Abstract: A method, system, and computer program product for tire slip angle limiting in a steering control system for a vehicle are provided. The method includes calculating a first steering augmentation angle from a vehicle speed and a handwheel angle. The method further includes calculating an upper bound angle limit and a lower bound angle limit as functions of a vehicle slip angle and a tire slip angle limit. The method also includes bounding the sum of the handwheel angle plus the first steering augmentation angle between the upper bound angle limit and the lower bound angle limit to produce a first bounded angle. The method additionally includes subtracting the sum of the handwheel angle plus the first steering augmentation angle from the first bounded angle to produce a first limiting function, and producing a motor angle command by adding the first limiting function plus the first steering augmentation angle.

Abstract: A method, system, and computer program product for tire slip angle limiting in a steering control system for a vehicle are provided. The method includes calculating a first steering augmentation angle from a vehicle speed and a handwheel angle. The method further includes calculating an upper bound angle limit and a lower bound angle limit as functions of a vehicle slip angle and a tire slip angle limit. The method also includes bounding the sum of the handwheel angle plus the first steering augmentation angle between the upper bound angle limit and the lower bound angle limit to produce a first bounded angle. The method additionally includes subtracting the sum of the handwheel angle plus the first steering augmentation angle from the first bounded angle to produce a first limiting function, and producing a motor angle command by adding the first limiting function plus the first steering augmentation angle.

Abstract: A control system for a steering system in a vehicle comprising: a reference model responsive to an operator input that computes desired states of the vehicle; a feedforward controller in operable communication with the reference model. The feedforward controller computes a first control value based on input from said reference model and based on at least one of: a lateral velocity, a rate of lateral velocity, a lateral acceleration, and a combination, wherein the combination includes a yaw rate with at least one of a lateral velocity, a rate of lateral velocity, and a lateral acceleration of the motor vehicle. The system also includes an actuator for affecting the steering system based on the first control value, the actuator in operable communication with the feedforward controller.

Abstract: A control system for a steering system in a vehicle comprising: a reference model responsive to an operator input that computes desired states of the vehicle; a feedforward controller in operable communication with the reference model. The feedforward controller computes a first control value based on input from said reference model and based on at least one of: a lateral velocity, a rate of lateral velocity, a lateral acceleration, and a combination, wherein the combination includes a yaw rate with at least one of a lateral velocity, a rate of lateral velocity, and a lateral acceleration of the motor vehicle. The system also includes an actuator for affecting the steering system based on the first control value, the actuator in operable communication with the feedforward controller.