Systems and method for driver centric automation

1 . A method for steering control, the method comprising:

receiving at least one steering input value;

receiving at least one vehicle speed value;

determining, based on the at least one steering input value and the at least one vehicle speed value, a vehicle sideslip angle and a yaw rate;

generating a reference yaw rate value (i) based on the at least one steering input value, the at least one vehicle speed value, and a tire-road friction coefficient, and (ii) constrained by at least one hard constraint of at least one associated actuator;

generating an initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value;

determining a final steering control value based on the initial steering control value and the at least one steering input value; and

selectively controlling at least one aspect of a vehicle steering system based on the final steering control value.

2 . The method of claim 1 , wherein the vehicle steering system includes an electronic power steering system.

3 . The method of claim 1 , wherein the vehicle steering system includes steer-by-wire steering system.

4 . The method of claim 1 , wherein the at least one steering input value corresponds to a handwheel of the vehicle steering system.

5 . The method of claim 1 , wherein determining, based on the at least one steering input value and the at least one vehicle speed value, the vehicle sideslip angle and a yaw rate includes using a non-linear bicycle model.

6 . The method of claim 5 , wherein the non-linear bicycle model includes a Fiala tire model.

7 . The method of claim 1 , further comprising generating the reference yaw rate value using a yaw rate reference model.

8 . The method of claim 1 , wherein generating the initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value includes using model predictive control.

9 . The method of claim 1 , wherein generating the initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value includes using sliding mode control.

10 . The method of claim 1 , wherein generating the initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value includes using fuzzy logic sliding mode control.

11 . The method of claim 1 , wherein generating the initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value includes using adaptive control.

12 . A system for steering control, the system comprising:

a processor; and

a memory including instructions that, when executed by the processor, cause the processor to:

receive at least one steering input value;

receive at least one vehicle speed value;

determine, based on the at least one steering input value and the at least one vehicle speed value, a vehicle sideslip angle and a yaw rate;

generating a reference yaw rate value (i) based on the at least one steering input value, the at least one vehicle speed value, and a tire-road friction coefficient, and (ii) constrained by at least one hard constraint of at least one associated actuator;

generate an initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value;

determine a final steering control value based on the initial steering control value and the at least one steering input value; and

selectively control at least one aspect of a vehicle steering system based on the final steering control value.

13 . The system of claim 12 , wherein the instructions further cause the processor to determine, based on the at least one steering input value and the at least one vehicle speed value, the vehicle sideslip angle and a yaw rate using a non-linear bicycle model.

14 . The system of claim 13 , wherein the non-linear bicycle model includes a Fiala tire model.

15 . The system of claim 12 , wherein the instructions further cause the processor to generate the reference yaw rate value using a yaw rate reference model.

16 . The system of claim 12 , wherein the instructions further cause the processor to generate the initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value using model predictive control.

17 . The system of claim 12 , wherein the instructions further cause the processor to generate the initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value using sliding mode control.

18 . The system of claim 12 , wherein the instructions further cause the processor to generate the initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value using fuzzy logic sliding mode control.

19 . The system of claim 12 , wherein the instructions further cause the processor to generate the initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value using adaptive control.

20 . An apparatus for steering control, the apparatus comprising:

a processor; and

a memory including instructions that, when executed by the processor, cause the processor to:

receive at least one steering input value;

receive at least one vehicle speed value;

determine, based on the at least one steering input value and the at least one vehicle speed value and using a non-linear bicycle model, a vehicle sideslip angle and a yaw rate;

generate a reference yaw rate value (i) based on the at least one steering input value, the at least one vehicle speed value, and a tire-road friction coefficient, and (ii) constrained by at least one hard constraint of at least one associated actuator;

generate an initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value;

determine a final steering control value based on the initial steering control value and the at least one steering input value; and

selectively control at least one aspect of a vehicle steering system based on the final steering control value.