Patent ID: 9139222
Filing Date: 2015-09-22
Classification: B60W,B62D,G05D,G06F,G07C

Abstract:
1. A method for controlling steering of a vehicle, the method comprising: identifying a reduced-order vehicle model, the reduced-order vehicle model representing a vehicle transfer function in which at least one high-frequency pole is removed; generating target closed loop pole locations based on at least one user preference parameter; determining calibration parameters that place closed loop poles of a composite system at the target closed loop poles, the composite system including the reduced-order vehicle model and a steering control system; controlling the steering using the steering control system configured using the calibration parameters; evaluating the controlling of the steering when an implement attached to the vehicle is changed based on at least one performance criterion; and wherein the at least one performance criterion further include target standard deviations for lateral position error of the steering and heading angle error of the steering and the at least one performance criterion are satisfied if an observed settling time is less than or equal to the target settling time and an observed maximum overshoot is less than or equal to a maximum target overshoot.