Patent ID: 11858549
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 8:
9. A system in a vehicle for generating a steering command for controlling the vehicle during vehicle operations, the system comprising:
an impedance controller configured to generate 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 ({dot over (θ)}d), a second derivative of the vehicle steering angle command ({umlaut over (θ)}d), and a measured driver steering torque command (τD) generated in response to navigation of the vehicle using a vehicle steering wheel;
a steering controller configured to generate a first vehicle steering control torque command while the vehicle is driven in a semi-autonomous mode, and configured to generate an impedance-adjusted vehicle steering control torque command (τC) based on a difference between the impedance-adjusted vehicle steering angle command (θr) and a measured vehicle steering angle command (θm); and
a power steering system configured to generate the steering command based on the measured driver steering torque command (τD) and the impedance-adjusted vehicle steering control torque command (τC);
wherein the vehicle is configured to be operated in accordance with the steering command.