Patent ID: 9731761
Date: 2017-08-15
CPC Classifications: B62D,G05D

Claim:
1. A controller comprising a processor and a memory in a vehicle including a steering wheel, a steering-wheel actuator coupled to the steering wheel, and a road wheel, the controller programmed to: determine a steering-wheel angle based on a road-wheel angle of the road wheel from a sensor of the vehicle, an operation mode of the vehicle stored in the memory, and a steering-compensation type of the vehicle stored in the memory, wherein the operation mode includes a nonautonomous mode having a default steering ratio and at least one autonomous mode; instruct the steering-wheel actuator to rotate the steering wheel according to the steering-wheel angle, determine that the operation mode is the nonautonomous mode; and upon determining that the operation mode is the nonautonomous mode, instruct the steering-wheel actuator to rotate the steering wheel to a default steering-wheel angle that is the default steering ratio multiplied by the road-wheel angle.