US 12,466,479 B1
Model-reference adaptive steering feedback control to reduce unforeseen oscillations in automated driving
Mohammadali Shahriari, Markham (CA); Mehdi Abroshan, Waterloo (CA); Mohammed Raju Hossain, Markham (CA); Zhi Li, Unionville (CA); Ashraf Abualfellat, Grand Blanc, MI (US); and Brian Porto, Wixom, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Jul. 26, 2024, as Appl. No. 18/785,096.
Int. Cl. B62D 6/00 (2006.01)
CPC B62D 6/008 (2013.01) 20 Claims
OG exemplary drawing
 
1. A method for controlling a steering of a vehicle, comprising:
receiving a steering input, wherein the steering input is indicative of a desired road wheel angle;
determining a commanded torque to achieve the desired road wheel angle;
measuring a measured road wheel angle of the vehicle;
executing a feedback control to determine a torque overlay, wherein the feedback control includes:
determining, in real time, a current steering error vector of the vehicle;
determining a difference between the current steering error vector and a predetermined-steering error dynamics vector;
determining a feedback gain correction vector, wherein the feedback gain correction vector is a function of the difference between the current steering error vector and the predetermined-steering error dynamics vector;
determining a torque overlay using the feedback gain correction vector; and
applying the torque overlay to a steering wheel of the vehicle.