Patent ID: 9199667
Filing Date: 2015-12-01
Classification: B62D

Abstract:
1. A method for a semi-autonomous driving of a vehicle with a steer-by-wire system having a steering wheel mechanically decoupled from vehicle wheels, such that a steering angle of the steering wheel is controlled by a column motor independently from a wheels angle of the vehicle wheels controlled by a rack motor, comprising: receiving from a semi-autonomous driving planning (SADP) system a target value for the wheels angle; determining values for the steering angle and the wheels angle tracking the target value of the wheels angle subject to constraints including a constraint on a motion of the vehicle wheels, a constraint on a motion of a steering wheel, a constraint on an actuation of the steering wheel and the vehicle wheels, and a constraint on a relative motion of the steering wheel with respect to the motion of the vehicle wheels; and generating control commands to the column motor and the rack motor according to the values for the steering angle and the wheels angle, wherein steps of the method are performed by a processor.