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

Claim 2:
3. The method of claim 2, wherein the generating the impedance-adjusted vehicle steering angle command comprises determining the impedance-adjusted vehicle steering angle command based on the s-domain equation:, θ
    r
   
   =
   
    
     θ
     d
    
    +
    
     
      1
      
       
        Ms
        2
       
       +
       Bs
       +
       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.