CPC B62D 15/025 (2013.01) [B60W 10/20 (2013.01); B60W 30/12 (2013.01); B62D 15/029 (2013.01); B60W 2510/202 (2013.01); B60W 2552/53 (2020.02); B60W 2710/202 (2013.01)] | 11 Claims |
1. A control system for controlling generation of a steering wheel overlay signal to control a trajectory of a host vehicle, the control system comprising one or more controllers, the control system configured to:
determine a principal axis of a lane of travel;
determine a target trajectory for the host vehicle in dependence on the determined principal axis, wherein the target trajectory is substantially parallel to the principal axis of the lane of travel;
generate the steering wheel overlay signal, the steering wheel overlay signal comprising an intra-lane steering signal for aligning the trajectory of the host vehicle with the target trajectory; and one of a lane assist steering overlay and a road edge assist steering overlay for maintaining the host vehicle within the lane of travel;
apply the intra-lane steering signal after application of the one of the lane assist steering overlay and the road edge assist steering overlay; and
remove the intra-lane steering signal when the trajectory is at least substantially aligned with the target trajectory.
|