METHOD FOR CONTROLLING A STEERING SYSTEM FOR A VEHICLE, DATA PROCESSING APPARATUS FOR CARRYING OUT SAID METHOD, VEHICLE, COMPUTER PROGRAM, COMPUTER-READABLE MEDIUM, AND USE

Abstract

The disclosure relates to a method for controlling a steering system for a vehicle. The method comprises obtaining first data indicative of a load. The method further comprises obtaining second data indicative of at least one parameter influencing the load or influencing a load capacity of the steering system. The method further comprises obtaining third data indicative of a load threshold. The load threshold is based on the second data. The method further comprises comparing the first data and the third data, and causing a load mitigation measure if the first data and the third data indicate that the load equals or exceeds the load threshold. Furthermore, a data processing apparatus, a vehicle, a computer program, a computer-readable storage medium and a use of a load mitigation measure and/or data are presented.

Claims

1. A method comprising: obtaining first data indicative of a load; obtaining second data indicative of at least one parameter influencing the load or influencing a load capacity of a steering system associated with a vehicle; obtaining third data indicative of a load threshold, wherein the load threshold is based on the second data; and comparing the first data and the third data, and providing a load mitigation measure based on the comparison, wherein the method is configured to control the steering system of the vehicle.

2. The method of claim 1, wherein the first data is indicative of a road wheel angle.

3. The method of claim 1, wherein the second data is indicative of at least one of an ambient temperature around the vehicle, a ground angle of a ground on which the vehicle is located, a ground friction of the ground, a vehicle specification, and a vehicle condition.

4. The method of claim 3, wherein the vehicle condition comprises at least one of a vehicle speed, a vehicle pitch, a steering wheel angle, and a steering wheel torque.

5. The method of claim 1, wherein the load mitigation measure comprises at least one of: releasing a brake associated with at least one road wheel of the vehicle, limiting a range of motion of a steering system component, and reducing an assistance measure of the steering system.

6. The method of claim 5, wherein limiting the range of motion of the steering system component comprises limiting a range of motion of a steering rack.

7. The method of claim 1, wherein the load mitigation measure is based on one or more of a vehicle speed and a road wheel angle.

8. The method of claim 1, wherein the third data is indicative of a load warning threshold.

9. The method of claim 8, wherein the load warning threshold is based on at least one of a steering wheel angle, a steering wheel speed, a steering wheel acceleration, a steering wheel torque, and a vehicle speed.

10. The method of claim 9, further comprising causing the vehicle to stand still.

11. The method of claim 1 further comprising: comparing the first data and the third data to determine at least one of the load equals the load threshold and the load exceeding the load threshold; and providing the load mitigation measure based on the comparison.

12. The method of claim 8 further comprising: comparing the first data and the third data to determine at least one of the load equals the load warning threshold and the load exceeding the load warning threshold, and providing a load mitigation transition measure based on the comparison.

13. A data processing apparatus comprising: a data storage unit storing program instructions; and a data processing unit operatively coupled to the data storage unit and executing the program instructions stored in the data storage unit, wherein the program instructions, when executed by the data processing unit, cause the data processing unit to: obtain first data indicative of a load; obtain second data indicative of at least one of a first parameter influencing the load and a second parameter influencing a load capacity of a steering system associated with a vehicle; obtain third data indicative of a load threshold, wherein the load threshold is based on the second data; and compare the first data and the third data, and provide a load mitigation measure for the steering system based on the comparison.

14. The data processing apparatus of claim 13, wherein the data processing apparatus is communicatively coupled with at least one of a steering wheel and brakes of the vehicle.

15. A vehicle comprising: a steering system; and a data processing apparatus operatively connected to the steering system; wherein the data processing apparatus is configured to: obtain first data indicative of a load; obtain second data indicative of at least one of a first parameter influencing the load and a second parameter influencing a load capacity of the steering system; obtain third data indicative of a load threshold, wherein the load threshold is based on the second data; and compare the first data and the third data, and provide a load mitigation measure for the steering system based on the comparison.

16. The vehicle of claim 15, wherein the steering system comprises a steering wheel communicatively connected to a steering gear electric motor via a wire.

17. The vehicle of claim 16, wherein the steering gear electric motor is drivingly coupled to a steering rack.

18. The vehicle of claim 17, wherein a first end of the steering rack is drivingly coupled to a front left road wheel via a first steering tie rod, a first steering knuckle pin, and a first steering knuckle.

19. The vehicle of claim 17, wherein a second end of the steering rack is drivingly coupled to a front right road wheel via a second steering tie rod, a second steering knuckle pin, and a steering knuckle.

20. The vehicle of claim 16, wherein the steering system is operable to: receive one or more steering instructions for the vehicle via the steering wheel; and transfer the received instructions to the steering gear electric motor.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0051] Examples of the disclosure will be described in the following with reference to the following drawings.

[0052] FIG. 1 shows a vehicle comprising a steering system, wherein the steering system comprises a data processing apparatus according to the present disclosure, a computer program according to the present disclosure and a computer-readable storage medium according to the present disclosure such that a method according to the present disclosure for controlling the steering system may be executed.

[0053] FIG. 2 shows the steering system of the vehicle of FIG. 1 in more detail.

[0054] FIG. 3 shows a flowchart illustrating the method for controlling the steering system.

[0055] FIG. 4 shows a diagram illustrating a rack force as a function of a rack position, wherein the associated rack forms part of the steering system as shown in FIG. 2.

DETAILED DESCRIPTION

[0056] The Figures are merely schematic representations and serve only to illustrate examples of the disclosure. Identical or equivalent elements are in principle provided with the same reference signs.

[0057] FIG. 1 shows a vehicle 100. The vehicle comprises a front left road wheel 101, a front right road wheel 102, a rear left road wheel 103 and a rear right road wheel 104. The vehicle 100 further comprises a steering means 120, which enables a vehicle driver to steer the vehicle 100 in a desired direction. For example, the steering means 120 may be a steering wheel which the vehicle driver may turn left or right in order to steer the vehicle into a left direction or a right direction.

[0058] Thus, steering instructions which the vehicle driver provides via the steering means 120 are transmitted to the vehicle's steered wheels. For example, the vehicle's steered wheels may be the front left road wheel 101 and the front right road wheel 102. The transmission of the vehicle driver's steering instructions may be performed via a steering system, which is schematically indicated in FIG. 1 by the dashed lines 130.

[0059] The steering system 130 further comprises a data processing apparatus 140. Despite the fact that the data processing apparatus 140 forms part of the steering system 130 the data processing apparatus 140 is represented at a position separate from the dashed lines 130. This is done for the case of representation.

[0060] The data processing apparatus 140 comprises a data storage unit 142 and a data processing unit 141.

[0061] The data storage unit 142 comprises a computer-readable storage medium 143.

[0062] On the computer-readable storage medium 143, there is provided a computer program 144.

[0063] The computer program 144 and, thus, also the computer-readable storage medium 143, comprise instructions which, when executed by the data processing unit 141, or, more generally speaking, a computer, cause the computer or the data processing unit 141 to carry out a method for controlling a steering system of the vehicle 100.

[0064] Hence, the data processing apparatus 140 is communicatively connected with at least one of the vehicle's steered wheels or brakes.

[0065] Consequently, the data storage unit 142 and the data processing unit 141 form means for carrying out a method for controlling a steering system for a vehicle.

[0066] In FIG. 2, the steering system 130 is illustrated in more detail.

[0067] In the present example, the steering system 130 is a steer-by-wire system.

[0068] Thus, the steering means 120 is communicatively connected to a steering gear electric motor 220 via a wire 210. The steering means 120 and the steering gear electric motor do not have a mechanical connection.

[0069] The steering gear electric motor 220 is drivingly coupled to a steering gear rack bar or steering rack 230.

[0070] A first end of the steering rack 230 is drivingly coupled to the front left road wheel 101 via a steering tie rod 231, a knuckle pin 241, and a steering knuckle 243.

[0071] A second end of the steering rack 230 is drivingly coupled to the front right road wheel 102 via a steering tie rod 232, a steering knuckle pin 242, and a steering knuckle 244.

[0072] In the example of FIG. 2, the steering instructions or the driver input received from the vehicle driver via the steering means 120 are transferred to the steering gear electric motor 220 through the wire 210 connecting the steering means 120 and the steering gear electric motor 220. The steering gear electric motor 220 applies a torque or force associated with and derived from the steering instructions onto the steering rack 230. Such that the steering rack 230 translationally moves along an x axis.

[0073] The movement of the steering rack 230 is transferred to the front left road wheel 101 and the front right road wheel 102 via the steering tic rods 231 and 232, the steering knuckle pins 241 and 242, and the steering knuckles 243 and 244.

[0074] It shall be noted that although there is indicated a Steer by Wire (SbW) system in FIG. 2, also a steering system 130 comprising a mechanical connection between the steering means 120 and the steering rack 230 may be used. Such a steering system may comprise an Electrical Power Assisted Steering (EPAS) system.

[0075] It shall be noted that usually a steering gear rack force or rack force increases during a movement of the steering rack 230 toward a maximum rack travel position of the steering system, i.e. an end stop position on the positive x axis or an end stop position on the negative x axis. The maximum rack travel position on the positive x axis and the maximum rack travel position on the negative x axis are arranged substantially symmetrically around a rest position or origin position of the steering rack 230. The origin position of the steering rack 230 is associated with the vehicle 100 driving straight ahead or straight backwards.

[0076] The maximum rack travel positions may be understood to represent a first and second end point respectively. Hence, the maximum rack travel position may represent an end position, at which no further movement of the steering rack 230 away from the origin position is possible or enabled. Hence, the maximum rack travel position may be associated with a maximum steering angle corresponding to a maximum rotation angle of the front road wheels 101 and 102. In addition, a design of the vehicle 100, a weight of the vehicle 100, a width of the front road wheels 101 and 102, a ground angle and a ground friction may contribute to the rack force increasing towards the end positions.

[0077] As has been mentioned before, the data processing apparatus 140 comprises means for carrying out a method for controlling a steering system of the vehicle 100.

[0078] This method will be explained in the following with reference to FIG. 3.

[0079] In S300, the method is started. This may comprise that the vehicle 100 is started.

[0080] In S310, the method comprises obtaining first data indicative of a load. The load may be a load acting in the steering system 130. The first data may be indicative of a road wheel angle, i.e. of an angle of at least one steered wheel, like of one of the front road wheels 101 and 102, for example. This will be explained in further detail and with reference to FIG. 4 further below. The first data may be obtained continuously, for example through continuous measurement and/or continuous estimation of the first data. Hence, a value and/or amount of the load may be determined or estimated with high accuracy.

[0081] In S320, the method comprises obtaining second data indicative of at least one parameter influencing the load or influencing a load capacity of the steering system. The load capacity may be understood to represent a load bearing capacity, i.e. a load capacity that the steering system 130 may bear. The second data may be indicative of at least one of an ambient temperature around the vehicle 100, a ground angle of a ground on which the vehicle 100 is located, a ground friction of the ground, a vehicle specification, and a vehicle condition. The vehicle specification may comprise at least one of a type or status of the tires on the wheels 101 to 104, a weight of the vehicle 100 further comprising a weight of vehicle occupants and luggage, for example, and a battery type of the vehicle 100. The vehicle condition may comprise at least one of a vehicle speed, a vehicle pitch, an input received from the steering means 120, like a steering wheel angle for example, and a steering wheel torque. Hence, due to the variety of such different data being obtained, the load may be determined and/or estimated with high accuracy in different situations in which the vehicle 100 may be.

[0082] In S330, the method comprises obtaining third data indicative of a load threshold, wherein the load threshold is based on the second data. The load threshold may be understood to represent a load bearing threshold, i.e. a threshold up to which a load is considered bearable.

[0083] For example, it may be determined, based on the first data, that a rack force is at a certain level, for example at or above 12.5 kN. Further, based on the second data, it may be determined, from a predetermined fixed value or based on the specific situation in which the vehicle 100 may be in, that the load capacity of the steering system may be close to the certain level, for example may be at 12.7 kN. For example, in case the ground angle of the ground on which the vehicle 100 is located may exceed a predetermined ground angle value, for example in case the vehicle 100 travels downhill, in case the corresponding ground friction may exceed a predetermined ground friction value, for example in case the ground comprises gravel, and in case the weight of the vehicle 100 exceeds a predetermined weight, for example in case the vehicle 100 may be fully loaded, then the load capacity of the steering system may be influenced by such situation that the resulting load capacity may be determined to be at 12.7 kN. Furthermore, based on the obtained third data, the load threshold may be determined. Accordingly, the load threshold may be a predetermined fixed value or may be below the determined load capacity by a predetermined percentage or by a predetermined fixed value. For example, the load threshold may be determined to be at 12.6 kN, i.e. to be below the load capacity at 12.7 kN. However, the load threshold may be equal to the load capacity.

[0084] In S340, the method comprises comparing the first data and the third data, and causing a load mitigation measure if the first data and the third data indicate that the load equals or exceeds the load threshold. If the first data and the third data indicate that the load is below the load threshold, the method returns to S310.

[0085] For example, the rack force, which was determined to be at 12.5 kN, is compared to the load threshold, which was determined to be at 12.6 kN. Hence, the rack force is below the load threshold. Thus, no load mitigation measures may be caused. On the other hand, under the assumption that the load threshold may be determined to be below or equal to the determined rack force, for example in case the load threshold may be determined to be 12.5 kN, then a load mitigation measure for mitigating the rack force is caused.

[0086] Hence, the load mitigation may be performed in a gradual or step-wise process. Hence, the load may be mitigated gradually or step-wise before the load capacity is reached. Thus, convenience for a vehicle driver is increased. Accordingly, an abrupt or immediate application of several load mitigation measures at once, which may make the vehicle drive to feel uncomfortable, is avoided, for example.

[0087] Moreover, the third data may further be indicative of a load warning threshold. Hence, the method according to FIG. 3 may further comprise comparing the first data and the third data, and causing a load mitigation transition measure if the first data and the third data indicate that the load equals or exceeds the load warning threshold. For example, such load warning threshold may be below the load threshold. The load warning threshold may be a predetermined fixed value or may be a value to be determined relative to the load threshold, for example to differ from the load threshold by a predetermined percentage or by a predetermined fixed value. For example, the load warning threshold may be determined to be at 12.5kN, wherein the load threshold was determined to be at 12.6 kN. However, the load warning threshold may be equal to the load threshold. Hence, in case the rack force, which was determined to be at 12.5 kN, is compared to the load warning threshold, which may be determined to be at 12.5 kN, a load mitigation transition measure may be caused. No load mitigation transition measure may be caused in case the load warning threshold may be determined to be above the rack force.

[0088] Hence, the load mitigation may be performed in a finer gradual or finer step-wise process before the load capacity is reached. Thus, convenience for a vehicle driver is further increased. Accordingly, an abrupt or immediate application of several load mitigation measures at once, which may make the vehicle drive to feel uncomfortable, is avoided more reliably, for example.

[0089] It shall be noted that the load warning threshold may be based on at least one of a steering wheel angle, a steering wheel speed, a steering wheel acceleration, a steering wheel torque, and a vehicle speed.

[0090] The load mitigation measure comprises at least one of releasing a brake associated with at least one road wheel 101 to 104 of the vehicle 100, limiting a range of motion of a steering system component, and reducing an assistance measure of the steering system.

[0091] It shall be noted that limiting a range of motion of a steering system component may comprise limiting a range of motion of a steering rack 230.

[0092] Optionally, the method according to FIG. 3 may further comprise causing the vehicle 100 to stand still.

[0093] In S350, the method ends, for example in case the vehicle 100 is turned off, or returns to S310.

[0094] Hence, when executing the method according to FIG. 3, i.e. when controlling the steering system 130 for the vehicle 100, a load mitigation measure may be caused to mitigate the load. The load may be a load acting in the steering system 130. Thus, execution of the method may allow to mitigate an impact of extreme loads and extreme use cases to the steering system 130. Hence, the steering system 130 may not necessarily be designed to physically withstand such extreme loads and such extreme use cases.

[0095] A relationship between a position of the steering rack 230, i.e. a rack position, and a resulting rack force is schematically illustrated in FIG. 4. The rack force is the force applied in order to turn the road wheels, for example the front road wheels 101 and 102. The steering rack 230 is, based on a vehicle driver operating the steering means 120 and/or a steering gear electric motor 220, moving left or right depending on the input from the vehicle driver or active systems such as autonomous driving (AD) and Advanced Driver Assistance Systems (ADAS), pushing on the wheel suspension knuckles or steering knuckles 241, 242 and by this turning the road wheels 101, 102.

[0096] In the representation of FIG. 4, a minimum rack force is indicated to occur at an origin position or origin rack position of the steering rack 230. Such origin rack position may be associated with the vehicle 100 traveling along straightly or along the vehicle's longitudinal direction. The more the rack position of the steering rack 230 deviates from the origin rack position, the more the rack force increases. Thus, the rack force, due to a geometry of the wheel suspension, increases as the rack bar or steering rack 230 is moving towards its most outward position, i.e. the steering system's maximum travel or end point position or the steering system's maximum steering angle. The increase of the rack force is illustrated to be symmetrical around the origin rack position. However, in other examples, the rack force may increase differently on one side from the origin rack position in comparison to the other side of the origin rack position.

[0097] The diagram of FIG. 4 further shows first ranges R1 and second ranges R2, as well as thresholds T1, T2 and T3 both on the positive x axis and on the negative x axis. The first ranges R1 may indicate ranges in which a load mitigation transition measure may be caused. The second ranges R2 may indicate ranges in which a load mitigation measure may be caused.

[0098] Load mitigation transition measures may comprise the same measures as the load mitigation measures, but may, for example, vary in intensity. For example, as a load mitigation transition measure, a brake on one front wheel, like the front left road wheel 101 may be released, wherein as a load mitigation measure, a brake on both front wheels, like the front left and right road wheels 101 and 102 may be released. Additionally or alternatively, a motion range of the steering rack 230 and/or a servo assistance may be reduced, for example, wherein the reduction may be stronger or may limit the steering system to a greater extent for a load mitigation measure than it may for a load mitigation transition measure. Hence, the threshold T1 may represent the load warning threshold, the threshold T2 may represent the load threshold and the threshold T3 may represent the load capacity.

[0099] For example, a release of the brakes may be caused when the rack position of the steering rack 230 is within the second range R2, which may be understood to represent a Peak Force Area (PFA). However, in order to achieve a smooth transition into the second range, a brake release may already happen in the first range. The first range RI may thus be understood to represent a Pre Peak Force Area (PPFA). The setting of the first range may be based on at least one of a steering wheel speed, a steering wheel acceleration, and a steering wheel torque rate.

[0100] It shall be noted that the release of the brake may be based on the application of a brake release algorithm, which may output a release brake request in case it may be determined that at least one road wheel brake has to be released.

[0101] Additionally, it is noted that the brake of a steered wheel may only be released in the context of a load mitigation measure or a load mitigation transition measure, if a desired stand still of the vehicle 100 or a desired deceleration of the vehicle 100 may be achieved using the remaining brakes, i.e. the brakes acting on the non-steered wheels.

[0102] For example, the brake release algorithm may receive, as input, a rack position and a vehicle speed. In addition, the brake release algorithm may further receive, as additional input, at least one of a rack position speed, a rack position acceleration, a steering wheel torque, a vehicle pitch, a brake applied status related to the brakes of the road wheels 101 to 104, a surface friction related to the ground surface at which the vehicle 100 is located, a vehicle configuration, a rack force-model indicative of the capabilities of the steering system of the vehicle and a rack force-model indicative of at least one calculation or estimation method for determining or estimating a rack force. It shall be noted that the surface friction or a surface friction level indicative of the surface friction may be estimated or measured continuously.

[0103] Based on the input, the brake release algorithm may acquire predetermined data patterns or predetermined rules for mapping the received input onto the predetermined data patterns and/or for evaluating the received input against the predetermined rules to determine whether or not to output the release brake request.

[0104] According to another example of the present disclosure, based on the method as outlined above with reference to FIG. 3, several steps may be performed in a specific example for controlling the steering system for the vehicle 100.

[0105] For example, Steps S310, S320 and S330 may comprise that data and/or models are acquired from a database, from appropriate sensors arranged at the vehicle 100 and/or from the data processing apparatus 140. The data and/or models may comprise the first data, the second data and/or the third data. The data and/or models may be indicative of at least one of a vehicle setup and an environment around the vehicle 100, for example an ambient temperature around the vehicle 100, of a design of the steering system of the vehicle 100, for example a type of the steering system or a size and/or performance of an assistance motor, like a size and/or performance of the steering gear electric motor 220 for example, of the steering system, and of a rack force-model for determining and/or estimating the rack force. Therefore, the data and/or models may be indicative of a steering capability associated with the steering system of the vehicle 100.

[0106] Optionally, based on the acquired data and/or models, the second range R2 may then be determined, in case the second range R2 is not already given in the acquired data and/or models. The second range R2 may be determined relative to a load capacity of the steering system. The load capacity may be understood to represent a load bearing capacity, i.e. a load capacity that the steering system may bear.

[0107] Subsequently, in a further optional step, based on the second range R2, the first range R1 may be determined, in case the first range RI is not already given in the acquired data and/or models. The first range RI may be determined relative to the second range R2. Determination of the first range RI may additionally or alternatively be related to a steered wheel speed and/or a steered wheel acceleration.

[0108] In the following, according to the specific example, several examples are given for Step S340 according to FIG. 3. In particular, several examples are given for the comparison of first data with third data. In this specific example, several such comparisons are performed one after another, which may result in a specific load mitigation measure being performed. An order and/or number of different comparisons is not limited to such order and/or number of different comparisons as outlined below.

[0109] For example, it is determined whether a rack position of the steering rack 230 has exceeded the first range R1, i.e. may be within the second range R2. Hence, it is determined whether a steered wheel angle provided by the steering system is at an angle associated with a rack position exceeding the first range R1. If the determination is positive, a next processing step is performed. Otherwise, the process returns back to the step of acquisition of the data and/or models.

[0110] As an example for a following processing step, it is determined whether a vehicle speed in a longitudinal direction of the vehicle 100 is below a predetermined speed threshold value. If the determination is positive, a next processing step is performed. Otherwise, the process returns back to the step of acquisition of the data and/or models.

[0111] As an example for a further following processing step, it is determined whether a torsion bar torque is above a predetermined torsion bar torque threshold value. If the determination is positive, a next processing step is performed. Otherwise, the process returns back to the step of acquisition of the data and/or models.

[0112] As an example for a further following processing step, it is determined whether a brake to at least one of the steered road wheels is applied. If the determination is positive, a next processing step is performed. Otherwise, the process returns back to the step of acquisition of the data and/or models.

[0113] As an example for a further following processing step, it is determined whether the vehicle pitch is below a predetermined vehicle pitch threshold value. For example, the predetermined vehicle pitch threshold value may be an angle, for example an angle of a few degrees, like for example an angle in a range from 1 degree to 5 degrees, relative to a horizontal plane for example. If the determination is positive, the brake to the at least one of the steered road wheels is released and a next processing step is performed. Otherwise, support provided by steering assistance is reduced or nothing is done.

[0114] Afterwards, it is determined whether the vehicle 100 starts to move. If the determination is positive, the brakes are applied on both steered wheels of the vehicle 100 and the processing rests for a predetermined amount of time, i.e. it is waited for a predetermined amount of time, for example for a few seconds. Then, the process returns back to the first yes-or-no-determination step as outlined above, i.e. the step of the rack position determination. Otherwise, if the vehicle 100 does not start to move, the process returns back to the beginning, i.e. the data and/or model acquisition step, or the process ends.

[0115] As used herein, the phrase at least one, in reference to a list of one or more entities should be understood to mean at least one entity selected from any one or more of the entities in the list of entities, but not necessarily including at least one of each and every entity specifically listed within the list of entities and not excluding any combinations of entities in the list of entities. This definition also allows that entities may optionally be present other than the entities specifically identified within the list of entities to which the phrase at least one refers, whether related or unrelated to those entities specifically identified. Thus, as a non-limiting example, at least one of A and B (or, equivalently, at least one of A or B, or, equivalently at least one of A and/or B) may refer, in one example, to at least one, optionally including more than one, A, with no B present (and optionally including entities other than B); in another example, to at least one, optionally including more than one, B, with no A present (and optionally including entities other than A); in yet another example, to at least one, optionally including more than one, A, and at least one, optionally including more than one, B (and optionally including other entities). In other words, the phrases at least one, one or more, and and/or are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions at least one of A, B, and C, at least one of A, B, or C, one or more of A, B, and C, one or more of A, B, or C, and A, B, and/or C may mean A alone, B alone, C alone, A and B together, A and C together, B and C together, A, B, and C together, and optionally any of the above in combination with at least one other entity.

[0116] As used herein, the term one of A, B, and C shall be understood to mean only A, only B, or only C, and not a combination of A, B, and C.

[0117] As used herein, the term one or more of A, B, and C shall be understood to mean any one of A, B, or C, or any combination thereof, including multiple occurrences of each element. This includes, but is not limited to, the following configurations: only A, only B, only C, A and B, A and C, B and C, A, B, and C, as well as multiple instances of A, multiple instances of B, multiple instances of C, or any combination of multiple instances of A, B, and C.

[0118] Other variations to the disclosed examples can be understood and effected by those skilled in the art in practicing the claimed disclosure, from the study of the drawings, the disclosure, and the appended claims. In the claims the word comprising does not exclude other elements or steps and the indefinite article a or an does not exclude a plurality. A single processor or other unit may fulfill the functions of several items or steps recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. A computer program may be stored/distributed on a suitable medium such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems. Any reference signs in the claims should not be construed as limiting the scope of the claims.

[0119] As used herein, the terms example and/or exemplary mean serving as an example, instance, or illustration. For the avoidance of doubt, such examples do not limit the herein described subject matter. In addition, any aspect or design described herein as an example and/or exemplary is not necessarily preferred or advantageous over other aspects or designs, nor does it preclude equivalent exemplary structures and techniques known to those of ordinary skill in the art.

[0120] As used herein, the terms first, second, third, and the like in the description and in the claims, if any, distinguish between similar elements and do not necessarily describe a particular sequence or chronological order. The terms are interchangeable under appropriate circumstances such that the embodiments herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms include, have, and any variations thereof, cover a non-exclusive inclusion such that a process, method, system, article, device, or apparatus that comprises a list of elements is not necessarily limiting to those elements, but may include other elements not expressly listed or inherent to such process, method, system, article, device, or apparatus.

[0121] No element act, or instruction used herein is critical or essential unless explicitly described as such. Furthermore, the term set includes items (e.g., related items, unrelated items, a combination of related items and unrelated items, etc.) and may be interchangeable with one or more. Where only one item is intended, the term one or similar language is used. Also, the terms has, have, having, or the like are open-ended terms. Further, the phrase based on means based, at least in part, on unless explicitly stated otherwise.

[0122] As used herein, the terms system, device, unit, and/or module refer to a different component, component portion, or component of the various levels of the order. However, other expressions that achieve the same purpose may replace the term.

[0123] As used herein, the term or means an inclusive or rather than an exclusive or. That is, unless specified otherwise, or clear from context, X uses A or B means any of the natural inclusive permutations. That is, if X uses A; X uses B; or X uses both A and B, then X uses A or B is satisfied under any of the foregoing instances. As used herein, the term or means an inclusive or rather than an exclusive or. That is, unless specified otherwise, or clear from context, X uses A or B means any of the natural inclusive permutations. That is, if X uses A; X uses B; or X uses both A and B, then X uses A or B is satisfied under any of the foregoing instances.

[0124] As used herein the term component refers to a distinct and identifiable part, element, subsystem, or unit within a larger system, structure, or entity. It is a building block that serves a specific function or purpose within a more complex whole. Components are often designed to be modular and interchangeable, allowing them to be combined or replaced in various configurations to create or modify systems. Components may be a combination of mechanical, electrical, hardware, firmware, software, and/or other engineering elements.

[0125] Aspects of the one or more embodiments described herein are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to one or more embodiments described herein. Each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by machine-readable storage program instructions. These computer-readable program instructions can be provided to a processor of a general purpose computer, special purpose computer and/or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, can create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions can also be stored in a computer-readable storage medium that can direct a computer, a programmable data processing apparatus and/or other devices to function in a particular manner, such that the computer-readable storage medium having instructions stored therein can comprise an article of manufacture including instructions which can implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks. The computer-readable program instructions can also be loaded onto a computer, other programmable data processing apparatus and/or other device to cause a series of operational acts to be performed on the computer, other programmable apparatus and/or other device to produce a computer-implemented process, such that the instructions which execute on the computer, other programmable apparatus and/or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

[0126] Similarly, while operations depicted herein in the drawings in a particular order to achieve desired results, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Moreover, the separation of various system components in the implementations should not be understood as requiring such separation in all implementations, and it should be understood that the described program components and systems may be integrated together in a single software product or packaged into multiple software product.

[0127] The terms non-transitory computer-readable storage medium and machine-readable storage medium include a single medium or multiple media such as a centralized or distributed database, and/or associated caches and servers that store one or more sets of instructions. Further, the terms non-transitory machine-readable storage medium and machine-readable storage medium include any tangible medium that is capable of storing, encoding, or carrying a set of instructions for execution by a processor that, for example, when executed, cause a system to perform any one or more of the methods or operations disclosed herein. As used herein, the term machine-readable storage medium is expressly defined to include any type of computer-readable storage device and/or storage disk and to exclude propagating signals.

[0128] Physical computer-readable storage media includes Random Access Memory (RAM), Read Only Memory (ROM), EEPROM, CD-ROM or other optical disk storage (such as CDs, DVDs, etc.), magnetic disk storage or other magnetic storage devices, solid-state disks or any other medium. They store desired program code in the form of computer-executable instructions or data structures which can be accessed by a general purpose or special purpose computer.

[0129] Computer-executable instructions comprise, for example, instructions and data which cause a general purpose computer, special purpose computer, or special purpose processing device to perform a certain function or group of functions. The computer-executable instructions may be, for example, binary, intermediate format instructions such as assembly language, or even source code. Although the subject matter herein described is in a language specific to structural features and/or methodological acts, the described features or acts described do not limit the subject matter defined in the claims. Rather, the herein described features and acts are example forms of implementing the claims.

[0130] Further, a computer system including one or more processors and machine-readable storage media such as computer memory may practice the methods. In particular, one or more processors execute computer-executable instructions, stored in the computer memory, to perform various functions such as the acts recited in the embodiments.

[0131] As used herein the term data processing unit may be used interchangeably with processor in many contexts. Both terms generally refer to a component or unit within a computing system that is responsible for carrying out operations on data. The processor, or central processing unit (CPU), is an element of a computer that performs arithmetic and logic operations, executes instructions from computer programs, and manages data movement within the system.

[0132] One or more programmable processors, executing one or more computer programs to perform functions by operating on input data and generating output, perform the processes and logic flows described in this specification. The processes and logic flows may also be performed by, and apparatus may also be implemented as, special purpose logic circuitry, for example, without limitation, a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), Application Specific Standard Products (ASSPs), System-On-a-Chip (SOC) systems, Complex Programmable Logic Devices (CPLDs), etc.

[0133] Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any appropriate kind of digital computer. A processor will receive instructions and data from a read-only only memory or a random-access memory or both. Elements of a computer can include a processor for performing instructions and one or more memory devices for storing instructions and data. A computer will also include, or is operatively coupled to receive data, transfer data or both, to/from one or more mass storage devices for storing data e.g., magnetic disks, magneto optical disks, optical disks, or solid-state disks. However, a computer need not have such devices. Moreover, another device, e.g., a mobile telephone, a personal digital assistant (PDA), a mobile audio player, a Global Positioning System (GPS) receiver, etc. may embed a computer. Machine-readable storage media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including, by way of example, semiconductor memory devices (e.g., Erasable Programmable Read-Only Memory (EPROM), Electronically Erasable Programmable Read-Only Memory (EEPROM), and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto optical disks (e.g. Compact Disk Read-Only Memory (CD ROM) disks, Digital Versatile Disk-Read-Only Memory (DVD-ROM) disks) and solid-state disks. Special purpose logic circuitry may supplement or incorporate the processor and the memory.

[0134] Digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them may realize the implementations and all of the functional operations described in this specification. Implementations may be as one or more computer program products i.e., one or more modules of computer program instructions encoded on a machine-readable storage medium for execution by, or to control the operation of, data processing apparatus. The machine-readable storage medium may be a machine-readable storage device, a machine-readable storage substrate, a memory device, a composition of matter affecting a machine-readable propagated signal, or a combination of one or more of them. The term computing system encompasses all apparatus, devices, and machines for processing data, including by way of example, a programmable processor, a computer, or multiple processors or computers. The apparatus may include, in addition to hardware, code that creates an execution environment for the computer program in question, e.g., code that constitutes processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them. A propagated signal is an artificially generated signal (e.g., a machine-generated electrical, optical, or electromagnetic signal) that encodes information for transmission to a suitable receiver apparatus.

[0135] Other specific forms may embody the present disclosure without departing from its spirit or characteristics. The described embodiments are in all respects illustrative and not restrictive. Therefore, the appended claims rather than the description herein indicate the scope of the disclosure. All variations which come within the meaning and range of equivalency of the claims are within their scope

[0136] Even though particular combinations of features are recited in the claims and/or disclosed in the specification, these combinations are not intended to limit the disclosure of possible implementations. Other implementations are within the scope of the claims. For example, the actions recited in the claims may be performed in a different order and still achieve desirable results. In fact, many of these features may be combined in ways not specifically recited in the claims and/or disclosed in the specification. Although each dependent claim may directly depend on only one claim, the disclosure of possible implementations includes each dependent claim in combination with every other claim in the claim set.

LIST OF REFERENCE SIGNS

[0137] vehicle [0138] 101 front left road wheel [0139] 102 front right road wheel [0140] 103 rear left road wheel [0141] 104 rear right road wheel [0142] 120 steering means [0143] 130 schematically indicated steering system [0144] 140 data processing apparatus [0145] 141 data processing unit [0146] 142 data storage unit [0147] 143 computer-readable storage medium [0148] 144 computer program [0149] 210 wire [0150] 220 steering gear electric motor [0151] 230 steering rack [0152] 231, 232 steering tie rods [0153] 241, 242 steering knuckle pins [0154] 243, 244 steering knuckles [0155] R1 first range [0156] R2 second range [0157] T1 first threshold [0158] T2 second threshold [0159] T3 third threshold