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

Claim 0:
1. A method for generating a steering command for controlling a vehicle during vehicle operations, the method comprising:
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 (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;
generating an impedance-adjusted vehicle steering control torque command (τC) by the steering controller in the vehicle based on a difference between the impedance-adjusted vehicle steering angle command (θr) and a measured vehicle steering angle command (θm);
generating a steering command by a power steering system in the vehicle based on the measured driver steering torque command (τD) and the impedance-adjusted vehicle steering control torque command (τC); and
operating the vehicle in accordance with the steering command.