STEERING SYSTEMS AND ASSOCIATED PROCEDURES

Abstract

Steering systems and associated methods are disclosed. An exemplary device includes a vehicle frame and a steering linkage assembly comprising a steering rod having a first end and a second end opposite the first end. The device further includes one of the following: a hydraulic servo system to be coupled to the vehicle frame, wherein the hydraulic servo system is to be coupled to the first end of the steering rod via a first steering lever; or an electric servo system to be coupled to the vehicle frame, wherein the electric servo system is to be coupled to the first end of the steering rod via a second steering lever, the first steering lever being different from the second steering lever to allow the first steering lever and the second steering lever to have a common connection from the steering lever to the attachment point with the steering rod of the steering linkage assembly.

Description

AREA OF REVELATION

[0001] This disclosure generally relates to vehicles and in particular to steering systems and related methods. GENERAL STATE OF THE ART

[0002] Vehicles incorporate several subsystems to perform various functions. A steering subsystem allows a driver to control the vehicle's direction of travel. Additionally, a steering assist system makes it easier for drivers to turn the steering wheel and, in turn, the wheels when maneuvering a vehicle. For example, hydraulic and / or electric actuators add controlled energy to a steering system when a driver turns the steering wheel, reducing the physical effort required to steer the wheels. SUMMARY

[0003] Vehicles incorporate power steering systems to reduce the amount of torque applied by a driver that is required to steer the vehicle's wheels. Power steering systems include hydraulic power assist steering systems (HPAS systems), which use pressurized hydraulic fluid from a motor to apply steering assistance to the steering system, and electric power assist steering systems (EPAS systems), which use an electric motor to apply torque directly to the steering system.

[0004] Vehicles, such as heavier vehicles, heavy trucks, pickup trucks, and sport utility vehicles (SUVs), can use either hydraulically assisted or electrically assisted steering systems. However, the position of a steering gear associated with the power steering system relative to a vehicle's frame differs between hydraulic and electric power steering systems due to different housings. For example, a steering gear assembly with an electrically assisted transmission typically has a larger housing than a steering gear assembly with a hydraulically assisted transmission. Consequently, HPAS and EPAS systems have different positions for the linkage-steering arm mounting point connection (e.g., in a y-direction or across the width of a vehicle).As a result, hydraulically assisted and electrically assisted steering gears cannot be interchanged on the same vehicle or vehicle platform (e.g., a heavy-duty truck), because the use of the HPAS or EPAS system requires different steering ratios between the two systems and therefore different steering linkage assemblies.

[0005] Due to the different linkage-steering arm mounting point connections in HPAS and EPAS systems, each system requires a dedicated steering linkage assembly (e.g., tie rods, steering arms, steering axle, intermediate steering rods, intermediate steering levers, etc.) to achieve symmetrical steering ratios. However, the presence of dedicated steering assemblies for each of the HPAS and EPAS systems results in increased linkage complexity in the assembly line and / or an increased number of parts.

[0006] The use of a common steering linkage assembly between an HPAS system and an EPAS system results in an asymmetrical number of steering wheel rotations between straight ahead and full left and full right turn due to the different positions of the linkage-steering-arm mounting point connection. In other words, the steering wheel can be turned a greater amount to the left (e.g., 720 degrees) compared to the right (e.g., 680 degrees) to achieve a rotation from left to right. These example left and right steering wheel inputs achieve the same order of magnitude of vehicle movement (e.g., steering angle) in opposite directions (even if, for example, the steering wheel inputs used to achieve the same order of magnitude of vehicle movement are different).Such asymmetrical steering relationships between turning left and turning right can pose challenges in the operation of driver assistance technologies (e.g., driver assistance steering, trailer reversing assistance, etc.).

[0007] The examples disclosed in this document enable interchangeability between either an EPAS system or an HPAS system with a common vehicle platform using a common steering linkage assembly. For example, using the examples disclosed in this document, a steering rod or steering intermediate rod can be common between the EPAS and HPAS systems. As a result, the complexity of the steering linkage is the same for hydraulically and electrically based steering systems, thereby simplifying or reducing manufacturing complexity. To account for steering ratio differences between electrically assisted and hydraulically assisted transmission systems when using a common steering linkage assembly, the examples disclosed in this document employ a steering compensation module to compensate for asymmetrical steering.In particular, when using driver assistance systems, control circuits between left and right steering can be split or separated to compensate for asymmetrical steering between left and right steering. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a perspective view of an exemplary vehicle in which examples disclosed in this document may be implemented. Fig. Figure 2 is a schematic representation of an exemplary steering system of the exemplary vehicle from Fig. 1, which includes an exemplary steering control circuit. Fig. Figure 3 is a bottom view of an exemplary steering linkage assembly of the exemplary steering system from Fig. 2. Fig. 4A is a bottom view of the exemplary steering linkage assembly made of Fig. 3, which includes an exemplary first servo system. Fig. 4B is a perspective view of the exemplary first servo system from Fig. 4A. Fig. 4C is a front view of an exemplary first steering column lever disclosed in this document. Fig. 5A is a bottom view of the exemplary steering linkage assembly made of Fig. 3, which includes an exemplary second servo system. Fig. 5B is a perspective view of the exemplary second servo system from Fig. 5A. Fig. Figure 5C is a front view of an exemplary second steering column lever disclosed in this document. Fig. Figure 6 is a schematic illustration of an exemplary process control of the exemplary steering system from Fig. 2. Fig. Figure 7 is a block diagram of an exemplary implementation of the steering control circuit from Fig. 2. Fig. Figure 8 is a flowchart that is representative of exemplary machine-readable instructions and / or exemplary operations that can be executed, instantiated, and / or performed by an exemplary programmable circuit to construct the exemplary steering control circuit. Fig. 7 to implement. Fig. Figure 9 is a block diagram of an exemplary processing platform that includes a programmable circuit structured to execute, instantiate, and / or perform the exemplary machine-readable instructions and / or the exemplary operations from Fig. 8 to perform the exemplary steering control circuit from Fig. 7 to implement. The Fig. Figures 10, 11A-11B and 12 are views of other exemplary vehicles which have other exemplary steering assemblies in which examples disclosed in this document may be implemented.

[0008] Generally, the same reference symbols are used throughout the drawing(s) and the accompanying written description to refer to the same or similar parts. The figures are not necessarily to scale. Instead, the thickness of the layers or regions in the drawings may be enlarged. Although the figures show layers and regions with clear lines and boundaries, some or all of these lines and / or boundaries may be idealized. In reality, the boundaries and / or lines may not be observable, may merge into one another, and / or may be irregular. DETAILED DESCRIPTION

[0009] Fig. Figure 1 illustrates an exemplary vehicle 100 in which the teachings of the present revelation can be implemented. In the illustrated example from Fig. In example 1, vehicle 100 is a pickup truck. In other examples, vehicle 100 can be any type of vehicle (e.g., a van, a coupe, a sedan, an SUV, a semi-truck, a minivan, a rail vehicle, an all-terrain vehicle (ATV), a watercraft, construction equipment, agricultural machinery, etc.). In the illustrated example from Fig. In example 1, 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 ladder frame construction and / or a unibody construction.

[0010] In the illustrated example from Fig. In Figure 1, the vehicle 100 includes an exemplary steering system 102, an exemplary first wheel 104A, and an exemplary second wheel 104B. The steering system 102 includes an exemplary steering wheel 106 to transmit driver inputs to the steering system 102 (e.g., by turning the steering wheel, etc.). The steering system 102 receives these user inputs via the steering wheel 106, converts the inputs into lateral forces (e.g., in the y-direction), and rotates the wheels 104A and 104B to change a steering angle 110 (e.g., a road wheel angle - RWA) and the direction of travel of the vehicle 100 (in the x-direction). The steering system 102 is described below in conjunction with Fig. 2 described in additional details. While the steering system 102 is used to steer a front axle of the vehicle 100, examples disclosed in this document are also applicable to steering systems assigned to steered rear axles.

[0011] The examples disclosed in this document are suitable for driven and / or non-driven axles, front axles, rear axles, and dependent and / or independent suspension architectures (e.g., double-I-beam front suspension). The examples disclosed in this document can be used with heavy-duty trucks, light-duty trucks, pickup trucks, SUVs, and other light vehicles. The examples disclosed in this document feature a smaller footprint and lower vehicle weight, which increases the vehicle's fuel efficiency and payload capacity.

[0012] Fig. Figure 2 is a schematic representation of the steering system 102 of the vehicle 100. Fig. 1, which is implemented in accordance with the teachings of this revelation. The steering system 102 includes an exemplary steering housing 200, which includes a steering gear 202 and an exemplary power assist steering system (PAS system) 204, an exemplary steering column 206, an exemplary steering linkage assembly 208, and an exemplary steering control circuit 210.

[0013] The steering column 206 (e.g., a steering shaft and an intermediate shaft) transmits steering inputs from the steering wheel 106 to the steering gear 202. In some examples, the steering column 206 includes a universal joint. In other examples, the steering column 206 includes a plurality of steering columns and / or shafts that can be coupled to one another by any suitable means. The steering linkage assembly 208 consists of a plurality of mechanical parts (e.g., tie rods, steering arms, steering rods, intermediate steering rods, etc.) that operatively couple the steering gear 202 to the wheels 104A, 104B.

[0014] In some examples, some or all of the shafts of the steering system 102 may be missing. In other such examples, the steering system 102 may be a steer-by-wire system.

[0015] 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 a rotational movement of the steering wheel 106 and / or the steering column 206 and / or a torque applied to them. The SWA sensor 212 measures an angular or rotational position of the steering wheel 106 (e.g., relative to a reference (e.g., a zero-degree position)), and the steering wheel torque sensor 214 can measure a rotation rate of the steering wheel 106 and / or the steering column 206.

[0016] The steering gear 202 can convert an input movement (caused, for example, by the rotation of the steering wheel 106, a command from the steering control circuit 210, a command from an exemplary driver assistance system (DAS) 218, etc.) into a lateral or forward / reverse force that is exerted on the steering linkage assembly 208 coupled to it. A 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, which controls one direction of travel of the vehicle 100 (e.g., the steering angle 110 from Fig. 1) For example, an output 220 (e.g. a pinion or output shaft) of the steering housing 200 is coupled to the steering linkage assembly 208 via a steering column lever 222.

[0017] The steering gear 202 of the illustrated example incorporates the PAS system 204 to assist the rotation of the steering gear 202. The steering gear 202 and the PAS system 204 can have a single-piece structure. For example, the steering gear 202 and the PAS system 204 can be an HPAS system, an EPAS system, a hydroelectric power steering system, and / or any other type of power steering system. The steering linkage assembly 208 of the illustrated example is common to all types of power steering systems used with the steering system 102 (e.g., the same). Thus, an EPAS system can be interchanged with an HPAS system without requiring any modifications to components of the steering linkage assembly 208.

[0018] In the illustrated example from Fig. 2 The steering control circuit 210 receives sensor information from the exemplary SWA sensor 212, the exemplary steering wheel torque sensor 214, an exemplary vehicle speed sensor 216, and / or the FAS 218. The steering control circuit 210 commands the PAS system 204 to facilitate and / or effect the rotation of the steering gear 202 in response to the received inputs (which may be caused, for example, by a driver turning the steering wheel 106). For example, the steering control circuit 210 determines a steering assistance force to be applied to the steering gear 202 via the PAS system 204. In some examples, the steering control circuit 210 can determine a steering assistance force 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 control circuit 210 can determine a steering assistance force based on user input and / or user preference.

[0019] In some examples, when the vehicle 100 is in a self-driving or hands-free driving mode, the steering control circuit 210 is operated to control the PAS system 204 in order to set the steering of the vehicle 100 along a path (e.g., a destination path, an angle request of a path follower, etc.). For example, the steering control circuit 210 receives inputs from the FAS 218 of the vehicle 100, which provide a destination path for the vehicle 100.

[0020] The FAS 218 of the illustrated example automates certain aspects of driving and / or improves the driver's situational awareness to increase safety. For example, the FAS 218 (which may include, for instance, the path-following circuit) determines machine-readable instructions (e.g., an angle request from a path follower and / or any other self-driving command) and / or executes them to steer the vehicle 100 along a target path or desired route. Fig. Figure 2 shows the FAS 218 as separate from the steering control circuit 210. For example, the FAS 218 may be implemented by a different control of the electronic control unit. However, the FAS 218 may also be part of the steering control circuit 210. If the driver of the vehicle 100 does not interact with the steering wheel 106 during self-driving mode and / or another hands-free driving event(s) (e.g., applies zero input torque), the FAS 218 controls the steering angle 110 of the vehicle 100 (e.g., via an angle request from the path follower). In some examples, the FAS 218 determines an angle request for the path follower based on a target path of the vehicle 100, a speed of the vehicle 100, a current steering wheel position 106 and / or a predicted path of the vehicle 100. For example, the FAS 218 uses sensors (e.g.The FAS 218 incorporates lidar sensors, radar, cameras, and / or other sensors to evaluate a vehicle's surroundings, a desired vehicle path, a vehicle speed, and / or any other vehicle condition(s). Some exemplary features of the FAS 218 include, but are not limited to, driver assistance technologies, autonomous driving, steering assistance, lane keeping assist, active steering, blind spot information, adaptive cruise control, hands-free assistance, trailer reversing assistance, etc. The FAS 218 can determine a vehicle path and / or desired vehicle wheel angles for a desired path and can input control signals into the steering control circuit 210 to move a rotational position of the steering housing 200 based on the control inputs from the FAS 218. Thus, in examples that include hands-free and / or self-driving requirements, the steering housing 200 (e.g.,The PAS system 204 and the steering gear 202) receive inputs from the steering control circuit 210 and / or the FAS 218 without input from the steering wheel 106. In some examples, the steering control circuit 210 is implemented in an electronic control unit (ECU) of the vehicle 100. Additionally or alternatively, the steering control circuit 210 may be implemented in another control system, another control unit and / or another computing system of the vehicle 100.

[0021] Fig. Figure 3 is a bottom view of the steering linkage assembly 208. Fig. 2. In the illustrated example, the steering gear 202 of the steering housing 200 is coupled to the steering linkage assembly 208 via the steering column lever 222. Thus, the rotational output of the steering gear 202 causes a rotational output of the steering column lever 222, which in turn causes the steering linkage assembly 208 to move laterally to a steering angle (e.g., the steering angle 110°). Fig. 1) to change the steering angle 110 of wheels 104A, 104B. To change the steering angle 110 of wheels 104A, 104B, the steering linkage assembly 208 of the illustrated example includes a variety of mechanical components that operatively couple the steering arm 222 and the wheels 104A, 104B. Specifically, the steering linkage assembly 208 of the illustrated example includes a steering rod 304, an adjusting sleeve 306, a steering 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 steering rod 304 of the illustrated example includes a first end that is coupled to the steering column lever 222 to provide a mounting point connection with the steering column lever 222, and a second end that is coupled to the steering rod end 308 via the adjusting sleeve 306. The tie rod 310 couples the steering rod 304 and the tie rod end 312.Additionally, the steering rod end 308 is coupled to a first steering knuckle 314, which rotates the steering angle of the second wheel 104B. The tie rod end 312 is coupled to a second steering knuckle 316, which rotates the steering angle of the first wheel 104A. Thus, in response to a rotational output from the steering gear 202, the steering arm 222 rotates, causing a lateral movement of the steering rod 304, which in turn causes the first and second steering knuckles 314 and 316 to rotate via the steering linkage assembly 208. The steering rod 304, the adjusting sleeve 306, and the steering rod end 308 have a total length L.

[0022] Fig. 4A is a bottom view of vehicle 100. Fig. 1, which shows the steering housing 200, which is implemented as an exemplary first steering gear housing system 400. Fig. 4B is a perspective side view of the exemplary first steering gear housing system 400. Fig. Figure 4C is a front view of an exemplary first steering column lever 410 disclosed in this document. With reference to the Fig. In Figures 4A-4C, the first steering gear housing system 400 of the illustrated example is an HPAS system 402. The HPAS system 402 of the illustrated example has a housing 404 that is coupled to a vehicle frame 406 of the vehicle 100. The housing 404 has a first housing shell 408 (e.g., a width in a generally lateral or y-direction). Thus, a first attachment point connection 418 between the first steering arm 410 and the steering rod 304 is influenced or determined by the first housing shell 408 of the HPAS system 402. The HPAS system 402 of the illustrated example is coupled to the steering rod 304 of the steering linkage assembly 208 via the first steering arm 410. The first steering arm 410 of the illustrated example has an angled body 412.To accommodate the first housing shell 408 and to provide the first attachment point connection 418 based on the length L of the steering rod 304, the adjusting sleeve 306, and the steering rod end 308, the angled body 412 of the first steering arm 410 is offset inwards (e.g., angled in the direction of a central or longitudinal axis 414 of the vehicle 100). For example, when coupled to the frame 406, the angled body 412 of the first steering arm 410 is curved or angled in the direction of the longitudinal axis 414 of the frame 406. With reference to the... Fig. 4A and Fig. 4C includes the first steering column lever 410, a first opening 420 for coupling to the HPAS system 402 (e.g., the output gear 220), and a second opening 422 opposite the first opening 420 for coupling to the steering rod 304. For example, with reference to Fig. 4C a longitudinal axis 413 of the angled body 412 between the first opening 420 and the second opening 422 is curved or angled. With reference to Fig. 4A, the angled body 412 causes the second opening 422 to be laterally offset (e.g., in the y-direction) relative to the first opening 420 when the first steering arm 410 is coupled to the vehicle 100. For example, the first mounting point connection 418 is offset by a first distance 425 from a reference 429 of the frame 406 (e.g., a right side of the frame 406). Additionally, the first opening 420 is offset relative to the frame 406 by a second distance 427 relative to the frame 406's reference 429. In this example, the second distance 427 is smaller than the first distance 425 when the linkage assembly 208 is positioned (as shown in the Fig. 4A and Fig. (5A shown), that the wheels 104A, 104B are in a straight-ahead orientation. Thus, the second opening 422 of the first steering column lever 410 is located closer to the longitudinal axis 414 of the frame 406 (e.g., in the y-direction) compared to a position or location of the first opening 420.

[0023] Fig. 5A is a bottom view of vehicle 100 from Fig. 1, which shows the steering housing 200, which is implemented as an exemplary second steering gear housing system 500. Fig. 5B is a perspective side view of the second steering gear housing system 500. Fig. Figure 5C is a front view of an exemplary second steering column lever 508 disclosed in this document. With reference to the Fig. In Figures 5A-5C, the second steering gear housing system 500 of the illustrated example is an EPAS system 502. The EPAS system 502 of the illustrated example has a housing 504 that is coupled to the vehicle frame 406. The housing 504 has a second housing shell 506 (e.g., a width in a generally lateral or y-direction). The second housing shell 506 of the EPAS system 502 of the illustrated example is larger than the first housing shell 408 of the HPAS system 402. Thus, a second mounting point connection 512 between the second steering arm 508 and the steering rod 304 is influenced or determined by the second housing shell 506 of the EPAS system 502. The EPAS system 502 of the illustrated example is coupled to the steering rod 304 of the steering linkage assembly 208 via the second steering column lever 508. The second steering column lever 508 of the illustrated example has an angled body 510.To accommodate the second housing 506 and to provide the second mounting point connection 512 based on the length L of the steering rod 304, the adjusting sleeve 306, and the steering rod end 308, the angled body 510 of the second steering arm 508 is offset outwards (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 arm 508 is curved or angled in the direction of the longitudinal axis 414 of the frame 406. With reference to the... Fig. 5A and Fig. 5C includes the second steering column lever 508, a first opening 520 for coupling to the EPAS system 502 (e.g., the output gear 220), and a second opening 522 opposite the first opening 520 for coupling to the steering rod 304. For example, with reference to Fig. 5C a longitudinal axis 513 of the angled body 510 between the first opening 520 and the second opening 522 is curved or angled. With reference to Fig. 5A, the angled body 510 causes the second opening 522 to be laterally offset (e.g., in the y-direction) relative to the first opening 520 when the second steering column lever 508 is coupled to the vehicle 100. For example, the second mounting point connection 512 is offset by a first distance 525 from the reference 429 of the frame 406 (e.g., a right side of the frame 406). Additionally, the first opening 520 is offset relative to the frame 406 by a second distance 527 relative to the reference 429 of the frame 406.

[0024] With reference to the Fig. 4A and Fig. 5A, the first distance 425 and the second distance 525 are substantially similar or the same relative to the reference 429 of the frame 429. For this purpose, the steering system 102 of the illustrated example employs a common attachment point for the linkage and steering arm. With reference to the Fig. 4A and Fig. 5A is the first mounting point connection 418 aligned with the second mounting point connection 512 in the y-direction with respect to the vehicle frame 406 to provide a common mounting point connection (e.g., the first mounting point connection 418 and the second mounting point connection 512) between the HPAS system 402 and the EPAS system 502. For example, the steering rod 304 is configured to be coupled to the HPAS system 402 and the EPAS system 502. For this purpose, the steering rod 304, the adjusting sleeve 306, and the steering rod head 308 have the same overall length L when the HPAS system 402 or the EPAS system 502 is coupled to the vehicle frame 406. Without a common attachment point for the linkage and steering column lever, different linkage assemblies would be required when using the HPAS system 402 and the EPAS system 502.By incorporating a common linkage-steering-arm mounting point, the same steering linkage assembly 208 can be used with either the HPAS system 402 or the EPAS system 502, thus eliminating manufacturing complexity. The common linkage-steering-arm mounting point is achieved by using the first steering-arm 410, which has a first form (e.g., the angled body 412, offset inwards for the HPAS system 402), and the second steering-arm 508, which has a second form (e.g., the angled body 510, offset outwards for the EPAS system 502), that differs from the first form. For example, the first opening 420 of the first steering column lever 410, which is coupled to the HPAS 400, is positioned at a first distance 431 relative to the longitudinal axis 414 of the frame 406 when the first steering column lever 410 is coupled to the vehicle 100.The first opening 520 of the second steering arm 508, which is coupled to the EPAS 500, is positioned at a second distance 531 relative to the longitudinal axis 414 of the frame 406 when the second steering arm 508 is coupled to the vehicle 100, with the first distance 431 being greater than the second distance 531. Nevertheless, the second opening 422 of the first steering arm 410 is aligned with the second opening 522 of the second steering arm 508 to provide the common linkage-steering arm connections 418, 512.

[0025] The use of the steering linkage assembly 208 with both the HPAS system 402 and the EPAS system 502 results in an asymmetrical number of steering wheel rotations from straight ahead to full left and full right. Thus, the steering system 102 of the illustrated example employs a first steering ratio, which corresponds to turning the wheels 104A, 104B to the left or to a counterclockwise direction, and a second steering ratio, which corresponds to turning the wheels 104A, 104B to the right or to a clockwise direction. In other words, the steering system 102 disclosed in this document exhibits asymmetrical steering relationships between a neutral steering position and a full left turn (e.g., turning left) and a neutral steering position and a full right turn (e.g., turning right).For example, a first steering ratio means that a 106 x degree counterclockwise rotation of the steering wheel from a neutral position (e.g., left turn) causes the steering angle 110 of wheels 104A, 104B to turn by y degrees. In contrast, a second steering ratio means that a 106 x degree clockwise rotation of the steering wheel from a neutral position (e.g., right turn) causes the steering angle 110 of wheels 104A, 104B to turn by z degrees, where y degrees differ from z degrees. In other words, the same absolute degree of steering wheel rotation 106 to the left and to the right does not produce the same absolute steering angle 110 of wheels 104A, 104B.In other words, turning the wheels 104A, 104B to a leftward steering angle of 20 degrees may require a leftward turn of the steering wheel 106 to a SWA of approximately 60 degrees, but turning the wheels 104A, 104B to a rightward steering angle of 20 degrees may require a rightward turn of the steering wheel 106 to a SWA of approximately 50 degrees.

[0026] Fig. Figure 6 is a schematic overview of an exemplary system 600 disclosed in this document for compensating for asymmetric steering of the steering system 102 disclosed in this document when driver assistance systems or hands-free driving operations are used. As noted above, the steering ratios for turning left and turning right are asymmetric. The first and second sets of ratios are provided by Ackermann steering principles. Thus, the steering control circuit 210 of the illustrated example sets a first data set 602, which provides RWA-to-SWA ratios (e.g., a first steering ratio) associated with a turning-left event (e.g., steering angles 110 directed in a leftward direction), and a second data set 604, which provides RWA-to-SWA ratios (e.g.,a second steering ratio) that is associated with a right-turn event (or steering angles 110 applied in a clockwise direction). 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 data set 602 and the second steering ratio provided by the second data set 604 of the steering system 102. A steering angle angle (SWA) (provided, for example, by the SWA sensor 212) correlates with an SPA of the steering gear 202 (e.g., a one-to-one correlation, a two-to-one correlation, etc.). Thus, the exemplary system 600 determines a target SPA of the steering gear 202 based on an RWA requirement 610 provided by the FAS 218 (e.g.a desired vehicle path) and a conversion of the RWA to the SWA, provided by the first data set 602 or the second data set 604, for example, during one or more events of autonomous driving, reversing assistance, lane keeping assist, and / or other hands-free driving. Specifically, the system 600 of the illustrated example subdivides or separates a SPA determination associated with an RWA request from the FAS 218 into a process 606 for turning left and a process 608 for turning right. In other words, the system 600 determines an SPA associated with a request for a left RWA independently and / or separately from a determination of an SPA associated with a request for a right RWA.

[0027] The SPA is not measured directly, but rather determined by a correlation with the SWA. The SPA can be determined as follows: GL1: SPA = Steering ratio (SR) * RWA, where the SPA correlates with the SWA that is assigned to the first data set 602 and / or the second data set 604, which provides RWA-to-SWA translations (e.g. a one-to-one correlation).

[0028] During operation, the steering control circuit 210 of the illustrated example receives the smoke and heat exhaust ventilation (SHEV) request 610, for example, from the vehicle alarm system (FAS) 218. The steering control circuit 210 contains the first data record 602, which is associated with a left turn, and the second data record 604, which is associated with a right turn. Thus, after receiving the SHEV request 610 from the FAS 218, the steering control circuit 210 determines whether the direction of the SHEV request is a left turn (e.g., a counterclockwise rotation of the steering wheel 106) or a right turn (e.g., a clockwise rotation of the steering wheel 106). Thus, the steering control circuit 210 determines whether the smoke and heat exhaust ventilation (SHEV) request 610 is a SHEV request 610a for turning left or a SHEV request 610b for turning right. Based on the direction of the SHEV request 610a, 610b (e.g.,In response to a steering angle request, the steering control circuit 210 obtains an SWA request 612 from the first data set 602 (e.g., RWA-to-SWA translations) if the RWA request is determined to be an RWA request 610a to turn left, or an SWA request 614 from the second data set 604 if the RWA request is determined to be an RWA request 610b to turn right (e.g., RWA-to-SWA translations).

[0029] The steering control circuit 210 can also be configured to verify whether the SWA and steering rate associated with RWA request 610a, 610b are within acceptable operating thresholds 616 (e.g., within operating range limits). If the SWA request 612 or 614 associated with RWA request 610a or 610b exceeds the operating thresholds, RWA request 610a, 610b can be aborted in some examples. If the SWA requirement 612 or 614, which is assigned to the RWA requirement 610a or 610b respectively, exceeds the operating threshold ranges, the SWA requirement 612 or 614 may be set in some examples based on maximum permissible thresholds (e.g. maximum permissible SWA angle and / or maximum permissible rate).Instead of canceling the RWA requirement, the SWA requirement 612 or 614 is modified or discontinued based on the maximum operational design domain (ODD).

[0030] The steering control circuit 210 is configured to determine a relative SPA 618 (e.g., a steering angle offset 620) based on the RWA requirement 610a or 610b, which is assigned to the corresponding specific SWA requirement 612 or specific SWA requirement 614. For example, the steering angle offset 620 is determined by the following: GL2: Steering angle offset = (relative angle) − (compensated angle). wherein the relative angle is based on a mean position of a SPA of the steering gear 202 (e.g. a rotational position midway between a fully left-turned and a fully right-turned position of the steering gear 202) and the compensated angle is a current position of an SPA (e.g. an SWA provided by the SWA sensor 212) based on a current direction of a vehicle (e.g. a straight-ahead position of the vehicle).

[0031] The steering angle offset 620 can be determined dynamically and / or continuously using the compensated angle and the relative angle relationship. Such a relationship correlates with the determination of a relative SPA, which is necessary to steer the vehicle 100 based on a desired steering angle of the RWA requirement 610a or 610b. The relative SPA 618, for example, is based on a difference between a current position of the SPA (provided, for example, by the SWA sensor 212) and a target position of the SPA that correlates with the RWA requirement 610a or 610b. In other words, if the vehicle 100 is in a straight-ahead position and the SPA is zero degrees, the relative angle is zero. Thus, an RWA requirement 610a or 610b, which requires a steering angle of 20 degrees of wheels 104A, 104B, is determined by the target SWA minus the current SWA.Additionally, the steering angle offset 620 can include other settings that may be caused by other conditions such as crosswinds, vehicle speed, road angle, road gradient, and / or any other environmental factor(s). The steering control circuit 210 commands the PAS system 204 (e.g., the HPAS system 400 or the EPAS system 500) to move the steering gear 202 to the relative SPA 618, causing the vehicle 100 to move in the direction of the requested path provided by the FAS 218.

[0032] Fig. Figure 7 is a block diagram of an exemplary implementation of the steering control circuit 210 of the steering system 102. Fig. 2. The steering control circuit 210 operates the steering gear 202 and / or the PAS system 204 of the vehicle 100. The steering control circuit 210 from Fig. 7 can be instantiated by a programmable circuit, such as a central processing unit (CPU), which executes initial instructions (e.g., creating an instance of it, initiating it for a desired duration, materializing it, implementing it, etc.). Additionally or alternatively, the steering control circuit 210 can be made from Fig. 7 by (i) an application-specific integrated circuit (ASIC) and / or (ii) a field-programmable gate array (FPGA) that is structured and / or configured in response to the execution of second instructions to perform operations corresponding to the first instructions (e.g., create an instance of it, induce it for any duration, materialize it, implement it, etc.). It is understood that some or all of the circuits from Fig. 7 can therefore be instantiated at the same or different times. Some or all of the circuits from Fig. For example, 7 can be instantiated in one or more threads that are executed concurrently on hardware and / or sequentially on hardware. Furthermore, in some examples, some or all of the circuits from Fig. 7. This may be implemented by a microprocessor circuit that executes instructions and / or an FPGA circuit that performs operations to implement one or more virtual machines and / or one or more containers.

[0033] The exemplary steering control circuit 210 includes an exemplary circuit 702 for requesting wheel angles (RWA), an exemplary direction circuit 704 for wheel angles (RWA), an exemplary circuit 706 for converting wheel angles to steering angles (RWA-to-SWA), an exemplary circuit 708 for verifying steering wheel angles (SWA) and an exemplary determiner circuit 710 for offset angles.

[0034] The exemplary smoke and heat exhaust ventilation (SHEV) request circuit 702 receives SHEV requests (e.g., SHEV request 610 from Fig. 6) from the FAS 218. The request can be a request for autonomous driving, a request for hands-free driving, a lane departure warning request, a trailer reversing warning request, and / or any other hands-free request(s). In this context, a hands-free request means that the steering angle 110 of the wheels 104A, 104B is provided by the steering system 102 without (e.g., user) input from the steering wheel 106.

[0035] In some examples, the smoke and heat exhaust ventilation (SHEV) request circuit 702 is instantiated by a programmable circuit that executes SHEV request instructions and / or is configured to perform operations such as those described by the flowchart from Fig. 8 are shown. In some examples, the smoke and heat exhaust ventilation (SHEV) request circuit 702 includes means for determining, retrieving, and / or obtaining a SHEV request, a steering angle, and / or a travel path of the vehicle 100. For example, the means for determining can be implemented by the SHEV request circuit 702. In some examples, the SHEV request circuit 702 can be implemented by a programmable circuit, such as the exemplary programmable circuit 900 from Fig. 9, instantiated. For example, the RWA request circuit 702 can be instantiated by a microprocessor that executes machine-executable instructions, such as those defined at least by blocks 912, 914, and 916 from Fig. 9 are implemented. In some examples, the RWA Request Circuit 702 can be instantiated by a hardware logic circuit, which may be implemented by an ASIC, an XPU, or the FPGA circuit, configured and / or structured to perform operations corresponding to the machine-readable instructions. Additionally or alternatively, the RWA Request Circuit 702 can be instantiated by any other combination of hardware, software, and / or firmware. For example, the RWA Request Circuit 702 can be implemented by one or more hardware circuits (e.g., processor circuitry, discrete and / or integrated analog and / or digital circuitry, an FPGA, an ASIC, an XPU, a comparator, an operational amplifier (op-amp), a logic circuit, etc.).) be implemented in a way that is configured and / or structured to execute some or all of the machine-readable instructions and / or to perform some or all of the operations corresponding to the machine-readable instructions without executing any software or firmware, however, other structures are equally suitable.

[0036] The exemplary smoke and heat exhaust ventilation (SHEV) direction switch 704 determines a required direction of movement based on the SHEV request received by the SHEV request switch 702. For example, the SHEV direction switch 704 includes a comparison unit to compare the SHEV request with a threshold value. In the illustrated example, the threshold value is zero (e.g., zero degrees).

[0037] Specifically, the threshold is a rotation value or position of the steering wheel 106 that directs the steering angle of the wheels 104A, 104B in a straight direction. In other words, the threshold is a center rotation value of the steering wheel 106 and / or the SPA that causes the vehicle 100 to move in a straight (e.g., unsteered) direction. During operation, the RWA direction control 704 determines that the RWA request 610 is a left turn request 610a if the RWA request 610 is greater than the threshold, and determines that the RWA request 610 is a right turn request 610b if the RWA request 610 is less than the threshold.

[0038] In some examples, the RWA direction switch 704 is instantiated by a programmable circuit that executes RWA request instructions and / or is configured to perform operations such as those described by the flowchart from Fig. 8 are shown. In some examples, the smoke and heat exhaust ventilation (SHEV) direction circuit 704 includes means for determining the direction of a SHEV request and / or the travel path of the vehicle 100. For example, the means for determining the direction can be implemented by the SHEV direction circuit 704. In some examples, the SHEV direction circuit 704 can be implemented by a programmable circuit, such as the exemplary programmable circuit 900 from Fig. 9, instantiated. For example, the RWA direction switch 704 can be instantiated by a microprocessor that executes machine-executable instructions, such as those defined at least by blocks 912, 914, and 916 from Fig. 9 are implemented. In some examples, the RWA Direction Circuit 704 can be instantiated by a hardware logic circuit, which may be implemented by an ASIC, an XPU, or an FPGA circuit, configured and / or structured to perform operations corresponding to the machine-readable instructions. Additionally or alternatively, the RWA Direction Circuit 704 can be instantiated by any other combination of hardware, software, and / or firmware. For example, the RWA Direction Circuit 704 can be implemented by one or more hardware circuits (e.g., a processor circuit, discrete and / or integrated analog and / or digital circuitry, an FPGA, an ASIC, an XPU, a comparator, an operational amplifier (op-amp), a logic circuit, etc.).) be implemented in a way that is configured and / or structured to execute some or all of the machine-readable instructions and / or to perform some or all of the operations corresponding to the machine-readable instructions without executing any software or firmware, however, other structures are equally suitable.

[0039] The smoke and heat exhaust ventilation (SHEV) to smoke extraction (SWA) conversion circuit 706 receives the detected SHEV request 610a or 610b and determines a corresponding SWA that is assigned to the SHEV request 610a or 610b. Based on the detected SHEV request 610a or 610b, the SHEV direction control circuit 704 obtains an SWA value from the first data set 602 (e.g., SHEV to SWA correlation values) or an SWA value from the second data set 604 (e.g., SHEV to SWA correlation values). For example, if the smoke and heat exhaust ventilation (SHEV) direction circuit 704 determines that the SHEV request 610 is greater than the threshold (e.g., SHEV request 610a) (which indicates, for example, a turn to the left), the SHEV to smoke and heat exhaust ventilation (SHEV) conversion circuit 706 determines a corresponding SHEV that correlates with the SHEV request 610a from the first data set 602 (e.g., SHEV request 612 from Fig. 6) If, on the other hand, the smoke and heat exhaust ventilation (SHEV) direction circuit 704 determines that the SHEV request 610 is less than the threshold (e.g., SHEV request 610b) (which indicates, for example, a turn to the right), the SHEV to smoke and heat exhaust ventilation (SHEV) conversion circuit 706 determines a corresponding SHEV that correlates with the SHEV request 610b from the second data set 604 (e.g., SHEV request 614 from Fig. 6).

[0040] The first data set 602 and the second data set 604 (e.g., the RWA-to-SWA ratios) can be determined by testing. The values ​​determined by testing can be provided in separate or isolated lookup tables, with the first data set 602 corresponding to left steering and the second data set 604 corresponding to right steering. For example, for each rotation angle of the steering wheel 106 from a neutral position to a fully left-turned position, corresponding steering angles of wheels 104A and 104B can be measured, and the steering ratio for left-turning the steering wheel 106 can be determined. Similarly, for each rotation angle of the steering wheel 106 from a neutral position to a fully right-turned position, corresponding steering angles of wheels 104A and 104B can be measured, and the steering ratio for right-turning the steering wheel 106 can be determined.In some examples, a first functional equation or algorithm (e.g., based on Ackermann steering principles) can be used to provide, determine, or otherwise calculate a correlation between the RWA requirement and a corresponding SWA for each left-hand steering wheel position, and a second functional equation or algorithm can be used to provide a correlation between the RWA requirement and a corresponding SWA for each right-hand steering wheel position.

[0041] In some examples, the RWA-to-SWA conversion circuit 706 is instantiated by a programmable circuit that executes RWA request instructions and / or is configured to perform operations such as those described by the flowchart from Fig. 8 are shown. In some examples, the smoke and heat exhaust ventilation (SHEV) to smoke and heat exhaust ventilation (SHEV) conversion circuit 706 includes means for converting, determining, or obtaining SHEVs based on the street SHEV requirements. For example, the means for determining may be implemented by the SHEV to SHEV conversion circuit 706. In some examples, the SHEV to SHEV conversion circuit 706 may be implemented by a programmable circuit, such as the exemplary programmable circuit 900 from Fig. 9, instantiated. For example, the RWA-to-SWA conversion circuit 706 can be instantiated by a microprocessor that executes machine-executable instructions, such as those specified at least by blocks 912, 914, and 916 from Fig. 9 are implemented. In some examples, the RWA-to-SWA conversion circuit 706 can be instantiated by a hardware logic circuit, which may be implemented by an ASIC, an XPU, or the FPGA circuit, configured and / or structured to perform operations corresponding to the machine-readable instructions. Additionally or alternatively, the RWA-to-SWA conversion circuit 706 can be instantiated by any other combination of hardware, software, and / or firmware. For example, the RWA-to-SWA conversion circuit 706 can be implemented by one or more hardware circuits (e.g., processor circuitry, discrete and / or integrated analog and / or digital circuitry, an FPGA, an ASIC, an XPU, a comparator, an operational amplifier (op-amp), a logic circuit, etc.).) be implemented in a way that is configured and / or structured to execute some or all of the machine-readable instructions and / or to perform some or all of the operations corresponding to the machine-readable instructions without executing any software or firmware, however, other structures are equally suitable.

[0042] The exemplary SWA verification circuit 708 determines whether the SWA request 612 or 614 is within an operating threshold. Generally, after the SWA (e.g., SWA request 612 or SWA request 614) has been determined from either the first data record 602 or the second data record 604, the steering control circuit 210 determines whether the SWA and / or the SWA rate associated with SWA request 612 or SWA request 614 are within threshold operating parameters. For example, if the SWA and the SWA rate are within the operating threshold ranges, the steering control circuit 210 proceeds with the RWA request. However, if the SWA and the SWA rate are not within the operating threshold ranges, the steering control circuit 210 may abort the request.For example, if SWA request 612 or SWA request 614 requires an SWA and / or SWA rate that exceeds an operating threshold, the SWA verification circuit 708 can cancel or ignore the RWA requester, or alternatively, terminate SWA request 612 or SWA request 614 based on a maximum value of the operating threshold (e.g., the maximum permissible SWA angle and / or the maximum permissible SWA rate). Thus, instead of canceling the RWA request, SWA request 612 or 614 is modified or terminated based on a maximum ODD. For example, the SWA verification circuit 708 determines, based on a direction of the vehicle 100 and / or a speed of the vehicle 100 (e.g. provided by feedback signals from the SWA sensor 212, the steering wheel torque sensor 214 and the speed sensor 216), whether the SWA is within an SWA threshold.Additionally, the SWA verification circuit 708 of the illustrated example determines whether an SWA rate associated with the SWA is within a rate threshold (e.g., based on a vehicle speed provided by the speed sensor 216). For example, if the SWA based on SWA request 612 or SWA request 614 requires a rapid or quick turn of the steering wheel and / or SPA based on a vehicle speed (i.e., the SWA rate exceeds the rate threshold), the SWA verification circuit 708 can cancel the RWA request 610a, 610b, or terminate the SWA request 612, 614 based on a maximum allowable SWA and / or a maximum allowable SWA rate associated with the operating threshold.If the SWA verification circuit 708 determines that the SWA and / or SWA rate associated with SWA request 612 or SWA request 614 does not exceed the operating threshold, the SWA verification circuit 708 instructs the offset angle determiner circuit 710 to proceed.

[0043] In some examples, the SWA verification circuit 708 is instantiated by a programmable circuit that executes RWA request instructions and / or is configured to perform operations such as those described by the flowchart from Fig. 8 are shown. In some examples, the SWA verification circuit 708 includes means for verifying that the specified SWA is acceptable based on the RWA requirement or is within the operating parameters (e.g., an SWA and / or SWA rate based on a vehicle and / or direction of vehicle 100 is within an acceptable threshold). For example, the means for determining can be implemented by the SWA verification circuit 708. In some examples, the SWA verification circuit 708 can be implemented by a programmable circuit, such as the exemplary programmable circuit 900 from Fig. 9, instantiated. For example, the SWA verification circuit 708 can be instantiated by a microprocessor that executes machine-executable instructions, such as those specified at least by blocks 912, 914, and 916 from Fig. 9 are implemented. In some examples, the SWA verification circuit 708 can be instantiated by a hardware logic circuit, which may be implemented by an ASIC, an XPU, or an FPGA circuit, configured and / or structured to perform operations that correspond to the machine-readable instructions. Additionally or alternatively, the SWA verification circuit 708 can be instantiated by any other combination of hardware, software, and / or firmware. For example, the SWA verification circuit 708 can be implemented by one or more hardware circuits (e.g., a processor circuit, discrete and / or integrated analog and / or digital circuitry, an FPGA, an ASIC, an XPU, a comparator, an operational amplifier (op-amp), a logic circuit, etc.).) be implemented in a way that is configured and / or structured to execute some or all of the machine-readable instructions and / or to perform some or all of the operations corresponding to the machine-readable instructions without executing any software or firmware, however, other structures are equally suitable.

[0044] The exemplary offset angle determining circuit 710 determines an offset angle (e.g. the steering angle offset 620) from Fig. 6), which is linked to a target SPA or relative SPA (e.g., the relative SPA 618 from Fig. 6) correlates, which is necessary to equip the vehicle 100 based on SWA requirement 612 or SWA requirement 614 (e.g., by RWA requirement 610 from Fig. 6 provided) to lead (see GL 1 and / or GL 2 mentioned above). For example, the offset angle determiner circuit 710 determines the relative SPA based on a difference between a current position of the SPA (provided, for example, by the SWA sensor 212) and a target position of the SPA provided by the SWA request 612 or the SWA request 614, which is associated with the RWA request 610a or 610b, respectively. The offset angle determiner circuit 710 can determine other factors, including, for example, crosswind, road slope, road gradient, and / or any other condition(s).

[0045] In some examples, the offset angle determiner circuit 710 is instantiated by a programmable circuit that executes RWA request instructions and / or is configured to perform operations such as those described by the flowchart from Fig. Figure 8 illustrates how to perform the following steps. In some examples, the offset angle determiner circuit 710 includes means for determining an SWA offset based on the RWA requirement. For example, the means for determining the offset angle can be implemented by the offset angle determiner circuit 710. In some examples, the offset angle determiner circuit 710 can be implemented by a programmable circuit, such as the exemplary programmable circuit 900 from Figure 8. Fig. 9, instantiated. For example, the offset angle determiner circuit 710 can be instantiated by a microprocessor that executes machine-executable instructions, such as those defined at least by blocks 912, 914, and 916 from Fig. 9 are implemented. In some examples, the offset angle determiner circuit 710 can be instantiated by a hardware logic circuit, which may be implemented by an ASIC, an XPU, or an FPGA circuit, configured and / or structured to perform operations corresponding to the machine-readable instructions. Additionally or alternatively, the offset angle determiner circuit 710 can be instantiated by any other combination of hardware, software, and / or firmware. For example, the offset angle determiner circuit 710 can be implemented by at least one or more hardware circuits (e.g., processor circuitry, discrete and / or integrated analog and / or digital circuitry, an FPGA, an ASIC, an XPU, a comparator, an operational amplifier (op-amp), a logic circuit, etc.).) be implemented in a way that is configured and / or structured to execute some or all of the machine-readable instructions and / or to perform some or all of the operations corresponding to the machine-readable instructions without executing any software or firmware, however, other structures are equally suitable.

[0046] While one exemplary way of implementing the steering control circuit 210 from Fig. 2 in Fig. As illustrated in section 7, one or more elements, processes and / or devices that are in Fig. The circuits illustrated in Figure 7 may be combined, separated, rearranged, omitted, eliminated, and / or implemented in any other way. Furthermore, the exemplary smoke and heat exhaust ventilation (SHEV) request circuit 702, the exemplary SHEV direction circuit 704, the exemplary SHEV to smoke and heat exhaust ventilation (SHEV) conversion circuit 706, the exemplary SHEV verification circuit 708, and the exemplary offset angle determiner circuit 710, and / or more generally, the exemplary steering control circuit 210, may be derived from the following: Fig. 7. This could be implemented by hardware alone or by hardware in combination with software and / or firmware. Thus, for example, any of the exemplary smoke and heat exhaust ventilation (SHEV) request circuit 702, the exemplary SHEV direction circuit 704, the exemplary SHEV to smoke and heat exhaust ventilation (SHEV) conversion circuit 706, the exemplary SHEV verification circuit 708, and the exemplary offset angle determiner circuit 710, and / or more generally, the exemplary steering control circuit 210, could be used. Fig. 7. can be implemented by a programmable circuit in combination with machine-readable instructions (e.g., firmware or software), a processor circuit, analog circuit(s), digital circuit(s), logic circuit(s), programmable processor(s), programmable microcontroller(s), graphics processing unit(s) (GPU(s)), digital signal processor(s) (DSP(s)), ASIC(s), programmable logic device(s) (PLD(s)), and / or field-programmable logic device(s) (FPLD(s)), such as FPGAs. Furthermore, the exemplary steering control circuit 210 can be implemented from Fig. 7 one or more elements, one or more processes and / or one or more devices in addition to or instead of those in Fig. 7 illustrated elements, processes and devices may be included and / or it may include more than one of any or all of the illustrated elements, processes and devices.

[0047] A flowchart representative of exemplary machine-readable instructions that can be executed by a programmable circuit to design the exemplary steering control circuit 210. Fig. 7 to implement and / or instantiate, and / or is representative of exemplary operations that can be performed by a programmable circuit to implement the exemplary steering control circuit 210 from Fig. 7 to be implemented and / or instantiated is in Fig. 8 shown. The machine-readable instructions may be one or more executable programs or (a) part(s) of one or more executable programs for execution by a programmable circuit, such as the programmable circuit 912 shown in the exemplary programmable circuit platform 900, which is described below in conjunction with Fig. As discussed in section 9, the action may involve one or more functions or parts of functions to be performed by the exemplary programmable circuit. In some examples, the machine-readable instructions cause a process, task, etc., to be executed and / or carried out automatically in the real world. In this context, "automated" means without human intervention.

[0048] The program can be implemented as instructions (e.g., software and / or firmware) stored on one or more non-transient computer-readable and / or machine-readable storage media, such as cache memory, a magnetic storage device or disk (e.g., a floppy disk, a hard disk drive (HDD), etc.), an optical storage device or disk (e.g., a Blu-ray disc, a compact disc (CD), a digital versatile disc (DVD), etc.), a redundant array of independent hard disks (RAID), a register, ROM, a solid-state drive (SSD), 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, etc.), and / or any other storage device or disk.The instructions of the non-transitory computer-readable and / or machine-readable medium can program and / or be executed by programmable circuits located in one or more hardware devices. However, the entire program and / or parts thereof can alternatively be executed and / or instantiated by one or more hardware devices other than the programmable circuit and / or implemented as dedicated hardware. The machine-readable instructions can be distributed across multiple hardware devices and / or executed by two or more hardware devices (e.g., a server and a client hardware device). For example, the client hardware device can be an endpoint client hardware device (e.g., a hardware device associated with a human and / or machine user) or an intermediate client hardware device gateway (e.g., a server).a radio access network (RAN) that can enable communication between a server and an endpoint client hardware device. Similarly, the non-transitory computer-readable storage medium can include one or more media. Although the example program refers to the one in . Fig. As illustrated in flowchart 8, many other methods for implementing the exemplary steering control circuit 210 can also be described. Fig. 7 can be used as an alternative. For example, the execution order of the flowchart blocks can be changed, and / or some of the described blocks can be modified, removed, duplicated, or combined. Additionally or alternatively, any or all of the flowchart blocks can be implemented by one or more hardware circuits (e.g., processor circuitry, discrete and / or integrated analog and / or digital circuitry, an ASIC, a comparator, an operational amplifier (op-amp), a logic circuit, etc.) structured to perform the corresponding operation without executing any software or firmware. The programmable circuitry can be distributed across different network locations and / or locally on one or more hardware devices (e.g., a single-core processor (e.g., a single-core CPU), a multi-core processor (e.g., a multi-core CPU, an XPU, etc.)).For example, the programmable circuit could be a CPU located in the same package (e.g., in the same package of an integrated circuit (IC) or in two or more separate packages), 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(s) thereof.

[0049] The machine-readable instructions described in this document can be stored in one or more formats, including compressed, encrypted, fragmented, compiled, executable, and packed. Machine-readable instructions, as described in this document, 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.), a bitstream (e.g., a computer-readable bitstream, a machine-readable bitstream, etc.)) or a data structure (e.g., as part(s) of instructions, code, representations of code, etc.) that can be used to create, manufacture, and / or generate machine-executable instructions.For example, machine-readable instructions may be fragmented and stored on one or more storage devices, disks, and / or computing devices (e.g., servers) located in the same or different locations within a network or collection of networks (e.g., in the cloud, on edge devices, etc.). The machine-readable instructions may require one or more of the following actions: installation, modification, adaptation, updating, combining, augmenting, configuring, decrypting, decompressing, unpacking, distributing, reassigning, compiling, etc., to make them directly readable, interpretable, and / or executable by a computing device and / or other machine.For example, the machine-readable instructions may be stored in multiple parts, which are individually compressed, encrypted and / or stored on separate computing devices, the parts, when decrypted, decompressed and / or combined, forming a set of computer-executable and / or machine-executable instructions that implement one or more functions and / or operations that together may form a program, as described here.

[0050] In another example, the machine-readable instructions might be stored in a state where they can be read by a programmable circuit, but require the addition of a library (e.g., a Dynamic Link Library (DLL)), a Software Development Kit (SDK), an Application Programming Interface (API), etc., to execute the machine-readable instructions on a specific computing device or other device. In yet another example, the machine-readable instructions might need to be configured (e.g., settings saved, data entered, network addresses recorded, etc.) before the machine-readable instructions and / or the corresponding program(s) can be executed, in whole or in part.Thus, machine-readable, computer-readable and / or machine-readable media such as those used herein may contain instructions and / or (a) program(s) regardless of the specific format or state of the machine-readable instructions and / or program(s).

[0051] The machine-readable instructions described in this document can be represented by any past, present, or future instruction language, scripting language, programming language, etc. For example, the machine-readable instructions can be represented using any of the following languages: C, C++, Java, C#, Perl, Python, JavaScript, HyperText Markup Language (HTML), Structured Query Language (SQL), Swift, etc.

[0052] As mentioned above, the exemplary processes can be derived from Fig. 8. are 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. In this context, 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 and to exclude signal propagation and transmission media.Examples of such non-transitory computer-readable medium, non-transitory computer-readable storage medium, non-transitory machine-readable medium and / or non-transitory machine-readable storage medium include optical storage devices, magnetic storage devices, a hard disk drive (HDD), flash memory, read-only memory (ROM), a CD, a DVD, a cache, RAM of any type, a register and / or any other storage device or storage disk on which information is stored for any duration (e.g., for extended periods, permanently, for short periods, for temporary buffering and / or intermediate storage of information).In this context, 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 for storing information, but excluding signal propagation and transmission media. Examples of non-transitory computer-readable storage devices and / or non-transitory machine-readable storage devices include random-access memory of any type, read-only memory of any type, semiconductor memory, flash memory, optical disks, magnetic disks, disk drives, and / or RAID systems. In this context, the term "device" refers to a physical structure, such as mechanical and / or electrical equipment, hardware, and / or a circuit, that is controlled by computer-readable instructions, machine-readable instructions, etc.may or may not be configured, etc., and / or are manufactured to execute computer-readable instructions, machine-readable instructions, etc.

[0053] Fig. Figure 8 is a flowchart representative of exemplary machine-readable instructions and / or exemplary operations 800 that can be executed, instantiated, and / or performed by an exemplary programmable circuit to accommodate asymmetric steering ratios during a hands-free and / or self-driving event(s). The exemplary machine-readable instructions and / or exemplary operations 800 from Fig. The eighth block begins at block 802, where the exemplary smoke and heat exhaust ventilation (SHEV) request circuit 702 obtains, receives, and / or otherwise retrieves a desired SHEV request. For example, the SHEV request circuit 702 receives SHEV request 610 from the FAS 218.

[0054] At block 804, the smoke and heat exhaust ventilation (SHEV) direction switch 704 determines whether the SHEV request is less than a threshold value. For example, the threshold value can be zero (0). If the SHEV direction switch 704 determines at block 804 that the SHEV request is not less than the threshold value, the process proceeds to block 806.

[0055] In block 806, the smoke and heat exhaust ventilation (SHEV) direction switch 704 determines whether the SHEV request is greater than the threshold value. For example, the SHEV direction switch 704 determines whether an angle associated with SHEV request 610 is greater than zero.

[0056] If the RWA direction switch 704 at block 806 does not determine that the RWA requirement is greater than the threshold, the process returns to block 802.

[0057] If the smoke and heat exhaust ventilation (SHEV) direction switch 704 at block 806 determines that the SHEV request is greater than the threshold (e.g., the SHEV request 610a from Fig. 6), the smoke and heat exhaust ventilation (SHEV) direction switch 704 communicates to the SHEV to smoke and heat exhaust ventilation (SHEV) conversion switch 706 that the SHEV request (e.g. the SHEV request 610a from Fig. 6) is greater than the threshold (e.g. greater than zero, indicating a left turn or a left angle requirement).

[0058] In block 808, the RWA-to-SWA conversion circuit 706 uses a left-side asymmetric steering ratio (LSR). For example, the RWA-to-SWA conversion circuit 706 uses the first data record 602, which is associated with the RWA request 610a.

[0059] Next, the RWA-to-SWA conversion circuit 706 at block 810 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 circuit 706 retrieves the SWA (e.g., SWA request 612) associated with RWA request 610a from the first data record 602. The process then proceeds to block 816.

[0060] Back at block 804, the smoke and heat exhaust ventilation (SHEV) direction switch 704, when the SHEV direction switch 704 determines that the SHEV request is less than the threshold (e.g., a value of zero), communicates to the SHEV-to-SHEV conversion switch 706 that the SHEV request (e.g., the SHEV request 610b from Fig. 6) is less than the threshold (e.g., less than zero, indicating a right turn or a right-angle request). The process then proceeds to block 812.

[0061] In block 812, the RWA-to-SWA conversion circuit 706 uses a right-side asymmetric steering ratio (RSR). For example, the RWA-to-SWA conversion circuit 706 uses the second data set 604, which is assigned to the RWA request 610b.

[0062] Next, the RWA-to-SWA conversion circuit 706 at block 814 obtains the SWA (e.g., the SWA 614 from) based on the RSR. Fig. 6), which is assigned to the RWA request 610b, retrieves it, calculates it and / or determines it in some other way. For example, the RWA-to-SWA conversion circuit 706 retrieves the SWA (e.g., the SWA request 614), which is assigned to the RWA request 610b, from the second data record 604.

[0063] In block 816, the exemplary SWA verification circuit 708 determines whether the SWA request is within acceptable threshold limits. For example, based on vehicle speed, current vehicle path, crosswind conditions, road conditions and / or gradients and / or any other condition(s), the exemplary SWA verification circuit 708 determines whether the SWA request 612 (e.g., block 810) or the SWA request 614 (e.g., block 814), determined by the RWA-to-SWA conversion circuit 706, is within acceptable threshold angle limits. If the SWA request 612, 614 is not within acceptable threshold angle limits, the steering control circuit 210 aborts the RWA request 610a or 610b and maintains a direction of the vehicle 100 and / or a position of the steering gear 202.If the SWA verification circuit 708 determines that the SWA request 612, 614 is within acceptable threshold angle limits, the SWA verification circuit 708 determines whether an SWA rate required to move the steering wheel based on the SWA request 612, 614 exceeds a rate threshold.

[0064] If the SWA verification circuit 708 determines that the SWA rate associated with SWA request 612 or 614 is not within an acceptable threshold angle limit (block 816), process 800 terminates and the steering control circuit 210 cancels RWA request 610a or 610b. If the SWA verification circuit 708 determines that the SWA rate associated with SWA request 612 or 614 is within acceptable threshold angle limits (block 816), process 800 proceeds to SWA request 612 or 614.

[0065] The steering control circuit 210 converts the specified SWA into a relative SPA (block 818). For example, the exemplary offset angle determiner circuit 710 determines an offset angle that correlates with a target SPA or relative SPA required to guide the vehicle 100 based on the RWA request. For example, the offset angle determiner circuit 710 determines the relative SPA based on a difference between a current SPA position (provided, for example, by the SWA sensor 212) and a target SPA position provided by the SWA associated with the SWA request 612, 614. The offset angle determiner circuit 710 can determine other factors for determining an offset angle, including, for example, crosswind, road camber, road gradient, and / or any other condition(s).

[0066] At block 820, the exemplary offset angle determiner circuit 710 instructs the PAS system 204 to move the steering gear 202 to the relative SPA determined by the offset angle determiner circuit 710. The process ends or returns to block 802.

[0067] Fig. Figure 9 is a block diagram of an exemplary programmable circuit platform 900, structured to show the exemplary machine-readable instructions and / or the exemplary operations from Fig. 8 to execute and / or instantiate the exemplary steering control circuit 210 from the Fig. 2 and Fig. 7. The programmable circuit platform 900 can be, for example, a server, a personal computer, a workstation computer, a self-learning machine (e.g., a neural network), a mobile device (e.g., a mobile phone, a smartphone, a tablet), another wearable device, or any other type of computing device and / or electronic device.

[0068] The programmable circuit platform 900 of the illustrated example includes a programmable circuit 912. The programmable circuit 912 of the illustrated example is hardware. For example, the programmable circuit 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 912 can be implemented by one or more semiconductor-based (e.g., silicon-based) devices.In this example, the programmable circuit 912 implements the exemplary steering control circuit 210, the exemplary smoke and heat exhaust ventilation (SHEV) request circuit 702, the exemplary SHEV direction circuit 704, the exemplary SHEV to smoke and heat exhaust ventilation (SHEV) conversion circuit 706, the exemplary SHEV verification circuit 708, the exemplary offset angle determiner circuit 710, the first set of SHEV to SHEV translations 714, and the second set of SHEV to SHEV translations 716.

[0069] The programmable circuit 912 of the illustrated example includes a local memory 913 (e.g., a cache, registers, etc.). The programmable circuit 912 of the illustrated example communicates via a bus 918 with a main memory 914, 916, which includes a volatile memory 914 and a non-volatile memory 916. The volatile memory 914 can be implemented by a synchronous dynamic random-access memory (SDRAM), a dynamic random-access memory (DRAM), a dynamic RAMBUS® random-access memory (RAMBUS® RDRAM®), and / or any other type of RAM device. The non-volatile memory 916 can be implemented by a flash memory and / or any other desired type of memory device. Access to the main memory 914, 916 of the illustrated example is controlled by a memory controller 917.In some examples, the memory control 917 can be implemented by one or more integrated circuits, logic circuits, microcontrollers from any desired family or manufacturer, or any other type of circuit to handle the data flow to and from the main memory 914, 916.

[0070] The programmable circuit platform 900 of the illustrated example also includes an interface circuit 920. The interface circuit 920 can be implemented by hardware according to any type of interface, such as an Ethernet interface, a universal serial bus (USB) interface, a Bluetooth® interface, a near field communication (NFC) interface, a peripheral component interconnect (PCI) interface and / or a peripheral component interconnect express (PCIe) interface.

[0071] In the illustrated example, one or more input devices 922 are connected to the interface circuit 920. The input device(s) 922 enable(s) a user (e.g., a human user, a machine user, etc.) to input data and / or commands into the programmable circuit 912. The input device(s) 922 can be implemented, for example, by an audio sensor, a microphone, a camera (photo or video), a keyboard, a button, a mouse, a touchscreen, a trackpad, a trackball, an isopoint device, and / or a speech recognition system.

[0072] One or more output devices 924 are also connected to the interface circuit 920 from the illustrated example. The output device(s) 924 can be implemented, for example, as display devices (e.g., a light-emitting diode (LED), an organic light-emitting diode (OLED), a liquid crystal display (LCD), a cathode ray tube display (CRT), an in-place switching display (IPS), a touchscreen, etc.), a tactile output device, and / or a loudspeaker. The interface circuit 920 of the illustrated example therefore includes a graphics driver card, a graphics driver chip, and / or a graphics driver processor circuit, such as a GPU.

[0073] The interface circuit 920 of the illustrated example also includes a communication device, such as a transmitter, a receiver, a transceiver, a modem, a home gateway, a wireless access point, and / or a network interface, to support data exchange with external machines (e.g., computing devices of any kind) via a network 926. Communication can be established, for example, via an Ethernet connection, a connection to a digital subscriber line (DSL), a telephone line connection, a coaxial cable system, a satellite system, a non-line-of-sight wireless system, a line-of-sight wireless system, a mobile phone system, an optical link, etc.

[0074] The programmable circuit platform 900 of the illustrated example 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 semiconductor storage disks or devices, such as flash memory devices and / or SSDs.

[0075] The machine-readable instructions 932, which are derived from the machine-readable instructions from Fig. 8 can be implemented, can be stored in the mass storage device 928, in the volatile memory 914, in the non-volatile memory 916 and / or on at least one non-transient computer-readable storage medium, such as a CD or DVD, which may be removable.

[0076] Fig. Figure 10 is a bottom view of another exemplary vehicle 1000 disclosed in this document, which includes another exemplary steering linkage assembly 1002 in which examples disclosed in this document may be implemented. The steering linkage assembly 1002 of the illustrated example is a steering assembly with a two-wheel drive with a non-driven independent axle (e.g., 4x2 drivetrain, front-wheel drive, etc.). The steering linkage assembly 1002 has a plurality of mechanical components that operatively couple the steering arm 222 and the wheels (the wheels 104A, 104B) of the vehicle 1000. In the illustrated example, the steering linkage assembly 1002 includes a steering intermediate rod 1004, tie rods 1006, a steering intermediate lever 1008, the steering column lever 222, and the steering housing 200. The steering intermediate rod 1004 is coupled to the steering column lever 222. The tie rods 1006 couple the steering intermediate rod 1004 and the respective steering knuckles 1010 of the vehicle 1000.Thus, the rotation of the steering column lever 222 via the steering housing 200 causes the steering knuckles 1010 to rotate via the tie rods 1006 and the steering intermediate rod 1004. The steering housing 200 of the illustrated example can be implemented with the HPAS system 400 or the EPAS system 500. Additionally, the steering column lever 222 can be implemented with the first steering column lever 410 or the second steering column lever 508. In other words, the steering linkage assembly 1002 is the same regardless of 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 illustrated example includes the steering control circuit 210.

[0077] Fig. Figure 11A is a perspective side view of another exemplary vehicle 1100 in which the examples disclosed in this document may be implemented. Fig. 11B is a bottom view of the exemplary vehicle 1100 from Fig. 11A. The vehicle 1100 of the illustrated example has a steering linkage assembly 1102 that provides a forward-reverse force, or a steering rod assembly to rotate a steering angle of the vehicle 1100 (e.g., a 4x2 drivetrain). In the illustrated example, the steering linkage assembly 1102 includes a steering rod 1104, a track arm 1106, a tie rod tube 1108, the steering column lever 222, and the steering housing 200. The steering rod 1104 is coupled to the steering column lever 222, which is coupled to the steering housing 200. The tie rod tube 1108 couples the track levers 1106. The track levers 1106 couple the steering rod 1104 and the respective steering knuckles 1110 of the vehicle 1100. Thus, the rotation of the steering column lever 222 via the steering housing 200 causes the steering rod 1104 to move in a forward-backward direction, which in turn causes the steering knuckles 1110 to rotate via the track levers 1106 and the tie rod tube 1108.The steering housing 200 of the illustrated example can be implemented with either the HPAS system 400 or the EPAS system 500. Additionally, the steering column lever 222 can be implemented with either the first steering column lever 410 or the second steering column lever 508. In other words, the steering linkage assembly 1102 is the same regardless of whether the HPAS system 400 is coupled to the vehicle 1000 or the EPAS system 500 is used with the vehicle 1100. The vehicle 1100 of the illustrated example includes the steering control circuit 210.

[0078] Fig.Figure 12 is a bottom view of another exemplary vehicle 1200 in which the examples disclosed in this document may be implemented. In the illustrated example, the HPAS system 400 is superimposed on the EPAS system 500. The vehicle 1200 includes a steering linkage assembly 1202, which has a first attachment point 1204 for linkage and steering arm between the steering linkage assembly 1202 and the HPAS system 400. The steering linkage assembly 1202 has a second attachment point 1206 for linkage and steering arm between the steering linkage assembly 1202 and the EPAS system 500. In the illustrated example, the first attachment point 1204 for linkage and steering arm is offset in the x-direction relative to the second attachment point 1206 for linkage and steering arm.Although the first mounting point 1204 of the linkage and steering column lever is offset in the x-direction relative to the second mounting point 1206 of the linkage and steering column lever, the first mounting point 1206 and the second mounting point of the linkage and steering column lever are aligned in the y-direction. Therefore, a common linkage assembly can be used with both the HPAS system 400 and the EPAS system 500.

[0079] "Including" and "comprising" (and all forms and tenses thereof) are used in this document as open expressions. Thus, when any form of "include" or "comprise" (e.g., encompasses, includes, encompassing, containing, exhibiting, etc.) is used in a patent claim as a preamble or within a clause of any type, it is understood that additional elements, expressions, etc., may be present without being outside the scope of the relevant patent claim or clause. In the present context, the term "at least," when used, for example, as a transitional term in a preamble of a claim, is just as open as the terms "comprising" and "comprising."The expression "and / or", when used, for example, in a form such as A, B and / or C, denotes any combination or subset of A, B, C, such as (1) only A, (2) only B, (3) only C, (4) A with B, (5) A with C, and (6) B with C, or (7) A with B and C. As used in this document in the context of describing structures, components, elements, objects, and / or things, the expression "at least one of A and B" is intended to refer to implementations that include any one of the following: (1) at least one of A, (2) at least one of B, or (3) at least one of A and at least one of B.Likewise, the phrase "at least one of A or B," as used in this document in connection with the description of structures, components, elements, objects, and / or things, shall refer to implementations that include any one of the following: (1) at least one of A, (2) at least one of B, or (3) at least one of A and at least one of B. As used in this document in connection with a description of the execution or performance of processes, instructions, actions, activities, etc., the phrase "at least one of A and B" shall refer to implementations that include any one of the following: (1) at least one of A, (2) at least one of B, or (3) at least one of A and at least one of B.Likewise, the phrase “at least one of A or B”, as used in this document in connection with the description of the implementation or execution of processes, instructions, actions, activities, etc., shall refer to implementations that include any one of the following: (1) at least one of A, (2) at least one of B, or (3) at least one of A and at least one of B.

[0080] As used in this document, singular references (e.g., "a," "a," "first," "second," etc.) do not preclude a plurality. The expression "a" object, as used herein, refers to one or more of these objects. The expressions "a," "one or more," and "at least one" are used interchangeably herein. Furthermore, although listed individually, a plurality of means, elements, or actions may be implemented, e.g., by the same entity or object. Additionally, although individual features may be included in different examples or claims, these may possibly be combined, and inclusion in different examples or claims does not imply that a combination of features is not possible and / or advantageous.

[0081] As used herein, the term "above," unless otherwise specified, describes the relationship of two parts to the ground. A first part is above a second part if the second part has at least one part between the ground and the first part. Likewise, in the sense used herein, a first part is "below" a second part if the first part is closer to the ground than the second part. As noted above, a first part may be above or below a second part, with one or more of the following elements present: other parts in between, no other parts in between, the first and second parts touching, or without the first and second parts being in direct contact with each other.

[0082] As used in this patent specification, the statement that any part (e.g., a layer, a film, an area, a region, or a plate) is located on another part in any way (e.g., positioned, lying on, arranged on, or formed on, etc.) means that the part referred to is either in contact with the other part or that the part referred to is located above the other part with one or more intermediate part(s) in between.

[0083] In the present context, connection references (e.g., attached, coupled, connected, and joined) can include intermediate elements between the elements referred to by the connection reference and / or relative movement between these elements, unless otherwise specified. Therefore, connection references do not necessarily imply that two elements are directly connected and / or in a fixed relationship to one another. As used herein, the statement that any one part is in "contact" with another part is defined as meaning that there is no intermediate element between the two parts.

[0084] Unless expressly stated otherwise, descriptors such as "first," "second," "third," etc., are used herein without implying or otherwise indicating any significance of priority, physical order, arrangement in a list, and / or order. They are used merely as designations and / or arbitrary names to distinguish elements for a better understanding of the disclosed examples. In some examples, the descriptor "first" may be used in the detailed description to refer to an element, while the same element may be referred to in a claim by a different descriptor such as "second" or "third." In such cases, it is understood that such descriptors serve only to uniquely identify, within the context of the discussion (e.g., within a claim), the elements that might otherwise have the same name.

[0085] In this context, "approximately" and "about" modify their subjects / values ​​to acknowledge the potential presence of variations that occur in real-world applications. For example, "approximately" and "about" may modify dimensions that, due to manufacturing tolerances and / or other real-world imperfections, as would be apparent to the average person skilled in the art, cannot be exact. For example, "approximately" and "about" may indicate that such dimensions may fall within a tolerance range of + / - 10%, unless otherwise specified herein.

[0086] As used herein, “essentially real-time” refers to occurrence in a near-instantaneous manner, recognizing that there may be real delays for processing time, transmission, etc. Thus, unless otherwise specified, “essentially real-time” refers to real-time + 1 second.

[0087] As used herein, the term “in communication”, including variations thereof, includes direct communication and / or indirect communication through one or more intermediary components and does not require direct physical (e.g., wired) communication and / or continuous communication, but rather additionally includes selective communication at periodic intervals, scheduled intervals, aperiodic intervals and / or at one-off events.

[0088] As used herein, a “programmable circuit” is defined as comprising: (i) one or more specialized electrical circuits (e.g., an application-specific integrated circuit (ASIC)) designed to perform one or more specific operations and incorporating 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 electrical circuits programmable with instructions to perform one or more specific functions and / or operations and incorporating one or more semiconductor-based logic devices (e.g., electrical hardware implemented by one or more transistors). Examples of programmable circuits include programmable microprocessors, such as central processing units (CPUs).that can execute first instructions to perform one or more operations and / or functions, field-programmable gate arrays (FPGAs) that can be programmed with second instructions to cause a configuration and / or construction of the FPGAs so that they instantiate one or more operations and / or functions corresponding to the first instructions, graphics processing units (GPUs) that can execute first instructions to perform one or more operations and / or functions, digital signal processors (DSPs) that can execute first instructions to perform one or more operations and / or functions, XPUs, network processing units (NPUs), one or more microcontrollers that can 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 several types of programmable circuits (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 technology (e.g., an application programming interface (API) that can assign the computational task(s) to the one or more types of programmable circuits that are suitable and available to perform the computational task(s)).

[0089] In this context, an integrated circuit is defined as one or more semiconductor devices 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 ASICs, FPGAs, chips, microchips, programmable circuits, semiconductor substrates coupling multiple circuit elements, systems-on-chips (SoCs), etc.

[0090] From the foregoing, it is understood that exemplary systems, devices, manufactured products, and methods have been disclosed that enable the same steering linkage assembly to be used with a hydraulic power steering system or an electric power steering system. Systems, devices, manufactured products, and methods are disclosed to accommodate asymmetrical steering ratios resulting from the use of a common or identical linkage assembly in the HPAS system or the EPAS system. Accordingly, the disclosed systems, devices, manufactured products, and methods are directed toward the operation of a vehicle.

[0091] This document discloses exemplary methods, devices, systems, and manufactured articles for accommodating asymmetric steering ratios. Further examples and combinations thereof include the following: Example 1 includes a device comprising a steering linkage assembly, which includes a steering rod having a first end and a second end opposite the first end, wherein the steering rod is configured to be coupled to a hydraulic servo system and an electric servo system, wherein the hydraulic servo system is to be coupled to a vehicle frame and the first end of the steering rod via a first steering lever, and wherein the electric servo system is to be coupled to the vehicle frame and the first end of the steering rod via a second steering lever, wherein the first steering lever is shaped differently from the second steering lever to allow the first steering lever and the second steering lever to have a common connection from the steering lever to the attachment point with the steering rod of the steering linkage assembly. Example 2 includes the setup according to Example 1, wherein the steering linkage assembly provides an asymmetrical number of steering wheel rotations between straight ahead and fully turned to the left and fully turned to the right. Example 3 includes the setup according to Example 1 or 2, wherein the steering rod has the same length when the hydraulic servo system or the electric servo system is coupled to the vehicle frame. Example 4 includes the arrangement according to one of Examples 1-3, wherein the steering linkage assembly further includes a tie rod end, wherein the tie rod end is to be coupled to the second end of the steering rod, and an adjusting sleeve to couple the steering rod and the tie rod end. Example 5 includes the setup according to one of Examples 1-4, wherein the steering rod, steering rod head and adjusting sleeve have equal respective lengths when the hydraulic servo system or the electric servo system is coupled to the vehicle frame. Example 6 includes the setup according to one of Examples 1-5, wherein the first steering column lever is inclined inwards relative to the vehicle frame in order to be coupled to the hydraulic servo system and the steering rod. Example 7 includes the setup according to one of Examples 1-6, wherein the second steering column lever is inclined outwards relative to the vehicle frame to couple the electric servo system and the steering rod. Example 8 includes the arrangement according to any of Examples 1-7, wherein a first opening of the first steering column lever coupled to the hydraulic servo system is positioned at a first distance relative to a longitudinal axis of the frame when the first steering column lever is coupled to the vehicle, and a second opening of the second steering column lever coupled to the electric servo system is positioned at a second distance relative to the longitudinal axis of the frame when the second steering column lever is coupled to the vehicle, wherein the first distance is greater than the second distance. Example 9 includes a device comprising an interface circuit, machine-readable instructions, and a programmable circuit for at least one of the following: instantiating or executing the machine-readable instructions for comparing a wheel angle requirement with a threshold value in response to a determination that the wheel angle requirement is greater than the threshold value; determining a first steering wheel angle corresponding to the wheel angle requirement from a first data set mapping the wheel angle to the steering wheel angle; calculating 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 a determination that the wheel angle requirement is less than the threshold value; and determining a second steering wheel angle corresponding to the wheel angle from a second data set mapping the wheel angle to the steering wheel angle.where the second data set is asymmetrical relative to the first data set, and calculating a second steering pinion angle based on the second steering wheel angle and a second steering ratio obtained from the second data set. Example 10 includes the setup according to Example 9, wherein the programmable circuit is to determine the first steering pinion angle based on a first steering angle offset. Example 11 includes the setup according to Example 10 or 11, wherein the programmable circuit 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. Example 12 includes the apparatus according to one of Examples 9-11, which further includes a programmable circuit for instantiating or executing machine-readable instructions to cause a steering gear to move to the first steering pinion angle. Example 13 includes the setup according to one of Examples 9-12, wherein the programmable circuit is to determine the second steering pinion angle based on a second steering angle offset. Example 14 includes the setup according to one of Examples 9-13, wherein the programmable circuit 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. Example 15 includes the apparatus according to one of Examples 9-14, which further includes a programmable circuit for instantiating or executing machine-readable instructions to cause a steering gear to move to the second steering pinion angle. Example 16 includes at least one non-transitory machine-readable medium comprising machine-readable instructions for performing at least the following actions, by at least one processor circuit: comparing a wheel angle request with a threshold value in response to a determination that the wheel angle request is greater than the threshold value; determining a first steering wheel angle corresponding to the wheel angle request from a first data set mapping the wheel angle to the steering wheel angle; calculating 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 a determination that the wheel angle request is less than the threshold value; and determining a second steering wheel angle corresponding to the wheel angle from a second data set mapping the wheel angle to the steering wheel angle.where the second data set is asymmetrical relative to the first data set, and calculating a second steering pinion angle based on the second steering wheel angle and a second steering ratio obtained from the second data set. Example 17 includes the at least one non-transitory machine-readable medium according to Example 16, wherein the machine-readable instructions are to cause one or more of the at least one processor circuit to determine the first steering pinion angle based on a first steering angle offset. Example 18 includes the at least one non-transitory machine-readable medium according to Example 17 or 18, wherein the machine-readable instructions are to cause one or more of the at least one processor circuit 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. Example 19 includes the at least one non-transitory machine-readable medium according to one of Examples 16-18, wherein the machine-readable instructions are to cause one or more of the at least one processor circuit to determine the second steering pinion angle on the basis of a second steering angle offset provided by a difference between the second steering wheel angle and an actual steering wheel angle of a current position of a steering wheel. Example 20 includes the at least one non-transitory machine-readable medium according to one of Examples 16-19, wherein the machine-readable instructions are to cause one or more of the at least one processor circuit to cause a steering gear to move to the first steering pinion angle in response to a determination that the wheel angle request is greater than the threshold, or to the second steering pinion angle in response to a determination that the wheel angle request is less than the threshold.

[0092] The following patent claims are hereby incorporated into this detailed description by reference. Although certain exemplary systems, devices, manufactured products, and processes are disclosed herein, the scope of protection of this patent specification is not limited to them. On the contrary, this patent specification covers all systems, devices, manufactured products, and processes that are lawfully within the scope of the patent claims of this patent specification.

Claims

[1] Institution, encompassing: A steering linkage assembly comprising a steering rod having a first end and a second end opposite the first end, the steering rod being configured to be coupled to a hydraulic servo system and an electric servo system, the hydraulic servo system being coupled to a vehicle frame and the first end of the steering rod via a first steering arm, the electric servo system being coupled to the vehicle frame and the first end of the steering rod via a second steering arm, the first steering arm being shaped differently from the second steering arm to allow the first steering arm and the second steering arm to have a common connection from the steering arm to the attachment point with the steering rod of the steering linkage assembly. [2] Device according to claim 1, wherein the steering linkage assembly provides an asymmetric number of steering wheel rotations between straight ahead and fully turned to the left and fully turned to the right. [3] Device according to one of claims 1-2, wherein the steering rod has the same length when the hydraulic servo system or the electric servo system is coupled to the vehicle frame. [4] Device according to one of claims 1-3, wherein the steering linkage assembly further comprises: a tie rod end, wherein the tie rod end is to be coupled to the second end of the steering rod; and an adjusting sleeve to couple the steering rod and the steering rod end. [5] Device according to one of claims 1-4, wherein the steering rod, the steering rod head and the adjusting sleeve have the same respective lengths when the hydraulic servo system or the electric servo system is coupled to the vehicle frame. [6] Device according to one of claims 1-5, wherein the first steering column lever is angled inwards relative to the vehicle frame in order to be coupled to the hydraulic servo system and the steering rod. [7] Device according to one of claims 1-6, wherein the second steering column lever is angled outwards relative to the vehicle frame to couple the electric servo system and the steering rod. [8] Device according to one of claims 1-7, wherein a first opening of the first steering column lever, which is coupled to the hydraulic servo system, is positioned at a first distance relative to a longitudinal axis of the frame when the first steering column lever is coupled to the vehicle, a second opening of the second steering column lever, which is coupled to the electric servo system, is positioned at a second distance relative to the longitudinal axis of the frame when the second steering column lever is coupled to the vehicle, wherein the first distance is greater than the second distance. [9] Device according to any one of claims 1-8, further comprising: an interface circuit; machine-readable instructions; and a programmable circuit for at least one of instantiating or executing machine-readable instructions for: Comparing a wheel angle requirement with a threshold value; in response to the determination that the impeller angle requirement is greater than the threshold: Determining a first steering wheel angle that meets the wheel angle requirement from a first data set that maps the wheel angle to the steering wheel angle; and Calculating 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 the determination that the impeller angle requirement is less than the threshold: Determining a second steering wheel angle corresponding to the wheel angle from a second data set that maps the wheel angle to the steering wheel angle, wherein the second data set is asymmetric relative to the first data set; and Calculating a second steering pinion angle based on the second steering wheel angle and a second steering ratio obtained from the second data set. [10] Device according to one of claims 1-9, wherein the programmable circuit is to determine the first steering pinion angle based on a first steering angle offset. [11] Device according to one of claims 1-10, wherein the programmable circuit 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] Device according to one of claims 1-9, further comprising a programmable circuit for instantiating or executing machine-readable instructions to cause a steering gear to move to the first steering pinion angle. [13] Device according to one of claims 1-12, wherein the programmable circuit is to determine the second steering pinion angle based on a second steering angle offset. [14] Device according to one of claims 1-13, wherein the programmable circuit 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] Device according to one of claims 1-9, further comprising a programmable circuit for at least one instantiation or execution of machine-readable instructions to cause a steering gear to move to the second steering pinion angle.

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