A control system (1, Figure 1) with one or more controllers (20, Figure 1), is provided to control generation of a steering wheel overlay signal to control a trajectory α of a host vehicle 2. The control system determines a principal axis PD of a lane of travel LT-n and, based on the principal axis PD, determines a target trajectory αT for host vehicle 2. The steering wheel overlay signal is generated, including an intra-lane steering signal (STQ-LA, Figure 2) for aligning trajectory α with target trajectory αT. The intra-lane steering signal is removed when trajectory α is at least substantially aligned with target trajectory αT. The system is particularly suitable for providing lane-keeping assistance, and the principal axis PD may be based on determined lane boundaries RE-n. Also provided are a vehicle 2 and a control method.
Steering torque assist method and apparatus
2021-03-17
Patent
Electronic Resource
English
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