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

Claim 10:
11. The system of claim 10, wherein the impedance controller is configured to generate the impedance-adjusted vehicle steering angle command based on the s-domain equation:, θ
      r
    
    =
    
      
        θ
        d
      
      +
      
        
          1
          
            
              M
              ⁢
              
                s
                2
              
            
            +
            
              B
              ⁢
              s
            
            +
            K
          
        
        ⁢
        
          τ
          D
        
      
    
  
  ,, wherein M, B, K are tunable parameters, τD is the measured driver steering torque command, θd is the vehicle steering angle command, and θr is the impedance-adjusted vehicle steering angle command.