Patent ID: 8190330

Claim:
A method for providing vehicle steering control in an autonomous or semi-autonomous vehicle driving system, said method comprising: determining a lateral position of the vehicle, a lateral speed of the vehicle, a yaw rate of the vehicle and a yaw angle of the vehicle at a particular point in time or over a predetermined time period; determining roadway lane marking information of a roadway on which the vehicle is traveling; modeling the roadway using the roadway lane marking information, wherein modeling the roadway includes modeling the roadway as a second order polynomial equation; predicting a vehicle path using the roadway model; providing a desired vehicle path; comparing the predicted vehicle path and the desired vehicle path to generate a path error value; and generating a steering angle command based on the path error value where the steering angle command is determined by a function that includes the vehicle lateral position, vehicle lateral speed, vehicle yaw rate and vehicle yaw angle.