated engagement with each other, such that the lower shaft (56) and the serrated collar (68) rotate as one unit; the upper shaft (50) has a cylindrically shaped second distal end (62), wherein the serrated collar (68) is positioned in the second distal end (62) of the upper shaft (50);the sliding sleeve (58) has a cylindrical shape and extends around the second distal end (62) of the upper shaft (50), wherein an outer surface (76) of the upper shaft (50) and an inner surface (78) of the sliding sleeve (58) have a serrated engagement with each other, such that the upper shaft (50) and the sliding sleeve (58) rotate as one unit; and the second distal end (62) of the upper shaft (50) contains several flexible fingers (80), wherein, when the sliding sleeve (58) is moved to the released position, a gap (82) is present between an inner surface (84) of the flexible fingers (80) of the second distal end (62) of the upper shaft (50) and an outer surface (86) of the serrated collar (68), and the serrated collar (68) and the lower shaft (56) are rotatable with respect to the upper shaft (50) and the sliding sleeve (58), which functionally separates the steering wheel (54) from the steering system (24);and then, when the sliding sleeve (58) is moved to the engaging position, an increasing inner surface (90) of the sliding sleeve (58) presses against an outer surface (92) of the flexible fingers (80), forcing an inner surface (84) of the flexible fingers (80) into engagement with an outer surface (86) of the serrated collar (68), wherein the serrated collar (68) and the lower shaft (56) are in frictional engagement with the lower shaft (56) in such a way that the lower shaft (56) and the upper shaft (50) rotate as one unit, which functionally connects the steering wheel (54) with the steering system (24).

Description

INTRODUCTION

[0001] The present invention relates generally to a steering system for a vehicle and in particular to a system that is optionally designed to 1) connect the steering wheel to the steering system or 2) disconnect the steering wheel from the steering system and lock the steering wheel in a centered position.

[0002] During autonomous operation of a vehicle, the steering wheel is not required, as the vehicle is controlled autonomously by the steering system and, under certain conditions, no input from a driver is necessary. Steering wheel movement equivalent to autonomous steering is not desirable during autonomous operation. Furthermore, unrestricted free rotation of the steering wheel when disconnected during autonomous operation is also undesirable.

[0003] Thus, while current systems and procedures achieve their intended purpose, there is a need for a new and improved system and a new and improved procedure for connecting a steering wheel to the steering system for manual driving situations and optionally disconnecting the steering wheel from the steering system and locking the steering wheel in a fixed position during autonomous operation of the vehicle. SUMMARY

[0004] According to several aspects of the present disclosure, a steering system for a vehicle comprises an upper shaft having a first distal end designed to support a steering wheel, a lower shaft, and a sliding sleeve that is selectively movable between an engaged position and a disengaged position, wherein, when in the engaged position, the sliding sleeve is designed to connect the upper shaft to the lower shaft, functionally connecting the steering wheel to the steering system, and, when in the disengaged position, the sliding sleeve is designed to disconnect the upper shaft from the lower shaft, functionally disconnecting the steering wheel from the steering system, and to secure the upper shaft and the steering wheel in a fixed position.

[0005] According to another aspect, the lower shaft includes a cylindrical serrated collar, wherein a distal end of the lower shaft is inserted into the serrated collar, an outer surface of the lower shaft and an inner surface of the cylindrical serrated collar have a serrated engagement with each other, such that the lower shaft and the serrated collar rotate as one unit, the upper shaft has a cylindrically shaped second distal end, the serrated collar is positioned in the second distal end of the upper shaft, the sliding sleeve has a cylindrical shape and extends around the second distal end of the upper shaft, an outer surface of the upper shaft and an inner surface of the sliding sleeve have a serrated engagement with each other, such that the upper shaft and the sliding sleeve rotate as one unit, and the second distal end of the upper shaft contains several flexible fingers, wherein then,When the sliding sleeve is moved to the released position, a gap exists between an inner surface of the flexible fingers of the second distal end of the upper shaft and an outer surface of the serrated collar, and the serrated collar and the lower shaft are rotatable with respect to the upper shaft and the sliding sleeve, thus functionally separating the steering wheel from the steering system; and then, when the sliding sleeve is moved to the engaged position, a rising inner surface of the sliding sleeve presses against an outer surface of the flexible fingers, forcing an inner surface of the flexible fingers into engagement with an outer surface of the serrated collar, the serrated collar and the lower shaft being in frictional engagement with the lower shaft in such a way that the lower shaft and the upper shaft rotate as a unit, thus functionally connecting the steering wheel to the steering system.

[0006] According to another aspect, the sliding sleeve includes a flexible inward-facing tab positioned proximal to a first distal end of the sliding sleeve, and the outer surface of the flexible fingers of the upper shaft contains a radial notch, wherein when the sliding sleeve is moved to the engaging position, the flexible inward-facing tab engages with the radial notch formed in the outer surface of the flexible fingers to hold the sliding sleeve in the engaging position.

[0007] According to another aspect, the steering system includes a stationary sleeve, in which the sliding sleeve, the second distal end of the upper shaft, the serrated collar and the distal end of the lower shaft are enclosed, the sleeve contains a pin extending radially inwards, the sliding sleeve has an axial recess formed in a second distal end of the sliding sleeve, and then, when the sliding sleeve is in the released position, the pin is designed to engage with the axial recess of the sliding sleeve, thus preventing rotation of the sliding sleeve and the upper shaft.

[0008] According to another aspect, the serrated collar includes a tab extending radially outwards from a distal end of the serrated collar, the sliding sleeve having an axial notch formed in the first distal end of the sliding sleeve, and then, when the sliding sleeve is in the engaged position, the tab of the serrated collar engages with the axial notch of the sliding sleeve, and the engagement of the tab of the serrated collar with the axial notch of the sliding sleeve prevents rotation of the serrated collar and the lower shaft relative to the sliding sleeve and the upper shaft.

[0009] According to another aspect, when the sliding sleeve is in the engaged position, the pin is positioned immediately adjacent to the second distal end of the sliding sleeve; when the sliding sleeve is in the released position, the tab is positioned immediately adjacent to the first distal end of the sliding sleeve; and during the temporary movement of the sliding sleeve between the engaged and released positions, the pin of the sleeve engages with the axial recess formed in the second distal end of the sliding sleeve, and simultaneously the tab of the serrated collar engages with the axial notch formed in the first distal end of the sliding sleeve.

[0010] According to another aspect, the system further includes a bushing positioned axially inwards from the second distal end, and flexible fingers of the upper shaft between an inner surface of the upper shaft and the outer surface of the serrated collar, the bushing being designed to allow rotation of the serrated collar relative to the upper shaft when the sliding sleeve is in the released position.

[0011] According to another aspect, the system also includes an axial retaining feature that is positioned between the inner surface of the upper shaft and the outer surface of the serrated collar and is designed to prevent axial movement of the upper shaft with respect to the serrated collar.

[0012] According to several aspects of the present disclosure, a method for operating a steering system in a vehicle for providing a selective decoupling of a steering wheel from the steering system, wherein the steering system comprises an upper shaft having a first distal end designed to carry a steering wheel thereon, a lower shaft and a sliding sleeve being selectively movable between an engaged position and a disengaged position, wherein the sliding sleeve, when in the engaged position, is designed to connect the upper shaft to the lower shaft, thus functionally connecting the steering wheel to the steering system, and then, when in the disengaged position, the sliding sleeve is designed to disconnect the upper shaft from the lower shaft, thus functionally disconnecting the steering wheel from the steering system, and to fix the upper shaft and the steering wheel in a fixed position.wherein the method comprises receiving, via a human-machine interface (HMI), a request from a user in the vehicle to detach the steering wheel from the steering system via a system controller in communication with the system controller of the steering system, deactivating with the system controller of a switching actuator in the vehicle and preventing the transmission in the vehicle from shifting out of a park position, sending via the HMI a message to the user in the vehicle indicating that a decoupling of the steering wheel from the steering system is taking place and that the hands should be taken off the steering wheel, and moving with the controller of the sliding sleeve to the released position.

[0013] According to another aspect, after receiving the request from the user via the HMI to detach the steering wheel from the steering system, the procedure includes checking the user's authorization with the system controller, checking with the system controller that the steering system is operational, checking with the system controller that the vehicle's transmission is in a park position, canceling the detachment of the steering wheel from the steering system and sending a message to the user if the user is not authorized, canceling the detachment of the steering wheel from the steering system and sending a message to the user if the steering system is inoperable, and canceling the detachment of the steering wheel from the steering system and sending a message to the user if the vehicle's transmission is not in the park position.

[0014] According to another aspect, the procedure further includes, before moving the sliding sleeve to the released position, measuring with the system controller by means of communication with a torque sensor of the torque applied to the steering wheel, then, if a torque is applied to the steering wheel, aborting a decoupling of the steering wheel from the steering system, activating the shifting of the transmission from a park position and sending a message to the user, and then, if no torque is applied to the steering wheel, centering with the system controller of the steering wheel.

[0015] According to another aspect, the procedure further includes checking with the system controller, via communication with a position sensor, that the steering wheel is centered; if the steering wheel is not centered, measuring with the system controller, via communication with the torque sensor, the torque applied to the steering wheel; if torque is applied, repeating the transmission via the HMI to the user in the vehicle, indicating that the steering wheel is being disengaged from the steering system and that the hands should be removed from the steering wheel; if no torque is applied to the steering wheel, canceling the disengagement of the steering wheel from the steering system; activating the shifting of the transmission from a park position and sending a message to the user that the steering system is locked; and if the steering wheel is centered,a continuation of moving the sliding sleeve to the released position using the controller.

[0016] According to another aspect, the procedure further includes, after moving the sliding sleeve to the released position with the system controller, measuring with the system controller the time required to move the sliding sleeve to the released position; then, if the time required to move the sliding sleeve to the released position exceeds a predefined threshold, aborting the decoupling of the steering wheel from the steering system and sending a message to the user that the decoupling was unsuccessful and that the steering wheel is re-engaging with the steering system; and then, if the time required to move the sliding sleeve to the released position does not exceed the predefined threshold, sending a message to the user via the HMI that the steering wheel has been detached from the steering system and the vehicle is restricted to autonomous operation.and deactivation of manual driving modes of the vehicle using the system controller.

[0017] According to another aspect, the procedure further includes receiving a request from the user in the vehicle to engage the steering system with the steering system via the human-machine interface (HMI) in communication with the steering system controller, deactivating a switching actuator in the vehicle with the system controller and preventing the transmission in the vehicle from shifting out of a park position, sending a message via the HMI to the user in the vehicle indicating that the steering wheel is being decoupled from the steering system and that the hands should be taken off the steering wheel, and moving the sliding sleeve to the engaging position with the controller.

[0018] According to another aspect, after receiving the request from the user via the HMI to engage the steering wheel with the steering system, the procedure includes checking the user's authorization with the system controller, checking with the system controller that the steering system is operational, checking with the system controller that the vehicle's transmission is in a park position, canceling the steering wheel engagement with the steering system and sending a message to the user if the user is not authorized, canceling the steering wheel engagement with the steering system and sending a message to the user if the steering system is inoperable, and canceling the steering wheel engagement with the steering system and sending a message to the user if the vehicle's transmission is not in a park position.

[0019] According to another aspect, the procedure further includes, prior to moving the sliding sleeve to the engaging position, centering with the steering system controller, checking with the system controller that the steering system is centered, then, if the steering system is not centered, sending a message to the user that the engagement was unsuccessful, aborting the centering of the steering system, aborting any engagement of the steering wheel with the steering system and activating the shifting of the transmission from a park position, and then, if the steering system is centered, proceeding with moving the sliding sleeve to the engaging position.

[0020] According to another aspect, the procedure further comprises measuring with the system controller the time required to move the sliding sleeve to the engaging position; measuring with the system controller, via communication with a force sensor, the magnitude of the force required to move the sliding sleeve to the engaging position; then, if the time required to move the sliding sleeve to the engaging position exceeds a predetermined threshold or the magnitude of the force required to move the sliding sleeve to the engaging position exceeds a predetermined threshold; moving with the system controller the sliding sleeve back to the released position; and then, if the time required to move the sliding sleeve to the engaging position does not exceed the predetermined threshold and the magnitude of the force requiredto move the sliding sleeve to the engaging position, provided the specified threshold is not exceeded, a message is displayed via the HMI indicating that the steering wheel is engaged and all driving modes are activated, and the transmission is shifted out of park.

[0021] According to a further aspect, if the time required to move the sliding sleeve to the engaged position exceeds a predetermined threshold, or if the amount of force required to move the sliding sleeve to the engaged position exceeds a predetermined threshold and the sliding sleeve has been moved back to the released position, the method further comprises measuring with the system controller the time required to move the sliding sleeve back to the released position, and measuring with the system controller, via communication with the force sensor, the amount of force required to move the sliding sleeve back to the released position.If the time required to return the sliding sleeve to the released position exceeds a predetermined threshold, a message is displayed via the HMI indicating that the vehicle is inoperable. Then, if the time required to return the sliding sleeve to the released position does not exceed the predetermined threshold and the amount of force required to return the sliding sleeve to the released position does not exceed the predetermined threshold, a message is displayed via the HMI indicating that the steering system requires maintenance, the steering wheel is disconnected from the steering system, and the vehicle is restricted to autonomous operation.

[0022] Further areas of application will become apparent from the description provided here. It should be understood that the description and specific examples serve only for illustration and are not intended to limit the scope of this disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described here serve only for illustration and are not intended to limit the scope of the present disclosure in any way; they show: Fig. 1 a schematic view of a vehicle having a steering system according to an exemplary embodiment of the present disclosure; Fig. 2 a side section view of the steering system; Fig. 3 an enlarged view of a section of Fig. 2, wherein a sliding sleeve is in an engaging position; Fig. 4 an enlarged view similar Fig. 3, wherein the sliding sleeve is in a released position; Fig. 5 a schematic sectional view, which runs along line 5-5 from Fig. 3 was taken; Fig. 6 a schematic perspective view of a lower shaft, a serrated collar, an upper shaft and a sliding sleeve of the steering system, the sliding sleeve being in the released position, exposing several flexible fingers of the upper shaft; Fig. 7 a schematic side section view illustrating a gap that exists between the flexible fingers of the upper shaft and the serrated collar when the sliding sleeve is in the released position; Fig. 8 a schematic perspective view of the lower shaft, a serrated collar, an upper shaft and a sliding sleeve of the steering system, wherein the sliding sleeve is in the engaging position and exerts a force on the flexible fingers of the upper shaft; Fig. 9 a schematic side section view illustrating an engagement of an inner surface of the flexible fingers of the upper shaft and an outer surface of the serrated collar when the sliding sleeve is in the engaging position; Fig. 10A an enlarged view of a section of Fig. 3, which is indicated by the circled area that is in Fig. 3 with “ Fig. marked 10A; Fig. 10B an enlarged view of a section of Fig. 4, which is indicated by the circled area that is in Fig. 4 with “ Fig. marked 10B; Fig. 11A an enlarged view of a section of Fig. 3, which is indicated by the circled area that is in Fig. 3 with “ Fig. 11A" is marked; Fig. 11B an enlarged view of a section of Fig. 4, which is indicated by the circled area that is in Fig. 4 with “ Fig. 11B" is marked; Fig. 12 a schematic block diagram of the steering system; Fig. 13A a first section of a flowchart illustrating a procedure according to an exemplary embodiment of the present disclosure; Fig. 13B a ​​second section of the flowchart illustrating a procedure according to an exemplary embodiment of the present disclosure; and Fig. 13C a third section of the flowchart illustrating a procedure according to an exemplary embodiment of the present disclosure.

[0024] The figures are not necessarily to scale, and some features may be exaggerated or minimized, for example, to show details of certain components. In some cases, known components, systems, materials, or processes have not been described in detail to avoid obscuring the present disclosure. Therefore, specific structural and functional details disclosed herein should not be interpreted as limiting, but merely as a basis for the claims and as a representative basis for instructing a person skilled in the art in the various ways of applying the present disclosure. DETAILED DESCRIPTION

[0025] The following description is merely exemplary and is not intended to limit the present disclosure, application, or uses. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, summary, or detailed description. It should be understood that throughout the drawings, corresponding reference numerals denote similar or corresponding sections and features.As used here, the term "module" refers to any hardware, software, firmware, electronic control component, processing logic, and / or processor device, individually or in any combination, including without limitation: an application-specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or a group) with memory executing one or more software or firmware programs, a combinational logic circuit, and / or other suitable components providing the described functionality. Although the figures shown here represent an example with specific arrangements of elements, actual embodiments may include additional intervening elements, devices, features, or components.Furthermore, it should be understood that the figures are merely illustrative and do not need to be drawn to scale.

[0026] As used herein, the term "vehicle" is not limited to passenger cars. While the technology presented here is essentially described in connection with passenger cars, the technology itself is not limited to passenger cars. The concepts can be used in a wide variety of applications, such as in connection with aircraft, watercraft, other vehicles, and consumer electronics components.

[0027] Exemplary embodiments are provided in such a way that this disclosure is thorough and fully conveys its scope to those skilled in the art. Numerous specific details, such as examples of specific compositions, components, devices, and processes, are presented to provide a precise understanding of embodiments of the present disclosure. It will be evident to those skilled in the art that specific details need not be included, that exemplary embodiments can be embodied in many different forms, and that neither of these should be interpreted as limiting the scope of the disclosure. In some exemplary embodiments, known processes, known device structures, and known technologies are not described in detail.

[0028] The terminology used here serves only to describe certain exemplary embodiments and is not intended to be restrictive. As used here, the singular forms "a," "an," and "the" may be intended to include the plural forms unless the context clearly indicates otherwise. The terms "comprises," "encompasses," "contains," and "exhibits" are inclusive and therefore establish the presence of specified features, elements, compositions, steps, integers, operations, and / or components, but do not preclude the presence or addition of one or more further features, integers, steps, operations, elements, components, and / or groups thereof.Although the unlimited term "comprise" is to be understood as a non-restrictive expression used to describe and claim various embodiments set forth herein, in certain aspects the term may alternatively be understood as a more limiting and restrictive expression such as "consist of" or "substantially consist of". Thus, for each given embodiment that cites compositions, materials, components, elements, features, integers, operations and / or process steps, the present disclosure also specifically includes embodiments that consist of, or substantially consist of, such cited compositions, materials, components, elements, features, integers, operations and / or process steps.In the case of "consisting of", the alternative embodiment excludes any additional compositions, materials, components, elements, features, integers, operations and / or process steps, whereas in the case of "essentially consisting of", any additional compositions, materials, components, elements, features, integers, operations and / or process steps that substantially affect the basic and novel properties are excluded from such an embodiment, but any compositions, materials, components, elements, features, integers, operations and / or process steps that do not substantially affect the basic and novel properties may be included in the embodiment.

[0029] Any procedural steps, processes, and operations described herein should not be interpreted as necessarily requiring their execution in the specific order discussed or illustrated, unless explicitly identified as such. Furthermore, it should be understood that additional or alternative steps may be employed unless otherwise indicated.

[0030] When a component, element, or layer is described as "attached to," "interacting with," "connected to," or "coupled to" another element or layer, it may be directly attached to, interacting with, connected to, or coupled to that other component, element, or layer, or there may be intermediate elements or layers. Conversely, when an element is described as "directly attached to," "directly interacting with," "directly connected to," or "directly coupled to" another element or layer, there need not be any intermediate elements or layers. Other words used to describe the relationship between elements should be interpreted similarly (e.g., "between" or "directly between," "adjacent" or "directly adjacent," etc.).As used herein, the expression “and / or” includes all combinations of one or more of the associated listed elements.

[0031] Although the terms first, second, third, etc., may be used here to describe different steps, elements, components, areas, layers, and / or sections, these steps, elements, components, areas, layers, and / or sections are not intended to be limited by these terms unless otherwise specified. These expressions may only be used to distinguish one step, element, component, area, layer, or section from another. Terms such as "first," "second," and other numerical terms, when used here, do not imply any sequence or order unless clearly indicated by the context.Thus, a first step, a first element, a first component, a first area, a first layer or a first section discussed below could be referred to as a second step, a second element, a second component, a second area, a second layer or a second section without deviating from the instructions of the exemplary embodiments.

[0032] Spatially or temporally relative terms such as "before," "after," "inner," "outer," "below," "under," "lower," "above," "upper," and the like may be used here to simplify the description and to describe the relationship of an element or feature to one or more other elements or features illustrated in the figures. Spatially or temporally relative terms may be provided to include different orientations of the device or system in use or operation in addition to the orientation shown in the figures.

[0033] Throughout this disclosure, numerical values ​​represent approximate measures or limits of ranges to include minor deviations from the given values ​​and embodiments that exhibit approximately the stated value, as well as those that exhibit exactly the stated value. Except in the working examples provided at the end of the detailed description, all numerical values ​​of parameters (e.g., of quantities or conditions) in this application, including the appended claims, are to be understood as being modified in all cases by the expression "approximately," whether "approximately" actually precedes the numerical value or not. "Approximately" indicates that the stated numerical value permits a certain degree of slight inaccuracy (with a certain approximation to an accuracy in the value; nearly or reasonably close to the value; approximately).Unless the imprecision implied by "approximately" is understood differently in the prior art with this conventional meaning, "approximately," as used here, indicates at least variations that may arise from conventional methods of measuring and using such parameters. For example, with reference to percentages, "approximately" includes a variation of plus / minus 5%; with reference to temperatures, "approximately" includes a variation of plus / minus five degrees; and with reference to distances, "approximately" includes plus / minus 10%. Additionally, a disclosure of ranges includes the disclosure of all values ​​and further subdivided ranges within the entire range, which contain endpoints and subranges given for the ranges.

[0034] Additionally, a disclosure of areas includes the disclosure of all values ​​and further subdivided areas within the entire area, which includes endpoints and sub-areas given for the areas.

[0035] Exemplary embodiments are now described in more detail with reference to the accompanying drawings. According to one exemplary embodiment, Fig. 1 An autonomous vehicle 10 with an associated steering system 24. In general, the steering system 24 works in conjunction with other systems in the vehicle 10 to control the steering of the vehicle 10. The vehicle 10 generally includes a chassis 12, a body 14, front wheels 16, and rear wheels 18. The body 14 is mounted on the chassis 12 and essentially encloses components of the vehicle 10. The body 14 and the chassis 12 can together form a frame. The front wheels 16 and the rear wheels 18 are each coupled to the chassis 12 near their respective corners, allowing them to rotate.

[0036] Vehicle 10 is an autonomous vehicle, and the steering system 24 is incorporated into the autonomous vehicle 10. An autonomous vehicle 10 is, for example, a vehicle 10 that can be automatically controlled to transport passengers from one location to another. In the illustrated embodiment, vehicle 10 is depicted as a passenger car; however, it should be acknowledged that any other vehicle, including trucks, SUVs, recreational vehicles (RVs), etc., can also be used. In an exemplary embodiment, vehicle 10 is equipped with a so-called SAE Level 4 or higher automation system. A Level 4 system indicates "high automation," which refers to the driving-mode-specific performance of an automated driving system in all aspects of the dynamic driving task, even if a human driver does not respond appropriately to a request to intervene.Vehicle 10 can operate fully autonomously and vehicle 10 can also operate manually, with a driver inside vehicle 10 controlling vehicle 10.

[0037] As shown, the vehicle 10 generally includes a propulsion system 20, a transmission system 22, a steering system 24, a braking system 26, a sensor system 28, an actuator system 30, at least one data storage device 32, a vehicle controller 34, and a communication system 36. In an embodiment in which the vehicle 10 is an electric vehicle, a transmission system 22 is not required. The propulsion system 20 may, in various embodiments, include an internal combustion engine, an electric machine such as a traction motor, and / or a fuel cell propulsion system. The transmission system 22 is configured to transmit power from the propulsion system 20 to the front wheels and / or the rear wheels 18 of the vehicle 16 according to selectable speed ratios. According to various embodiments, the transmission system 22 may include a stepped automatic transmission, a continuously variable transmission, or another suitable transmission.The braking system 26 is configured to impart a braking torque to the front wheels 16 and the rear wheels 18 of the vehicle. The braking system 26 can include, in various embodiments, friction brakes, electromechanical brakes, a regenerative braking system such as an electric motor, and / or other suitable braking systems. The steering system 24 influences the position of the front wheels 16 and / or the rear wheels 18.

[0038] The sensor system 28 includes one or more detection devices 40a-40n that detect observable conditions of the external environment and / or the internal environment of the autonomous vehicle 10. The detection devices 40a-40n may include, but are not limited to, radars, lidar, global positioning systems, optical cameras, thermal cameras, ultrasonic sensors and / or other sensors.

[0039] The actuator system 30 includes one or more actuator devices 42a-42n that control one or more features of the vehicle 10, such as, but not limited to, the propulsion system 20, the transmission system 22, the steering system 24 and the braking system 26.

[0040] The vehicle controller 34 includes at least one processor 44 and a computer-readable memory device or computer-readable storage medium 46. The at least one data processor 44 can be any custom-made or commercially available processor, a central processing unit (CPU), a graphics processing unit (GPU), an auxiliary processor among several processors assigned to the vehicle controller 34, a semiconductor-based microprocessor (in the form of a microchip or a chipset), a macroprocessor, any combination thereof, or generally any device for executing instructions. The computer-readable memory device or computer-readable storage medium 46 can, for example, include volatile and non-volatile memory in read-only memory (ROM), read / write memory (RAM), and continuous memory (CAM).KAM is a persistent or non-volatile memory that can be used to store various operating variables while at least one data processor 44 is switched off. The computer-readable storage device or computer-readable storage medium 46 can be implemented using any number of known storage devices, such as PROMs (programmable read-only memories), EPROMs (electrical PROMs), EEPROMs (electrically erasable PROMs), flash memories, or other electrical, magnetic, optical, or combined storage devices capable of storing data, some of which represent executable instructions used by the controller 34 in controlling the vehicle 10.

[0041] Although in Fig. Where only one controller 34 is shown, embodiments of the vehicle 10 may contain any number of controllers 34 which communicate via any suitable communication medium or combination of communication media and which work together to process the sensor signals, perform logic, calculations, procedures and / or algorithms and generate control signals to automatically control features of the autonomous vehicle 10.

[0042] The vehicle controller 34 is a non-generalised electronic control device comprising a pre-programmed digital computer or processor, memory or non-transient computer-readable medium used to store data such as control logic, software applications, commands, computer code, data, lookup tables, etc., and a transmit / receive device [or input / output ports]. A computer-readable medium includes any type of medium accessible by a computer, such as read-only memory (ROM), read / write memory (RAM), hard disk drive, compact data carrier (CD), digital video data carrier (DVD), or any other type of memory.A "non-transient" computer-readable medium excludes wired, wireless, optical, or other communication links that carry transient, electrical, or other signals. A non-transient computer-readable medium includes media where data can be permanently stored and media where data can be stored and later overwritten, such as a rewritable optical disc or an erasable storage device. Computer code includes any type of program code, which includes source code, object code, and executable code.

[0043] With reference to Fig. 2 the steering system 24 includes an upper shaft 50 having a first distal end 52 designed to carry a steering wheel 54 on it, a lower shaft 56 and a sliding sleeve 58 which is selectably movable between an engaged position and a released position as indicated by the arrow 60.

[0044] With reference to Fig. 3, when in the engaged position, moves the sliding sleeve 58 to a second distal end 62 of the upper shaft 50, as indicated by arrow 64, and is designed to connect the upper shaft 50 to the lower shaft 56, thus functionally connecting the steering wheel 54 to the steering system 24. With reference to Fig. 4, when in the released position, moves the sliding sleeve 58 to the first distal end 52 of the upper shaft 50, as indicated by the arrow 66, and is designed to separate the upper shaft 50 from the lower shaft 56, thus functionally separating the steering wheel 54 from the steering system 24, and to fix the upper shaft 50 and the steering wheel 54 in a fixed position.

[0045] With reference to Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. In an exemplary embodiment, the lower shaft 56 comprises a cylindrical serrated collar 68, wherein a distal end 70 of the lower shaft 56 is inserted into the serrated collar 68, and an outer surface 72 of the lower shaft 56 and an inner surface 74 of the cylindrical serrated collar 68 have a serrated engagement with each other, such that the lower shaft 56 and the serrated collar 68 rotate as a single unit. The second distal end 62 of the upper shaft 50 is cylindrical, with the serrated collar 68 being positioned in the second distal end 62 of the upper shaft 50.The sliding sleeve 58 has a cylindrical shape and extends around the second distal end 62 of the upper shaft 50, wherein an outer surface 76 of the upper shaft 50 and an inner surface 78 of the sliding sleeve 58 have a serrated engagement such that the upper shaft 50 and the sliding sleeve 58 rotate as a single unit. With reference to... Fig. 4 and Fig. 5 is the distal end 70 of the lower shaft 56 positioned coaxially in the cylindrical serrated collar 68, which is positioned coaxially in the cylindrical second distal end 62 of the upper shaft 50, which is positioned coaxially in the cylindrical sliding sleeve 58.

[0046] With reference to Fig. 6 contains the second distal end 62 of the upper shaft 50 several flexible fingers 80. With reference to Fig. 7, when the sliding sleeve 58 is in the released position, a gap 82 exists between an inner surface 84 of the flexible fingers 80 of the second distal end 62 of the upper shaft 50 and an outer surface 86 of the serrated collar 68, and the serrated collar 68 and the lower shaft 56 are rotatable with respect to the upper shaft 50 and the sliding sleeve 58, which functionally separates the steering wheel 54 from the steering system 24.

[0047] With reference to Fig. 8 and Fig. 9 then, when the sliding sleeve 58 is moved to the engaging position, as indicated by arrow 88, presses an increasing inner surface 90 of the sliding sleeve 58 against an outer surface 92 of the flexible fingers 80, as indicated by arrow 94, which forces the inner surface 84 of the flexible fingers 80 into engagement with the outer surface 86 of the serrated collar 68, as indicated by arrow 96, wherein the serrated collar 68 and the lower shaft 56 are in frictional engagement with the upper shaft 50 such that the lower shaft 56 and the upper shaft 50 rotate as one unit, which functionally connects the steering wheel 54 with the steering system 24. The flexible fingers 80 are naturally, in an unbent position, spaced apart from the outer surface 86 of the serrated collar 68, forming the gap 82 between them.The outer surface 92 of each of the flexible fingers 80 is rising in accordance with the rising inner surface 90 of the sliding sleeve 58 such that, when the sliding sleeve 58 is moved to the engaging position, as indicated by arrow 88, the sliding sleeve 58 presses on the flexible fingers 80, as indicated by arrow 94, and deflects the flexible fingers 80 inwards into contact with the outer surface 86 of the serrated collar 68.In an exemplary embodiment, the inner surface 84 of the flexible fingers 80 and the outer surface 86 of the serrated collar 68 have surface treatments such that, when the inner surface 84 of the flexible fingers 80 and the outer surface 86 of the serrated collar 68 are pressed together, the frictional engagement between the inner surface 84 of the flexible fingers 80 and the outer surface 86 of the serrated collar 68 is sufficient to transmit the load of an input from the steering wheel 54 and the upper shaft 50 to the serrated collar 68 and the lower shaft 56, effectively locking the upper shaft 50 to the lower shaft 56 and functionally connecting the steering wheel 54 to the steering system 24.

[0048] With reference to Fig. 10A and Fig. In an exemplary embodiment, 10B includes the sliding sleeve 58 with a flexible, inwardly facing tab 98 positioned proximal to a first distal end 100 of the sliding sleeve 58, and the outer surface 92 of the flexible fingers 80 of the upper shaft 50 has a radial notch 102, wherein, when the sliding sleeve 58 is moved to the engaging position, as shown in Fig. As shown in Figure 10A, the flexible inward-facing tab 98 engages with the radial notch 102 formed in the outer surface 92 of the flexible fingers 80 to hold the sliding sleeve 58 in the engaged position. When the steering system 24 is actuated to move the sliding sleeve 58 from the engaged position to the released position, and a sufficient force is applied to move the sliding sleeve 58, the flexible inward-facing tab 98 is designed to bend radially outward, as indicated by arrow 104. This releases the flexible inward-facing tab 98 from the radial notch 102 of the flexible fingers 80, allowing the sliding sleeve 58 to move from the engaged position to the released position, as indicated by arrow 106.Under normal operating conditions, no external force is present to remove the flexible, inwardly directed tab 98 from the radial notch 102. Thus, the sliding sleeve 58 is held in the engaged position until it is selectively and intentionally moved to the disengaged position. A small force will tend to act on the sliding sleeve 58 to move it to the disengaged position; this force is proportional to the angle of the tapered surface. Due to the steep angle of the tapered surfaces of the sliding sleeve 58 and the upper shaft 50, this force is very small. The tab 98 is present to prevent this small force from disengaging the frictional engagement between the sliding sleeve 58 and the upper shaft 50.

[0049] In an exemplary embodiment, the steering system 24 comprises a stationary sleeve 108, the sliding sleeve 58, the second distal end 62 of the upper shaft 50, the serrated collar 68, and the distal end 70 of the lower shaft 56, which are enclosed within the sleeve 108. The sleeve 108 includes a pin 110 extending radially inward, and the sliding sleeve 58 includes an axial recess 112 formed in a second distal end 114 of the sliding sleeve 58. With reference to Fig. 11A is such that when the sliding sleeve 58 is in the engaged position, the pin 110 is not engaged with the axial recess 112, which allows the upper shaft 50 and the sliding sleeve 58 to rotate due to input from the steering wheel 54. With reference to Fig. 11B is designed so that when the sliding sleeve 58 is in the released position, the pin 110 engages with the axial recess 112 of the sliding sleeve 58, thus preventing rotation of the sliding sleeve 58 and the upper shaft 50. Therefore, when the sliding sleeve 58 is moved to the released position, the upper shaft 50, and consequently the steering wheel 54, is locked in a fixed position. In an exemplary embodiment, the axial recess 112 is positioned such that when the pin 110 engages with the axial recess 112, the steering wheel 54 is held in a centered position. To achieve this, the steering system 24 is designed to center the steering system 24 and steering wheel 54, while the sliding sleeve 58 is engaged prior to moving the sliding sleeve 58 to the released position, as further discussed below.

[0050] In another exemplary embodiment, with renewed reference to Fig. 10A and Fig. 10B the serrated collar 68 a tab 116 extending radially outwards from a distal end 118 of the serrated collar 68, wherein the sliding sleeve 58 includes an axial notch 120 formed in the first distal end 100 of the sliding sleeve 58, and with reference to Fig. 10A then, when the sliding sleeve 58 is in the engaging position, the tab 116 of the serrated collar 68 is engaged with the axial notch 120 of the sliding sleeve 58. The engagement of the tab 116 of the serrated collar 68 with the axial notch 120 of the sliding sleeve 58 prevents rotation of the serrated collar 68 and the lower shaft 56 relative to the sliding sleeve 58 and the upper shaft 50. Thus, if the frictional engagement between the inner surface 84 of the flexible fingers 80 of the upper shaft 50 and the outer surface 86 of the serrated collar 68 exhibits slippage, the engagement of the tab 116 of the serrated collar 68 with the axial notch 120 of the sliding sleeve 58 prevents rotation of the sliding sleeve 58 and the upper shaft 50 relative to the serrated collar 68 and the lower shaft 56, thereby maintaining the connection of the steering wheel 54 with the steering system 24. With reference to Fig. 10B, when the sliding sleeve 58 is in the released position, the tab 116 of the serrated collar 68 is free from the axial notch 120 formed in the first distal end 100 of the sliding sleeve 58, and thereby the sliding sleeve 58 and the upper shaft 50 are rotatably decoupled from the serrated collar 68 and the lower shaft 56.

[0051] In an exemplary embodiment, when the sliding sleeve 58 is in the engaged position, the pin 110 is positioned immediately adjacent to the second distal end 114 of the sliding sleeve and free from the axial recess 112 formed therein, and when the sliding sleeve 58 is in the released position, the tab 116 of the serrated collar 68 is positioned immediately adjacent to the first distal end 100 of the sliding sleeve 58 and free from the axial notch 120 formed therein. Thus, during the temporary movement of the sliding sleeve 58 between the engaged and disengaged positions, the pin 110 of the sleeve 108 engages with the axial recess 112 formed in the second distal end 114 of the sliding sleeve 58, and simultaneously the tab 116 of the serrated collar 68 engages with the axial notch 120 formed in the first distal end 100 of the sliding sleeve 58.When the sliding sleeve 58 moves from the engaged position to the disengaged position, the pin 110 engages with the axial recess 112 before the tab 116 releases the axial notch 120. When the sliding sleeve 58 reaches the fully disengaged position, the pin 110 is fully engaged in the axial recess 112 and the tab 116 is free of the notch 120. Similarly, when the sliding sleeve 58 moves from the disengaged position to the engaged position, the tab 116 engages with the axial notch 120 before the pin 110 releases the axial recess 112. When the sliding sleeve 58 reaches the fully engaged position, the tab 116 is fully engaged with the axial notch 120 and the pin 110 is free of the axial recess. 112.

[0052] With renewed reference to Fig. In a further exemplary embodiment, the steering system 24 further comprises a bushing 122, which is positioned axially inwards from the second distal end 62, and flexible fingers 80 of the upper shaft 50 between an inner surface 124 of the upper shaft 50 and the outer surface 86 of the serrated collar 68, wherein the bushing 122 is designed to support the upper shaft 50 on the serrated collar 68 and to allow rotation of the serrated collar 68 with respect to the upper shaft 50 when the sliding sleeve 58 is in the released position.

[0053] With renewed reference to Fig. In a further exemplary embodiment, the steering system 24 further comprises an axial retaining feature 126, which is positioned between the inner surface 124 of the upper shaft 50 and the outer surface 86 of the serrated collar 68 and is designed to prevent axial movement of the upper shaft 50 with respect to the serrated collar 68. As shown, the axial retaining feature 126 includes a ring that is simultaneously positioned in a radial recess formed in the inner surface 124 of the upper shaft 50 and a radial recess formed in the outer surface 86 of the serrated collar 68.

[0054] With reference to Fig. 2 The steering system 24 further includes an actuator 128 designed to actuate a coupling 130 which engages with an outwardly facing radial notch 132 formed in the sliding sleeve 58, in order to selectively move the sliding sleeve 58 back and forth between the engaged position and the disengaged position. The actuator can be motorized, e.g., a linear motor, or it can be a manually operated lever. It is understood by those skilled in the art that the actuator can be any suitable structure or device designed to selectively move the sliding sleeve 58 back and forth.

[0055] With reference to Fig. The steering system 24 includes an occupant monitoring system 134 and a human-machine interface (HMI) 136. The occupant monitoring system 134 is designed to capture images of a user in the vehicle 10 to assist in identifying the user and in determining, by the system controller 36, the user's authorization to use the steering system 24 to engage or disengage the steering wheel 54 from the steering system 24. The HMI 136 is designed to enable communication between the user and the system controller 36 and to display operating status messages to the user. The multiple sensors 40a-40n include at least one steering wheel torque sensor 138, designed to measure the amount of torque applied to the steering wheel 54, and a steering wheel position sensor 140, designed to determine the angular position of the steering wheel 54.

[0056] With reference to Fig. 13A, Fig. 13B and Fig. 13C comprises a method 200 for operating a steering system 24 in a vehicle 10 for providing selective decoupling of a steering wheel 54 from the steering system 24 according to an exemplary embodiment of the present disclosure, starting in block 202, wherein the sliding sleeve 58 of the steering system is in the engaged position and the vehicle 10 is operated in a manual operating mode, transitioning to block 204, receiving by the system controller 36 via the human-machine interface (HMI) 136 in communication with the system controller 36 of the steering system 24 a request from a user in the vehicle 10 to detach the steering wheel 54 from the steering system 24. Such a request can be associated with the user's request to switch to an autonomous operating mode of the vehicle 10, whereby a connection of the steering wheel 54 to the steering system 24 is neither necessary nor required.

[0057] Method 200 further comprises, transitioning to block 206, deactivating a switching actuator 142 in vehicle 10 using the system controller 36 and preventing the transmission 22 in vehicle 10 from shifting out of a park position. This ensures that vehicle 10 is not shifted out of the park position during the transition between a manual and an autonomous operating mode. Transiting to block 208, method 200 comprises sending a message to the user in vehicle 10 via the HMI 136, indicating that the steering wheel 54 is being disengaged from the steering system 24 and instructing the user to remove their hands from the steering wheel 54, and transitioning to block 210, moving the sliding sleeve 58 to the released position using the system controller 36. Moving the sliding sleeve involves actuation by the system controller 36 of the actuator 128 to cause the coupling 130 to move the sliding sleeve 58.

[0058] In an exemplary embodiment, the method 200 further comprises, after receiving the request from the user to release the steering wheel 54 from the steering system 24 via the HMI 136, in block 204 transitioning to block 212, a check of the user's authorization with the system controller 36. The system controller 36 uses data collected by the occupant monitoring system 134 and received from the user via the HMI 136 to determine that the user is authorized to switch the vehicle 10 between a manual and an autonomous operating mode.

[0059] If in block 212 the system controller 36 determines that the user is not authorized, then, transitioning to block 214, procedure 200 includes aborting the decoupling of the steering wheel 54 from the steering system 24 and sending a message to the user that the user is not authorized to perform such an action, with procedure 200 then reverting to block 202, with the operation of the vehicle 10 continuing in manual mode.

[0060] If, in block 212, the system controller 36 determines that the user is authorized, then, transitioning to block 216, procedure 200 includes checking with the system controller 36 that the steering system 24 is operational. The system controller 24 receives data from the multiple sensors 40a-40n in the vehicle to determine that all aspects of the steering system 24 are functioning correctly.

[0061] If in block 216 the system controller 36 determines that the steering system 24 is not operational, then, transitioning to block 218, procedure 200 comprises aborting the decoupling of the steering wheel 54 from the steering system 24 and sending a message to the user that operation is unavailable, with procedure 200 then reverting to block 202, with the operation of the vehicle 10 continuing in manual mode.

[0062] If in block 216 the system controller 36 determines that the steering system 24 is operational, then, transitioning to block 220, procedure 200 includes checking with the system controller 36 that the transmission 22 of the vehicle 10 is in the park position.

[0063] If, in block 220, the system controller 36 determines that the transmission 22 is not in the park position, then, transitioning to block 222, procedure 200 includes aborting the disconnection of the steering wheel 54 from the steering system 36, sending a message to the user that the transmission 22 is not in the park position, and instructing the user to move the transmission 22 into the park position. This message will remain displayed until the system controller 36, by communicating with the multiple sensors 40a-40n, determines that the transmission 22 is in the park position. When the system controller 36 determines that the transmission 22 is in the park position, the procedure proceeds to block 206, where the shift lever is deactivated, to block 208, where the message is sent to the user, and to block 210, where the sliding sleeve 58 is moved to the released position.

[0064] In a further exemplary embodiment, the method 200 further comprises, prior to moving the sliding sleeve 58 to the released position, a measurement with the system controller 36 by means of communication with the steering wheel torque sensor 138 of a torque exerted on the steering wheel 54, and then, when a torque is exerted on the steering wheel 54, a termination of the decoupling of the steering wheel 54 from the steering system 24, and an activation of the shifting of the transmission 22 from a park position and a sending of a message to the user and a return to block 202, whereby the operation of the vehicle 10 continues in manual mode.

[0065] In an exemplary embodiment, when a torque is detected in block 223, the system controller 36 returns to block 208 and continues to display the message instructing the user to take their hands off the steering wheel 54. If the message in block 228 has been ignored for less than a predetermined duration, the method returns to block 208 and continues to display the message. If the message in block 228 has been ignored for more than the predetermined duration, the method 200 proceeds to blocks 224 and 226. If no torque is applied to the steering wheel 54 in block 223, the method 200, proceeding to block 230, includes centering the steering wheel 54 with the system controller 36. As mentioned previously, for the transition back and forth between engaging and disengaging the steering wheel 54 from the steering system 24, the steering system 24 and the steering wheel 54 must be in a centered position.Therefore, before initiating a movement of the sliding sleeve 58 in block 210, the steering system 24 and the steering wheel 54 must be centered.

[0066] Transitioning to block 232, procedure 200 includes checking with the system controller 36, via communication with the steering wheel position sensor 140, that the steering wheel 54 is centered. If, in block 232, the steering wheel 54 is not centered, then, transitioning to block 234, procedure 200 includes measuring with the system controller 36, via communication with the torque sensor 138, a torque applied to the steering wheel 54. If, in block 234, a torque is applied to the steering wheel 54, then procedure 200 returns to block 208 and repeats the transmission, via the HMI 136, of the message to the user in the vehicle 10, indicating that the steering wheel 54 is being disengaged from the steering system 24 and that the user should remove their hands from the steering wheel 54.If no torque is applied to the steering wheel 54 in block 234, then the method 200 transitions to block 236, interrupting the disengagement of the steering wheel 54 from the steering system 24; transitions to block 238, activating the shifting of the transmission 22 from a park position; and transitions to block 240, sending a message to the user that the steering system is locked and returning to block 202, with the operation of the vehicle 10 continuing in manual mode. In a further exemplary embodiment, the method transitions to block 242, disabling future requirements to release the steering wheel 54.

[0067] If in block 232 the system controller 36 determines that the steering wheel 54 is centered, then the procedure 200 proceeds to block 210 and a movement with the controller 36 of the sliding sleeve 58 to the released position.

[0068] With reference to Fig. 13B, after moving the sliding sleeve 58 to the released position with the system controller 36 in block 210, comprises the procedure 200, further transitioning to block 244, measuring with the system controller 36 the time interval required to move the sliding sleeve 58 to the released position. If, in block 244, the time interval required to move the sliding sleeve 58 to the released position exceeds a predetermined threshold, then transitioning to block 246, the procedure 200 comprises aborting a decoupling of the steering wheel 54 from the steering system 24, and transitioning to block 248, sending a message to the user that the decoupling was unsuccessful and that re-engagement of the steering wheel 54 with the steering system 24 is taking place, and transitioning to block 250, moving the sliding sleeve 58 back to the engaged position with the system controller 36.

[0069] If, in block 244, the time required to move the sliding sleeve 58 to the released position does not exceed the specified threshold, then the procedure 200, transitioning to block 252, includes sending a message to the user via the HMI 136 that the steering wheel 54 has been released from the steering system 24 and the vehicle 10 is restricted to autonomous operation, and, transitioning to block 254, deactivating the vehicle 10's manual driving modes with the system controller 36.

[0070] In a further exemplary embodiment in block 255, wherein the sliding sleeve 58 of the steering system 24 is in the released position and the vehicle 10 is operating in an autonomous mode, transitioning to block 256, the system controller 36 receives, via the human-machine interface (HMI) 136, a request from a user in the vehicle 10 to engage the steering wheel 54 with the steering system 24, thereby activating manual operation of the vehicle 10. Such a request can be associated with the user's request to switch to a manual operating mode of the vehicle 10, which requires a connection between the steering wheel 54 and the steering system 24.

[0071] Method 200 further comprises, transitioning to block 258, deactivating the switching actuator 142 in vehicle 10 with the system controller 36 and preventing the transmission 22 in vehicle 10 from shifting out of a park position. This ensures that vehicle 10 is not shifted out of the park position during the transition between a manual and an autonomous operating mode. Transiting to block 260, method 200 comprises sending a message to the user in vehicle 10 via the HMI 136, indicating that the steering wheel 54 is being engaged by the steering system 24, and instructing the user to release their hands from the steering wheel 54, and transitioning to block 250, moving the sliding sleeve 58 to the engaging position with the system controller 36. Moving the sliding sleeve includes actuation by the system controller 36 of the actuator 128 to cause the coupling 130 to move the sliding sleeve 58.

[0072] In an exemplary embodiment, the method 200 further comprises, after receiving the request from the user to engage the steering wheel 54 via the steering system 24 in block 256 transitioning to block 262, checking the user's authorization with the system controller 36. The system controller 36 uses data collected by the occupant monitoring system 134 and received from the user via the HMI 136 to determine that the user is authorized to switch the vehicle 10 between a manual and an autonomous operating mode.

[0073] If in block 262 the system controller 36 determines that the user is not authorized, then, transitioning to block 264, procedure 200 includes aborting any intervention of the steering wheel 54 by the steering system 24 and sending a message to the user that the user is not authorized for such an action, with procedure 200 then returning to block 255 and continuing the operation of the vehicle 10 in autonomous mode.

[0074] If, in block 262, the system controller 36 determines that the user is authorized, then, transitioning to block 266, procedure 200 includes checking with the system controller 36 that the steering system 24 is operational. The system controller 24 receives data from the multiple sensors 40a-40n in the vehicle to determine that all aspects of the steering system 24 are functioning correctly.

[0075] If in block 266 the system controller 36 determines that the steering system 24 is not operational, then, transitioning to block 268, procedure 200 includes aborting any intervention of the steering wheel 54 by the steering system 24 and sending a message to the user that operation is unavailable, and procedure 200 then includes returning to block 255 and the operation of the vehicle 10 continues in autonomous mode.

[0076] If in block 266 the system controller 36 determines that the steering system 24 is operational, then, transitioning to block 270, procedure 200 includes checking with the system controller 36 that the transmission 22 of the vehicle 10 is in the park position.

[0077] If, in block 270, the system controller 36 determines that the transmission 22 is not in the park position, then, transitioning to block 272, procedure 200 comprises canceling any engagement of the steering wheel 54 by the steering system 36 and sending a message to the user that the transmission 22 is not in the park position, and instructing the user to move the transmission 22 into the park position. This message will remain displayed until the system controller 36, by means of communication with the multiple sensors 40a-40n, determines that the transmission 22 is in the park position. When the system controller 36 determines that the transmission 22 is in the park position, then procedure 200 proceeds to block 258, where the shift lever is deactivated, to block 260, where the message is sent to the user, and to block 250, where the sliding sleeve 58 is moved to the engaging position.

[0078] In another exemplary embodiment, the method 200, transitioning to block 274, comprises centering with the system controller 36 of the steering wheel 54. As mentioned previously, for the transition back and forth between engagement and disengagement of the steering wheel 54 from the steering system 24, the steering system 24 and the steering wheel 54 must be in a centered position. Thus, before initiating a movement of the sliding sleeve 58 in block 250, the steering system 24 and the steering wheel 54 must be centered.

[0079] Transitioning to block 276, procedure 200 includes checking with the system controller 36, via communication with the steering wheel position sensor 140, that the steering wheel 54 is centered. If, in block 276, the steering wheel 54 is not centered, then, transitioning to block 278, any intervention of the steering wheel 54 by the steering system 24 is aborted, transitioning to block 280, the centering of the steering wheel 54 and the steering system 24 is aborted, transitioning to block 282, the shifting of the transmission 22 from a park position is activated, and transitioning to block 284, a message is sent to the user that the steering system is blocked, and the process returns to block 255 and the operation of the vehicle 10 continues in autonomous mode.

[0080] If in block 276 the system controller 36 determines that the steering wheel 54 is centered, then the procedure 200 proceeds to block 250 and moves the sliding sleeve 58 to the engaging position with the controller 36.

[0081] With reference to Fig. 13C comprises the method 200 after moving the sliding sleeve 58 to the engaging position with the system controller 36 in block 250 further transitioning to block 286 a measuring with the system controller 36 of a time period required to move the sliding sleeve 58 to the engaging position and of an amount of force, measured by the system controller 36 with a force sensor 144, which was required to move the sliding sleeve 58 to the engaging position.

[0082] If, in block 286, the time required to move the sliding sleeve 58 to the engaging position exceeds a predetermined threshold, or the amount of force required to move the sliding sleeve 58 to the engaging position exceeds a predetermined threshold, then, transitioning to block 288, the procedure 200 comprises moving the sliding sleeve 58 back to the released position using the system controller 36.In an exemplary embodiment, if in block 286 the time required to move the sliding sleeve 58 to the engaging position exceeds a predetermined threshold or the amount of force required to move the sliding sleeve 58 to the engaging position exceeds a predetermined threshold, then in block 290 if an engagement was unsuccessful for fewer than a predetermined number of attempts, the method 200 transitions to block 292 and sends a message via the HMI 136 indicating that the engagement was unsuccessful and that an engagement is being retried, the method then transitions back to block 250 and re-attempts a movement of the sliding sleeve 58 to the engaging position.If the intervention in block 290 was unsuccessful for more than the specified number of attempts, then the procedure 200 switches to block 288 and moves the sliding sleeve 58 back to the released position using the system controller 36.

[0083] If, in block 286, the time required to move the sliding sleeve 58 to the engaging position does not exceed the specified threshold and the amount of force required to move the sliding sleeve 58 to the engaging position does not exceed the specified threshold, then the procedure 200, transitioning to block 294, comprises displaying a message via the HMI that the steering wheel 54 is engaged and all driving modes are activated, transitioning to block 296, resetting the actuator 128, releasing a shear pressure from the sliding sleeve 58 to reduce the amount of friction and force on the sliding sleeve 58 during operation of the vehicle 10, and transitioning to block 298, activating the transmission 22 to be shifted out of the park position. Procedure 200 then returns to block 202 and operates vehicle 10 in a manual mode with the sliding sleeve 58 engaged.

[0084] In a further exemplary embodiment, if in block 286 the time required to move the sliding sleeve 58 to the engaging position exceeds the predetermined threshold or the amount of force required to move the sliding sleeve 58 to the engaging position exceeds the predetermined threshold and in block 288 the sliding sleeve 58 has been moved back to the released position, the method 200 further comprises, transitioning to block 300, measuring with the system controller 36 a time required to move the sliding sleeve 58 back to the released position and measuring with the system controller 36, by means of communication with the force sensor 144, an amount of force required to move the sliding sleeve 58 back to the released position.

[0085] If in block 300 the time required to move the sliding sleeve 58 back to the released position exceeds a predetermined threshold or the amount of force required to move the sliding sleeve 58 back to the released position exceeds a predetermined threshold, then, transitioning to block 302, procedure 200 includes displaying a message via HMI 136 that the vehicle 10 is inoperable.

[0086] If in block 300 the time required to move the sliding sleeve 58 back to the released position does not exceed the specified threshold and the amount of force required to move the sliding sleeve 58 back to the released position does not exceed the specified threshold, then procedure 200 transitions to block 304 and includes displaying a message via HMI 136 indicating that the steering system 24 requires maintenance, the steering wheel 54 is disconnected from the steering system 24, and the vehicle 10 is restricted to autonomous operation, and procedure 200 returns to block 255 and to the autonomous operation of the vehicle 10.

[0087] The description of the present revelation is merely exemplary, and it is intended that variations that do not deviate from the main content of the present revelation remain within its scope. Such variations should not be considered a deviation from the idea and scope of the present revelation.

Claims

[1] Steering system for a vehicle comprising: an upper shaft having a first distal end designed to carry a steering wheel on it; a lower wave and a sliding sleeve which is selectively movable between an engaged position and a released position, wherein The sliding sleeve, when in the engaged position, is designed to connect the upper shaft to the lower shaft, thus functionally connecting the steering wheel to the steering system; and The sliding sleeve, when in the released position, is designed for: Separating the upper shaft from the lower shaft, which functionally separates the steering wheel from the steering system; and Securing the upper shaft and steering wheel in a fixed position. [2] Steering system according to claim 1, wherein the lower shaft includes a cylindrical serrated collar, wherein a distal end of the lower shaft is inserted into the serrated collar and an outer surface of the lower shaft and an inner surface of the cylindrical serrated collar have a serrated engagement with each other, such that the lower shaft and the serrated collar rotate as one unit; the upper shaft has a cylindrically shaped second distal end, with the serrated collar positioned in the second distal end of the upper shaft; the sliding sleeve has a cylindrical shape and extends around the second distal end of the upper shaft, wherein an outer surface of the upper shaft and an inner surface of the sliding sleeve have a serrated engagement with each other, such that the upper shaft and the sliding sleeve rotate as a single unit; and the second distal end of the upper shaft contains several flexible fingers, wherein then, when the sliding sleeve is moved to the released position, a gap exists between an inner surface of the flexible fingers of the second distal end of the upper shaft and an outer surface of the serrated collar, and the serrated collar and the lower shaft are rotatable with respect to the upper shaft and the sliding sleeve, thus functionally separating the steering wheel from the steering system; and Then, when the sliding sleeve is moved to the engaging position, a rising inner surface of the sliding sleeve presses against an outer surface of the flexible fingers, forcing an inner surface of the flexible fingers into engagement with an outer surface of the serrated collar, whereby the serrated collar and the lower shaft are in frictional engagement with the lower shaft in such a way that the lower shaft and the upper shaft rotate as one unit, which functionally connects the steering wheel with the steering system. [3] Steering system according to claim 2, wherein the sliding sleeve includes a flexible inwardly facing tab positioned proximal to a first distal end of the sliding sleeve, and the outer surface of the flexible fingers of the upper shaft includes a radial notch, wherein when the sliding sleeve is moved to the engaging position, the flexible inwardly facing tab engages with the radial notch formed in the outer surface of the flexible fingers to hold the sliding sleeve in the engaging position. [4] Steering system according to claim 3, wherein the steering system comprises a stationary sleeve, wherein the sliding sleeve, the second distal end of the upper shaft, the serrated collar and the distal end of the lower shaft are enclosed in the sleeve, the sleeve includes a pin extending radially inwards, the sliding sleeve includes an axial recess formed in a second distal end of the sliding sleeve, and then, when the sliding sleeve is in the released position, the pin is designed to engage with the axial recess of the sliding sleeve, preventing rotation of the sliding sleeve and the upper shaft. [5] Steering system according to claim 4, wherein the serrated collar includes a tab extending radially outwards from a distal end of the serrated collar, the sliding sleeve includes an axial notch formed in the first distal end of the sliding sleeve when the sliding sleeve is in the engaged position, the tab of the serrated collar engages with the axial notch of the sliding sleeve, and the engagement of the tab of the serrated collar with the axial notch of the sliding sleeve prevents rotation of the serrated collar and the lower shaft with respect to the sliding sleeve and the upper shaft. [6] Steering system according to claim 5, wherein then, when the sliding sleeve is in the engaging position, the pin is positioned immediately adjacent to the second distal end of the sliding sleeve; then, when the sliding sleeve is in the released position, the tab is positioned immediately adjacent to the first distal end of the sliding sleeve and During the temporary movement of the sliding sleeve between the engaged and disengaged positions, the pin of the sleeve engages with the axial recess formed in the second distal end of the sliding sleeve, and simultaneously the tab of the serrated collar engages with the axial notch formed in the first distal end of the sliding sleeve. [7] Steering system according to claim 6, further comprising a bushing positioned axially inwards from the second distal end and flexible fingers of the upper shaft between an inner surface of the upper shaft and the outer surface of the serrated collar, wherein the bushing is designed to allow rotation of the serrated collar with respect to the upper shaft when the sliding sleeve is in the released position. [8] Steering system according to claim 7, further comprising an axial retaining feature positioned between the inner surface of the upper shaft and the outer surface of the serrated collar and designed to prevent axial movement of the upper shaft with respect to the serrated collar. [9] Method for operating a steering system in a vehicle for providing selective decoupling of a steering wheel from the steering system, wherein the steering system comprises: an upper shaft having a first distal end designed to carry a steering wheel on it; a lower wave and a sliding sleeve which is selectively movable between an engaged position and a released position, wherein The sliding sleeve, when in the engaged position, is designed to connect the upper shaft to the lower shaft, thus functionally connecting the steering wheel to the steering system; and The sliding sleeve, when in the released position, is designed to separate the upper shaft from the lower shaft, thus functionally separating the steering wheel from the steering system, and to secure the upper shaft and the steering wheel in a fixed position; the procedure includes: A system controller receives a request from a user in the vehicle to release the steering wheel from the steering system via a human-machine interface (HMI) in communication with the steering system controller; Deactivation using the system controller of a shift actuator in the vehicle and prevention of the transmission shifting from a park position; Sending a message via the HMI to the user in the vehicle, indicating that the steering wheel is being disengaged from the steering system and that the user should keep their hands off the steering wheel; and Move the sliding sleeve to the released position using the controller. [10] The method of claim 9, wherein the method after receiving, by means of the HMI, the request from the user to release the steering wheel from the steering system comprises: Verifying user authorization with the system controller; Check with the system controller that the steering system is operational; Check with the system controller that the vehicle's transmission is in a park position; Canceling the disconnection of the steering wheel from the steering system and sending a message to the user if the user is not authorized; Aborting the disconnection of the steering wheel from the steering system and sending a message to the user if the steering system is inoperable; and Canceling the disconnection of the steering wheel from the steering system and sending a message to the user if the vehicle's transmission is not in the park position.

Images