A system, which includes a programmed computing device, is provided that determines a transition in performance of a steering system actuator (20, Figure 3) of a vehicle to a diminished operating mode and determines a manoeuvrable envelope of vehicle velocity and path curvature adapted to the diminished operating mode (steps 79, 80). A vehicle velocity is then selected within the envelope for a path curvature (step 81). Typically two redundant windings may be provided on a power steering motor and only one winding may be available in the diminished steering mode. The envelope may be determined based on a functional relationship between lateral acceleration and rack force. The system is particularly suitable for use with an autonomous vehicle and may allow dynamic adaptation of the turning radius to available steering performance.
Determining available dynamic turing radius
2018-03-07
Patent
Electronic Resource
English