Method of controlling steering of a ground vehicle

Abstract

A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.

1 . A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules), the method comprising:
 activating a driver interface device;   receiving a selected first driving mode selected from the driver interface device;   determining, by a master controller, when a brake pedal is activated; and   transmitting a first drive mode request corresponding to the selected first driving mode to a plurality of steering controllers when the brake pedal is determined to be activated;   wherein each of the plurality of steering controllers corresponds to a respective one of the plurality of eModules.   
     
     
         2 . A method, as set forth in  claim 1 , further comprising:
 determining a position of a steering input device;   determining, in the master controller, a required steering angle of each of the plurality of eModules as a function of the determined position of the steering input device and the selected first driving mode; and   setting the eModules to the respective determined steering angles.   
     
     
         3 . A method, as set forth in  claim 2 , further comprising:
 receiving a second driving mode selected from the driver interface device;   determining, in the master controller, the position of the steering input device;   determining, in the master controller, a velocity of the vehicle when the determined position of the steering input device is near center;   transmitting a second drive mode request corresponding to the selected second driving mode to the plurality of steering controllers when the velocity of the vehicle is determined to be no greater than a maximum velocity; and   determining, in the master controller, a required steering angle of each of the plurality of eModules as a function of the determined position of the steering input device and the selected first driving mode; and   setting the eModules to the respective determined steering angles.   
     
     
         4 . A method, as set forth in  claim 3 , further comprising:
 receiving a command to activate a mode selection menu;   determining, by the master controller, if the vehicle is in motion; and   activating the driver mode selection menu when the vehicle is determined to not be in motion.   
     
     
         5 . A method, as set forth in  claim 1 , further comprising:
 determining, with at least one location device, a spot defined between objects adjacent the vehicle;   wherein determining the wheel angle is further defined as determining the wheel angle for each of the plurality of eModules as a function of the driving mode, the position of the steering input device, the determined velocity of the vehicle, and the spot defined between objects adjacent the vehicle.