Dynamic steering angle ratio adjustment instruction for vehicle steering system

Abstract

To provide a dynamic steering angle ratio adjustment instruction for a vehicle steering system.SOLUTION: In some examples, a vehicle includes a steering system having a user-operated steering control configured to steer the vehicle. The vehicle includes a controller. The controller is independent of the steering system, and configured to receive an instruction that the steering system employs dynamic steering angle ratio adjustment of the steering control and modify an operation of the controller on the basis of the instruction.SELECTED DRAWING: None

Description

[Background technology]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit under 35 U.S.C. §119(e) of U.S. Provisional Patent Application No. 63 / 579,597, filed August 30, 2023, entitled “Dynamic Steering Angle Ratio Adjustment Indication for a Vehicle Steering System,” which is incorporated herein by reference.

[0002] background The vehicle may include a steering system having a steering control that is operated by a user to adjust the direction of travel of the vehicle. Examples of steering controls may include any or some combination of the following: a steering wheel, a steering yoke, a steering stick, or other types of steering controls operable by a driver. The steering control, when displaced by the driver, pivots the wheels relative to the current direction of travel of the vehicle. Summary of the Invention [Means for solving the problem]

[0003] Examples of vehicles include cars, trucks, buses, motorcycles, or other types of vehicles, whether currently existing or in the future. A steering system of a vehicle can include a steering control operable by a driver of the vehicle. The steering control can be a steering wheel, steering yoke, steering stick, or other type of control that, when displaced, pivots the wheels relative to the vehicle's current direction of travel. A "wheel" of a vehicle refers to a circular object that turns on an axle and includes an element that engages the road surface, such as a tire. A vehicle can include two wheels, three wheels, four wheels, or more than four wheels.

[0004] The "displacement" of the steering control can refer to either a rotational or linear displacement. For example, a steering wheel or steering yoke is rotated by a driver to cause the wheels to pivot. In a further example, a steering stick (which is an elongated member that can be manipulated by a user) can be linearly displaced, such as laterally (e.g., left and right) to cause the wheels to pivot. Displacement of the steering control can cause the front wheels and / or the rear wheels to pivot.

[0005] A vehicle's "current direction of travel" can refer to the direction along which the vehicle is traveling if the vehicle is moving, or the direction along which the vehicle would travel if the vehicle were to begin moving from a stationary state. "Pivoting" a wheel relative to the vehicle's current direction of travel causes the wheel to point away from the vehicle's current direction of travel.

[0006] Traditionally, steering systems employ a mechanical link between a steering column (on which the steering control is mounted) and the wheels. Displacement of the steering control is mechanically coupled to the wheels to cause the wheels to pivot. In such traditional steering systems, the steering angle ratio between the displacement of the steering control and the pivoting of the wheels is constant.

[0007] Another type of steering system is a steer-by-wire system, in which the displacement of the steering control is in electrical communication with an electronic control unit that controls actuators to effect pivoting of the wheels. In a steer-by-wire system, there is no mechanical link between the steering control and the wheels.

[0008] The steer-by-wire system may implement dynamic steering angle ratio adjustment to adjust how much the displacement of the steering control of the steering system affects the pivoting of the wheels. Dynamic steering angle adjustment results in a change in the steering angle ratio between the displacement of the steering control and the corresponding pivoting of the wheels. The steering angle ratio can be changed in response to changes in any or some combination of the following: vehicle speed, vehicle acceleration, vehicle position (e.g., based on Global Positioning System (GPS) coordinates), vehicle engine torque, driver preferences, driver experience level, operating conditions (e.g., weather conditions, presence of road hazards, etc.), or other factors. Dynamically adjusting the steering angle ratio can improve steering agility at low speeds and steering stability at high speeds.

[0009] In an example where the steering control is rotated by the driver, the steering angle ratio can indicate the number of degrees the steering control must be rotated to pivot the wheels one degree. More generally, the steering angle ratio can indicate the amount of rotation of the steering control that will cause the wheels to pivot to a target angle of rotation. In a further example where the steering control is linearly displaced, the steering angle ratio can indicate the amount of linear displacement that will cause the wheels to pivot to a target angle of rotation.

[0010] In an example where dynamic steering angle ratio adjustment is used, in a low speed vehicle, the steering angle ratio may be set to a higher value, whereby a larger displacement of the steering control is used to cause the wheels to pivot by a target amount. In a high speed vehicle, the steering angle ratio may be set to a lower value, whereby a smaller displacement of the steering control is used to cause the wheels to pivot by a target amount. The steering angle ratio may be inversely proportional to the vehicle speed. That is, in a steering system employing dynamic steering angle ratio adjustment, variations in the steering angle ratio at different vehicle speeds result in different amounts of wheel pivoting for a given displacement of the steering control (i.e., the amount of wheel pivoting for a given displacement of the steering control is compensated for based on the steering angle ratio). When dynamic steering angle ratio adjustment is employed, the steering of the vehicle becomes more sensitive to steering control displacement at higher vehicle speeds and less sensitive to steering control displacement at lower vehicle speeds.

[0011] In further examples, the dynamic steering angle ratio adjustment can vary the steering angle ratio in response to changing acceleration of the vehicle, or in response to any of the other factors described above. For example, the steering angle ratio can be changed as the vehicle changes position, the steering angle ratio can be changed as vehicle engine torque changes, the steering angle ratio can be changed based on the driver's preferences (e.g., stored in the vehicle's memory as a user preference), the steering angle ratio can be changed based on the driver's level of experience (e.g., the vehicle can include sensors to detect who the driver is and the driver's level of experience), the steering angle ratio can be changed as operating conditions change (the steering angle ratio can be set to a first value when it is not raining, snowing, or hail, and set to a different second value when it is raining or snowing or hail or other severe weather), etc.

[0012] The vehicle may include a controller (which may include a program or hardware processing circuit) that produces an output (e.g., a prediction, an analytical output, etc.) based on various inputs, the inputs including a displacement of the steering control of the vehicle. An exemplary controller may predict impairment of a driver of the vehicle. For example, the driver may be intoxicated or experiencing an acute health problem that may impair the driver's ability to safely operate the vehicle. As another example, the driver may be an inexperienced driver who may make erratic adjustments of the steering control, which may result in unsafe operation of the vehicle.

[0013] The controller may output based on the absolute displacement of the steering control. However, in a vehicle with a steering system employing dynamic steering angle ratio adjustment, the output generated by the controller based on the absolute displacement of the steering control may not be accurate. For example, in a steering system employing dynamic steering, a driver making a large adjustment of the steering control at low vehicle speeds is consistent with normal driving behavior, such as when the driver is parking the vehicle or driving around an obstacle in a parking lot or another location. However, at higher vehicle speeds, the same large displacement of the steering control may be an indication of a driver impairment (especially if such displacement of the steering control is unstable). A controller that does not take into account that the steering system employs dynamic steering angle ratio adjustment may erroneously indicate that the driver is impaired when the driver makes a large displacement of the steering control at low vehicle speeds, or erroneously indicate that the driver is not impaired when the driver makes a small displacement of the steering control at high vehicle speeds.

[0014] According to some implementations of the present disclosure, an indicator is used to indicate that the steering system of the vehicle employs dynamic steering angle ratio adjustment of the steering control of the steering system. The indicator can be in the form of a signal or an information element. For example, the information element can be communicated between programs using a memory, using an application programming interface, or using other types of interfaces, such as in a message. The information element can be set to a first value or a second value, where the information element set to the first value indicates that the steering system employs dynamic steering angle ratio adjustment and the information element set to the second value indicates that the steering system does not employ dynamic steering angle ratio adjustment.

[0015] In another example, the indicator can be a signal, such as a signal on a vehicle bus. The bus can connect various electronic components of the vehicle to allow the electronic components to communicate with each other. The signal can be set to a first state or a different second state. The signal set to the first state indicates that the steering system employs dynamic steering angle ratio adjustment, while the signal set to the second state indicates that the steering system does not employ dynamic steering angle ratio adjustment.

[0016] More generally, the indicator can be set to a first state to indicate that dynamic steering angle ratio adjustment is being employed and to a different second state to indicate that dynamic steering angle ratio adjustment is not being employed. A controller within the vehicle can receive the indicator, and the controller can determine whether the vehicle's steering system employs dynamic steering angle ratio adjustment based on the state of the indicator. The controller can modify controller calculations or behavior based on whether the vehicle's steering system employs dynamic steering angle ratio adjustment. The present invention provides, for example, the following: (Item 1) A vehicle, the vehicle comprising: a steering system including a user-operated steering control configured to steer the vehicle; a controller, the controller being independent of the steering system; receiving an indication that the steering system is to employ dynamic steering angle ratio adjustment of the steering control; Modify the controller operation based on the instructions a controller configured to: Including, vehicles. (Item 2) The vehicle described in the preceding item, wherein the instructions include a signal being set to a first state or an information element being set to a first value. (Item 3) The vehicle according to any of the preceding items, wherein the instructions include signals on the bus. (Item 4) The instructions are for a vehicle as described in any of the preceding paragraphs that includes a signal that complies with the Connected Vehicle Systems Alliance (COVESA) Vehicle Signal Specification. (Item 5) The vehicle of any of the preceding items, wherein the instructions include information elements exchanged by the software. (Item 6) The vehicle of any of the preceding items, wherein the instructions include an indicator being set to a first state, and modifying the operation of the controller includes selecting, by the controller, a first model of a plurality of different models for use based on the indicator being set to the first state. (Item 7) The vehicle of any of the preceding items, wherein the controller is configured to select a second model of the plurality of different models in response to the indicator being set to a second state different from the first state. (Item 8) A vehicle as described in any of the preceding items, wherein the first model is trained using training data including steering displacement values ​​and steering angle ratios, and the second model is trained using training data including steering displacement values ​​but not steering angle ratios. (Item 9) A vehicle as described in any of the preceding items, wherein modifying the operation of the controller includes providing instructions as input to a model capable of producing an output based on the steering displacement value, whether or not supplemented by the steering angle ratio. (Item 10) The vehicle of any of the preceding items, wherein the steering system is configured to apply dynamic steering angle ratio adjustment of the steering control by adjusting a relationship between a displacement of the steering control and a corresponding pivoting of the wheels of the vehicle based on input information, the input information including one or more selected from among vehicle speed, vehicle acceleration, vehicle location, vehicle engine torque, driver preferences, driver experience level, or operating conditions. (Item 11) A non-transitory machine-readable storage medium, the non-transitory machine-readable storage medium including instructions that, when executed, cause a system to receiving an indication by a steering system of the vehicle to employ a dynamic steering angle ratio adjustment of a steering control of the steering system; modifying non-steering operations for the vehicle based on the instructions; A non-transitory machine-readable storage medium that causes (Item 12) The non-transitory machine-readable storage medium of any of the preceding items, wherein the non-steering operation includes a determination of impairment of a driver of the vehicle. (Item 13) The non-transitory machine-readable storage medium of any of the preceding items, wherein the non-steering operation includes determining a vehicle fault. (Item 14) The non-transitory machine-readable storage medium of any of the preceding items, wherein the non-steering operation is performed by software within the vehicle, and modifying the non-steering operation modifies the operation of the software. (Item 15) The non-transitory machine-readable storage medium of any of the preceding items, wherein the instructions include an indicator set to a first state, and the software causes an output based on a displacement of the steering control and a steering angle ratio in response to the indicator being set to the first state. (Item 16) The non-transitory machine-readable storage medium of any of the preceding items, wherein the software causes an output based on a displacement of the steering control uncompensated by a steering angle ratio in response to the indicator being set to a second state different from the first state. (Item 17) The non-transitory machine-readable storage medium of any of the preceding items, wherein the non-steering operation produces an output that is an indication of a problem associated with the vehicle or a driver of the vehicle, and the instructions, when executed, cause the system to transmit the output to an entity to address the problem. (Item 18) 1. A method for a system including a hardware processor, the method comprising: receiving, at the system, an indication that a steering system of the vehicle is to employ a dynamic steering angle ratio adjustment of a steering control of the steering system; modifying outputs generated by software independent of the steering system based on instructions from the system; A method comprising: (Item 19) 13. The method of claim 12, wherein the output is an indication of a problem associated with the vehicle or a driver of the vehicle. (Item 20) The method of any of the preceding claims, wherein the instructions include an indicator set to a first state, the software causing an output based on the displacement of the steering control and the steering angle ratio in response to the indicator being set to the first state, and the software causing an output based on the displacement of the steering control not compensated for by the steering angle ratio in response to the indicator being set to a second state different from the first state. (Summary) A dynamic steering angle ratio adjustment instruction for a vehicle steering system is described. In some examples, a vehicle includes a steering system having a user-operated steering control configured to steer the vehicle. The vehicle includes a controller, independent of the steering system, configured to receive an instruction that the steering system employ a dynamic steering angle ratio adjustment of the steering control and to modify operation of the controller based on the instruction. [Brief description of the drawings]

[0017] Some implementations of the present disclosure are described with reference to the following figures.

[0018] [Figure 1] FIG. 1 is a block diagram of an arrangement including a vehicle that supports dynamic steering angle ratio adjustment of a vehicle's steering control in accordance with some implementations of the present disclosure.

[0019] [Diagram 2]2A and 2B are block diagrams of computing modules according to some examples of the present disclosure.

[0020] [Diagram 3] FIG. 3 is a flow diagram of a process according to some examples.

[0021] [Figure 4] FIG. 4 is a block diagram of a system according to some examples.

[0022] Throughout the drawings, the same reference numbers designate similar (but not necessarily identical) elements. The figures are not necessarily to scale, and the size of some parts may be exaggerated to more clearly illustrate the examples shown. Moreover, the drawings provide examples and / or implementations that are consistent with the description, but the description is not limited to the examples and / or implementations provided in the drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] 1 is a block diagram of an example arrangement including a vehicle 100 having a steering system 102. The steering system 102 includes a steering control 104 that can be operated by a driver of the vehicle 100. Operation of the steering control 104 by the driver causes a displacement of the steering control 104 (either rotational or linear displacement).

[0024] The steering control 104, when adjusted by the driver, outputs a steering displacement value 150 that represents the amount of displacement of the steering control 104. The steering displacement value 150 can be either a rotation angle representing how many degrees the steering control 104 has been turned or an offset representing the amount of linear displacement of the steering control 104 when it is displaced.

[0025] The steering displacement value 150 is provided to a dynamic steering angle ratio adjustment (DSARA) module 106, which dynamically adjusts the steering angle ratio of the steering system 102 based on input information 152 representative of the motion of the vehicle 100. As an example, the input information 152 includes the speed of the vehicle 100, or the acceleration of the vehicle 100, or both. The acceleration of the vehicle 100 can include longitudinal acceleration (acceleration in the current direction of movement of the vehicle 100), or lateral acceleration (acceleration in a direction perpendicular to the current direction of movement of the vehicle 100), or both. Based on the speed or acceleration or both, the DSARA module 106 can adjust the steering angle ratio of the steering system 102. In further examples, the input information 152 can include additional or alternative parameters, such as, for example, any or some combination of the following: vehicle position, vehicle engine torque, driver preferences, driver experience level, operating conditions, or other factors.

[0026] The DSARA module 106 can be implemented with machine-readable instructions executed by one or more hardware processors. Alternatively, the DSARA module 106 can be implemented with hardware processing circuitry, such as, for example, a programmable integrated circuit, a programmable gate array, or another hardware processing circuit.

[0027] Based on the steering displacement value 150 from the steering control 104 and the steering angle rate set by the DSARA module 106, the DSARA module 106 generates a steering adjustment value 154 that is output to the wheel control subsystem 112 that controls the pivoting of the wheels 108. The steering adjustment value 154 represents the amount of pivoting of the wheels 108. The wheels are mounted on the axles 110 of the vehicle 100.

[0028] The road wheel control subsystem 112 may include an electronic control unit that receives a steering adjustment value 154. Based on the steering adjustment value 154, the electronic control unit controls actuators to pivot the road wheels 108.

[0029] The vehicle 100 further includes an on-board controller 120 that is separate from the steering system 102. The on-board controller 120 is separate from and distinct from the steering system 102. The on-board controller 120 is “independent” from the steering system 102 if the on-board controller 120 performs non-steering operations that are independent from steering operations of the vehicle 100.

[0030] A "controller," as used herein, may refer to a hardware processing circuit, which may include any or some combination of a microprocessor, a core of a multi-core microprocessor, a microcontroller, a programmable integrated circuit, a programmable gateway, or another hardware processing circuit. Alternatively, a "controller" may refer to a combination of a hardware processing circuit and machine-readable instructions (software or firmware or both) executable on the hardware processing circuit.

[0031] The DSARA module 106 outputs a DSARA indicator 156 and a steering angle ratio indicator 158 to the on-board controller 120. When the DSARA indicator 156 is set to a first state, it indicates that dynamic steering angle ratio adjustment is enabled (or supported). When the DSARA indicator 156 is set to a second state, it indicates that dynamic steering angle ratio adjustment is disabled (or not supported).

[0032] The steering angle ratio indicator 158 represents the value of the steering angle ratio as adjusted by the DSARA module 106 based on the input information 152. The value can be one of a range of values ​​representing various steering angle ratios. The value can be a floating point value, an integer value, etc.

[0033] In some examples, the steering displacement value 150, the DSARA indicator 156, and the steering angle ratio indicator 158 can be signals that comply with a standard, such as, for example, the Connected Vehicle Systems Alliance (COVESA) Vehicle Signal Specification (VSS). Current versions of the COVESA VSS do not specify such a steering angle ratio indicator. However, future versions of the COVESA VSS may include such a steering angle ratio indicator. In other examples, the steering displacement value 150, the DSARA indicator 156, and the steering angle ratio indicator 158 may comply with other protocols, whether proprietary, standardized, or open source.

[0034] In some examples, the on-board controller 120 includes a calculation module (122) that performs calculations (e.g., predictions, analytical calculations, etc.) based on various inputs, including the steering displacement value 150 received from the steering control 104, and the DSARA indicator 156 and steering angle ratio indicator 158 from the DSARA module 106. The calculations performed by the calculation module 122 relate to the vehicle 100 or the driver's aspect of the vehicle 100, and the calculations take into account whether dynamic steering angle ratio adjustment is employed by the steering system 102 (DSARA indicator 156 is set to a first state). If dynamic steering angle ratio adjustment is employed, the calculation module 122 performs calculations that take into account both the steering displacement value 150 and the steering angle ratio represented by the steering angle ratio indicator 158. If dynamic steering angle ratio adjustment is not employed, the calculation module 122 performs calculations that take into account the steering displacement value 150 that is not affected by the steering angle ratio.

[0035] The computation module 122 generates a computation output 124 based on various inputs. For example, the computation output 124 may include an indication of whether the driver of the vehicle 100 is impaired. The indication may be in the form of a flag that can be set to different states to indicate impairment or no impairment. Alternatively, the indication may be one of a range of values ​​indicating different levels of driver impairment. The computation output 124 may be stored in a memory for subsequent analysis. As another example, the computation output 124 may be sent to an entity in the vehicle 100 to take action in response to the computation output 124. The entity may issue an audible alert (using a vehicle speaker), a visual alert (displayed by a display device of the vehicle 100), or a haptic alert (by vibrating the steering control 104 or another element in the vehicle 100) to provide a warning of the driver impairment. As a further example, in response to computational output 124 indicating driver impairment, the entity may disable the vehicle engine (assuming it is safe to do so), engage in automated driving of vehicle 100 (assuming that vehicle 100 supports automated driving), or take another action to mitigate the risk of driver impairment. In other examples, computational output 124 is sent to an entity external to vehicle 100 (e.g., a law enforcement entity, a family member's mobile device, or another entity, etc.).

[0036] In other examples, the calculation module 122 can perform other types of calculations based on the steering displacement value 150, the DSARA indicator 156, and the steering angle ratio indicator 158. Examples of other calculations can include calculations to rank a driver's driving behavior (e.g., safe driver, unsafe driver, etc.), calculations to determine whether the vehicle 100 is experiencing or is expected to experience a fault, or other calculations. Additionally, the calculation module 122 can perform calculations based on measurement data of other sensors or other input information.

[0037] In another example, instead of or in addition to the on-board controller, the external controller 130 (e.g., a controller in a cloud or server) includes a calculation module 132 for outputting a calculation output 134 based on the steering displacement value 150, the DSARA indicator 156, and the steering angle ratio indicator 158. The calculations of the calculation module 132 in the external controller 130 may be similar to the calculations of the calculation module 122 in the on-board controller 120. The external controller 130 may wirelessly communicate with the vehicle 100. For example, the steering displacement value 150, the DSARA indicator 156, and the steering angle ratio indicator 158 may be wirelessly sent from the vehicle 100 to the external controller 130. Additionally, the calculation output 134 may be wirelessly sent to the vehicle 100.

[0038] 2A and 2B show examples of computational modules that employ machine learning models. In other examples, the computational modules do not employ machine learning models.

[0039] FIG. 2A depicts a computation module 200 according to some examples. The computation module 200 is an example of the computation module 122 or the computation module 132 of FIG. 1. In the example of FIG. 2A, the computation module 200 can selectively use one of a number of machine learning models, including a machine learning model 202 and a machine learning model 204. A "machine learning model" refers to a model that can be trained to make predictions or, more generally, generate outputs based on an input set of features, such as parameters, each of which can be assigned a number of different values. Examples of inputs to the machine learning model 202 include steering displacement values ​​150 and steering angle ratios. The machine learning model 202 is trained using training data that includes the steering angle ratios and the steering displacement values. Thus, the machine learning model 202 recognizes that wheel pivots are compensated for based on the application of the steering angle ratio to the steering displacement. The machine learning model 202 for detecting driver impairments can be trained, for example, on a vehicle that uses steering angle ratio adjustments.

[0040] On the other hand, the machine learning model 204 is trained without the use of steering angle ratio. The machine learning model 204 produces outputs based on steering displacement values, but not based on steering angle ratio. The machine learning model 204 can be trained, for example, to recognize that a particular pattern of steering displacement is indicative of driver impairment.

[0041] The computation module 200 includes a model selector 206 that selects one of the machine learning models 202 or 204 based on the state of the DSARA indicator 156. If the DSARA indicator 156 is set to a first state to indicate that dynamic steering angle ratio adjustment is enabled, the model selector 206 selects the machine learning model 202 for use by the computation module 200. On the other hand, if the DSARA indicator 156 is set to a second state to indicate that dynamic steering angle ratio adjustment is not enabled, the model selector 206 selects the machine learning model 204 for use by the computation module 200.

[0042] 2B illustrates an example of a computation module 220 that employs a single machine learning model 222 (instead of the multiple machine learning models illustrated in FIG. 2A). The machine learning model 222 can generate an output based on a set of inputs that may or may not include a steering angle ratio. That is, the machine learning model 222 can generate an output based on a steering displacement value, whether or not supplemented by a steering angle ratio, so long as the machine learning model 222 understands that a steering angle ratio adjustment is being applied.

[0043] 2B, the inputs received by the machine learning model 222 include the steering displacement value (and steering angle ratio, if applicable). The machine learning model 222 also receives the DSARA indicator 156. When the DSARA indicator 156 is set to a first state, the machine learning model 222 generates an output based on both the steering displacement value and the steering angle ratio. When the DSARA indicator 156 is set to a second state, the machine learning model 222 generates an output based on the steering displacement value but not based on the steering angle ratio.

[0044] The machine learning model 222 is trained with training data that includes both steering displacement values ​​and steering angle ratios, and training data that includes steering displacement values ​​but not steering angle ratios.

[0045] 3 is a flow diagram of a process 300 in accordance with some examples. The process 300 can be performed by a system, such as, for example, a vehicle (e.g., vehicle 100 of FIG. 1) or a computer system.

[0046] The process 300 includes receiving (at 302) an indication at the system that the vehicle's steering system is to employ dynamic steering angle ratio adjustment of a steering control of the steering system. For example, the indication may include the DSARA indicator 156 (FIG. 1) being set to a first state. The steering system is configured to apply the dynamic steering angle ratio adjustment of the steering control by adjusting a relationship (e.g., angle ratio) between a displacement of the steering control and a corresponding pivot of the wheels (based on the vehicle input information 152).

[0047] The process 300 includes modifying (at 304) the output generated by the software independent of the steering system based on the instruction by the system. The software may include the calculation module 122 or the calculation module 132 of FIG. 1, the calculation module 200 of FIG. 2A, or the calculation module 220 of FIG. 2B. Modifying the output generated by the software may instruct the software to generate an output that takes into account the variation in the steering angle ratio (and, more specifically, how the steering displacement value is compensated by the steering angle ratio). In the example of FIG. 2A, modifying the output generated by the software may be accomplished by selecting the machine learning model 202 if the instruction is received, and by selecting the machine learning model 204 if an instruction is received that dynamic steering angle ratio adjustment is not employed.

[0048] 2B, modifying the software generated output can be accomplished based on the machine learning model 222 generating an output based on the steering angle rate and the steering displacement based on receiving the instruction. If an instruction is received by the machine learning model 222 that dynamic steering angle rate adjustment is not being employed, the machine learning model 222 generates an output based on the steering displacement but not based on the steering angle rate.

[0049] 4 is a block diagram of a system 400 according to some examples of the disclosure. The system 400 can be the vehicle 100, the on-board controller 120, or the external controller 130 of FIG. 1. The system 400 includes one or more hardware processors 402. The hardware processor can include a microprocessor, a core of a multi-core microprocessor, a microcontroller, a programmable integrated circuit, a programmable gate array, or another hardware processing circuit.

[0050] The system 400 includes a non-transitory machine-readable or computer-readable storage medium 404 that stores machine-readable instructions 406 that, when executed, cause the system 400 to perform various tasks. The machine-readable instructions 406, when executed, receive a dynamic steering angle ratio adjustment instruction 408 that causes a steering system of a vehicle to employ a dynamic steering angle ratio adjustment of a steering control of the steering system. The machine-readable instructions 406 modify a non-steering maneuver for the vehicle based on the dynamic steering angle ratio adjustment instruction.

[0051] In some examples, the non-steering action includes a determination of impairment of a driver of the vehicle. In other examples, the non-steering action includes a determination of a malfunction of the vehicle.

[0052] In some examples, the non-steering operation is performed by software within the vehicle, and the modification of the non-steering operation modifies the operation of the software, the instructions including an indicator set to a first state, the software causing an output based on the displacement of the steering control and the steering angle ratio in response to the indicator being set to the first state, and the software causing an output based on the displacement of the steering control not compensated for by the steering angle ratio in response to the indicator being set to a second state different from the first state.

[0053] In some examples, the non-steering maneuver results in an output that is an indication of a problem associated with the vehicle or the driver of the vehicle, and the machine-readable instructions 406, when executed, cause the system to transmit that output to an entity to address the problem.

[0054] The storage medium (e.g., storage medium 404 of FIG. 4) may include any or some combination of the following: semiconductor memory devices such as dynamic or static random access memory (DRAM or SRAM), erasable and programmable read-only memory (EPROM), electrically erasable and programmable read-only memory (EEPROM), and flash memory or other types of non-volatile memory devices; magnetic disks such as fixed disks, floppy disks, and removable disks; other magnetic media including tape; optical media such as compact disks (CDs) or digital video disks (DVDs); or other types of storage devices. It should be noted that the instructions described above may be provided on one computer-readable or machine-readable storage medium, or alternatively, may be provided on multiple computer-readable or machine-readable storage media, possibly distributed in a larger system having multiple nodes. Such computer-readable or machine-readable storage media or media are considered to be part of a product (or article of manufacture). A product or article of manufacture may refer to any manufactured single component or multiple components. The storage medium or media can be located either within the machine that executes the machine-readable instructions, or can be located at a remote site, from which the machine-readable instructions can be downloaded over a network for execution.

[0055] In this disclosure, the use of the terms "a," "an," or "the" are intended to include the plural forms as well, unless the context clearly dictates to the contrary. Furthermore, the terms "comprise," "including," "comprises," "having," "having," when used in this disclosure, specify the presence of stated elements but do not preclude the presence or addition of other elements.

[0056] In the preceding description, numerous details are set forth to provide an understanding of the subject matter disclosed herein. However, implementations may be practiced without some of these details. Other implementations may include modifications and variations from the above details. It is intended that the appended claims cover such modifications and variations.

Claims

1. A vehicle, the vehicle comprising: a steering system including a user-operated steering control configured to steer the vehicle; a controller, the controller being independent of the steering system; receiving an indication that the steering system is to employ a dynamic steering angle ratio adjustment of the steering control; modifying operation of the controller based on the instruction; a controller configured to: Including, vehicles.

2. The vehicle of claim 1 , wherein the instruction comprises a signal being set to a first state or an information element being set to a first value.

3. The vehicle of claim 1 , wherein the instructions include a signal on a bus.

4. 2. The vehicle of claim 1, wherein the instructions include a signal in accordance with a Connected Vehicle Systems Alliance (COVESA) Vehicle Signal Specification.

5. The vehicle of claim 1 , wherein the instructions include information elements communicated by software.

6. 2. The vehicle of claim 1, wherein the instructions include an indicator being set to a first state, and the modifying the operation of the controller includes selecting, by the controller, a first model of a plurality of different models for use based on the indicator being set to the first state.

7. 7. The vehicle of claim 6, wherein the controller is configured to select a second model of the plurality of different models in response to the indicator being set to a second state different from the first state.

8. 8. The vehicle of claim 7, wherein the first model is trained using training data including steering displacement values ​​and steering angle ratios, and the second model is trained using training data including steering displacement values ​​but not including steering angle ratios.

9. 2. The vehicle of claim 1, wherein the modifying of the operation of the controller includes providing the instruction as an input to a model capable of producing an output based on a steering displacement value, whether or not supplemented by a steering angle ratio.

10. 10. The vehicle of claim 1, wherein the steering system is configured to apply dynamic steering angle ratio adjustment of the steering control by adjusting a relationship between a displacement of the steering control and a corresponding pivoting of wheels of the vehicle based on input information, the input information including one or more selected from among a speed of the vehicle, an acceleration of the vehicle, a location of the vehicle, a torque of an engine of the vehicle, a driver's preferences, a level of experience of the driver, or operating conditions.

11. A non-transitory machine-readable storage medium, the non-transitory machine-readable storage medium comprising instructions that, when executed, cause a system to receiving an indication to a steering system of the vehicle to employ a dynamic steering angle ratio adjustment of a steering control of the steering system; modifying non-steering operations for the vehicle based on the instructions; and A non-transitory machine-readable storage medium that causes

12. The non-transitory machine-readable storage medium of claim 11 , wherein the non-steering operation includes a determination of impairment of a driver of the vehicle.

13. The non-transitory machine-readable storage medium of claim 11 , wherein the non-steering operation includes a determination of a fault in the vehicle.

14. 12. The non-transitory machine-readable storage medium of claim 11, wherein the non-steering operation is performed by software within the vehicle, and the modification of the non-steering operation modifies the operation of the software.

15. 15. The non-transitory machine-readable storage medium of claim 14, wherein the instructions include an indicator set to a first state, and the software causes an output based on the displacement of the steering control and a steering angle rate in response to the indicator being set to the first state.

16. 16. The non-transitory machine-readable storage medium of claim 15, wherein the software produces an output based on a displacement of the steering control uncompensated by a steering angle ratio in response to the indicator being set to a second state different from the first state.

17. 12. The non-transitory machine-readable storage medium of claim 11, wherein the non-steering maneuver produces an output that is an indication of a problem associated with the vehicle or a driver of the vehicle, and the instructions, when executed, cause the system to transmit the output to an entity for addressing the problem.

18. 1. A method for a system including a hardware processor, the method comprising: receiving an indication at a steering system of a vehicle to employ dynamic steering angle ratio adjustment of a steering control of the steering system; modifying outputs generated by software independent of said steering system based on said instructions by said system; A method comprising:

19. The method of claim 18 , wherein the output is an indication of a problem associated with the vehicle or a driver of the vehicle.

20. 20. The method of claim 18, wherein the instructions include an indicator set to a first state, the software causing the output based on a displacement of the steering control and a steering angle ratio in response to the indicator being set to the first state, and the software causing an output based on a displacement of the steering control uncomplemented by a steering angle ratio in response to the indicator being set to a second state different from the first state.

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