公开(公告)号：US20220250673A1

公开(公告)日：2022-08-11

申请号：US17171005

申请日：2021-02-09

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Wen-Chiao LIN ,  Ibrahim A. BADIRU ,  Alexander M. ALLAN ,  Bo YU ,  Qi ZHANG ,  Christopher C. AU

IPC: B62D5/04 ,  B62D3/12

Abstract: A system comprises a processor and a memory storing instructions which when executed by the processor configure the processor to estimate a rack force for a steering system of a vehicle based on current driving and environmental conditions and estimate a health of an actuator of the steering system of the vehicle. The instructions configure the processor to estimate maximum achievable angle, velocity, and acceleration for the actuator of the steering system based on the estimated rack force and the estimated health of the actuator. The instructions configure the processor to provide to the steering system a path planned for the vehicle based on the estimated maximum achievable angle, velocity, and acceleration for the actuator of the steering system.