US 11,858,549 B2
System and method for blending driver and automated steering commands for lateral control
Amir Takhmar, Toronto (CA); Joshua M. Levin, Toronto (CA); Jimmy Zhong Yan Lu, Markham (CA); Jayant Sachdev, Toronto (CA); and Reza Zarringhalam, Whitby (CA)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Nov. 9, 2020, as Appl. No. 17/093,023.
Prior Publication US 2022/0144341 A1, May 12, 2022
Int. Cl. B62D 15/02 (2006.01)
CPC B62D 15/025 (2013.01) 20 Claims
OG exemplary drawing
 
1. A method for generating a steering command for controlling a vehicle during vehicle operations, the method comprising:
generating a first vehicle steering control torque command by a steering controller in the vehicle while the vehicle is driven in a semi-autonomous mode;
generating an impedance-adjusted vehicle steering angle command (θr) based on a first vehicle steering angle command (θd) that was generated to compensate for a trajectory error, a first derivative of the vehicle steering angle command (θd), a second derivative of the vehicle steering angle command (θd), and a measured driver steering torque command (τD) generated in response to navigation of the vehicle using a vehicle steering wheel;
generating an impedance-adjusted vehicle steering control torque command (τC) by the steering controller in the vehicle based on a difference between the impedance-adjusted vehicle steering angle command (θr) and a measured vehicle steering angle command (θm);
generating a steering command by a power steering system in the vehicle based on the measured driver steering torque command (τD) and the impedance-adjusted vehicle steering control torque command (τC); and
operating the vehicle in accordance with the steering command.