System for providing steering assist torque based on a lateral position command

摘要

A steering system providing an assist torque to a handwheel is provided, and includes a lateral position module and a torque command module. The lateral position module determines a lateral position command based on a curvature of a lane and a near field heading angle. The torque command module determines the torque assist based on the lateral position command.

主权项

1. A steering system providing an assist torque to a handwheel of a vehicle, the control system comprising:
a lateral position module that determines a lateral position command based on a curvature of a lane and a near field heading angle; a proportional gain module for determining a proportional gain value, wherein the proportional gain value is scheduled as a function of the lateral position error; a derivative gain module that determines derivative gain value from a derivative of a lateral position; a lateral position gain module that determines a lateral position product as a function of the proportional gain value and the derivative gain value; a torque command module that determines and applies the torque assist to the steering system based on the lateral position command, the lateral position product, and the proportional gain value.