Systems and methods for vehicle steering control

1. A system for providing operating mode transition for a vehicle, the system comprising:

a processor; and

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

receive an input indicating a request to transition from a first operating mode of the vehicle to a second operating mode of the vehicle;

determine a first planned trajectory corresponding to the first operating mode;

determine a second planned trajectory corresponding to the second operating mode;

determine a first road wheel actuator angle corresponding to the first planned trajectory;

determine a second road wheel actuator angle corresponding to the second planned trajectory;

determine a difference between a current handwheel actuator angle and a handwheel actuator angle corresponding to the second road wheel actuator angle;

in response to a determination that the difference is less than a threshold, transition from the first operating mode to the second operating mode over a determined period;

in response to a determination that the difference is greater than the threshold, generate a haptic feedback torque based on the first road wheel actuator angle and the current handwheel actuator angle; and

apply a scaling factor to the haptic feedback torque, wherein the scaling factor is dynamically generated based on, at least, a handwheel velocity.

2. The system of claim 1 , wherein the first operating mode includes an autonomous operating mode.

3. The system of claim 1 , wherein the second operating mode includes a manual operating mode.

4. The system of claim 1 , wherein the current handwheel actuator angle includes a zero degree angle.

5. The system of claim 1 , wherein the input indicates an operator engagement of a handwheel of the vehicle.

6. The system of claim 1 , wherein the input indicates a position of a switch within the vehicle.

7. The system of claim 1 , wherein the instructions further cause the processor to provide an assist torque to a handwheel of the vehicle based on the first road wheel actuator angle and the haptic feedback torque.

8. A method for providing operating mode transition for a vehicle, the method comprising:

receiving an input indicating a request to transition from a first operating mode of the vehicle to a second operating mode of the vehicle;

determining a first planned trajectory corresponding to the first operating mode;

determining a second planned trajectory corresponding to the second operating mode;

determining a first road wheel actuator angle corresponding to the first planned trajectory;

determining a second road wheel actuator angle corresponding to the second planned trajectory;

determining a difference between a current handwheel actuator angle and a handwheel actuator angle corresponding to the second road wheel actuator angle; and

in response to a determination that the difference is less than a threshold, transitioning from the first operating mode to the second operating mode over a determined period;

in response to a determination that the difference is greater than the threshold, generating a haptic feedback torque based on the first road wheel actuator angle and the current handwheel actuator angle; and

applying a scaling factor to the haptic feedback torque, wherein the scaling factor is dynamically generated based on, at least, a handwheel velocity.

9. The method of claim 8 , wherein the first operating mode includes an autonomous operating mode.

10. The method of claim 8 , wherein the second operating mode includes a manual operating mode.

11. The method of claim 8 , wherein the current handwheel actuator angle includes a zero degree angle.

12. The method of claim 8 , wherein the input indicates an operator engagement of a handwheel of the vehicle.

13. The method of claim 8 , wherein the input indicates a position of a switch within the vehicle.

14. The method of claim 8 , further comprising providing an assist torque to a handwheel of the vehicle based on the first road wheel actuator angle and the haptic feedback torque.

15. A method of transitioning an operating mode for a vehicle, the method comprising:

receiving a takeover request from an operator;

generating a haptic feedback based on a first road wheel actuator angle and a current handwheel actuator angle; and

applying a scaling factor to the haptic feedback, wherein the scaling factor is dynamically generated based on, at least, a handwheel velocity;

providing the haptic feedback to the operator;

performing a driver readiness assessment; and

transitioning from a first operating mode to a second operating mode using a shared control transition mode.

16. The method of claim 15 , wherein the first operating mode corresponds to an autonomous driving mode and the second operating mode corresponds to a manual driving mode.

17. The method of claim 15 , wherein the shared control transition mode is defined as a road wheel position partially controlled by an autonomous driving system and partially controlled by an operator input.

18. The method of claim 15 , wherein performing the driver readiness assessment includes:

imposing a torque on a handwheel of the vehicle; and

evaluating a response, by the operator, to the imposed torque to determine readiness for the manual driving mode.