| CPC B62D 6/00 (2013.01) [B62D 15/021 (2013.01)] | 14 Claims |
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1. A method of automated lateral control of a vehicle comprising an Electric Power Steering System (EPS), the method comprising:
determining, by a processor of an autonomous control system, a lateral acceleration reference associated with a reference steering angle to achieve a desired path to follow based on reference path data and vehicle dynamics data, the reference path data comprising at least one of a road bank angle and a path curvature;
determining, by the processor, a model estimated self-aligning torque coefficient based on measured torque data and at least one of measured lateral acceleration data and measured steering angle data using a linear model, wherein the model estimated self-aligning torque coefficient is based on the measured lateral acceleration data when a vehicle speed is less than a threshold and the model estimated self-aligning torque coefficient is based on the measured steering angle data when the vehicle speed is greater than the threshold;
determining, by the processor, a feedforward control torque based on a product of the lateral acceleration reference and the model estimated self-aligning torque coefficient;
determining, by the processor, a total torque command based on a sum of the feedforward control torque and a feedback control torque; and
generating, by the processor, a steering command to the EPS to control the vehicle according to the desired path based on the total torque command.
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