System and method for blending driver and automated steering commands for lateral control
US11858549B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 9, 2020 |
| Grant date | Jan 2, 2024 |
| Priority date | — |
| Expiry date | Nov 30, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D15/025
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method for generating a steering command for controlling a vehicle is provided. The method includes: 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 based on a first vehicle steering angle command that was generated to compensate for a trajectory error, and a measured driver steering torque command generated in response to navigation of the vehicle using a steering wheel; generating an impedance-adjusted vehicle steering control torque command by the steering controller in the vehicle based on a difference between the impedance-adjusted vehicle steering angle command and a measured vehicle steering angle command; generating a steering command by a power steering system in the vehicle based on the measured driver steering torque command and the impedance-adjusted vehicle steering control torque command; and operating the vehicle in accordance with the steering command.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.