CPC B62D 15/025 (2013.01) | 20 Claims |
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.
|