Abstract: A number of variations may include a method or system using human driving characteristics in autonomous vehicle driving method or system.

Abstract: A number of variations may include a system and method may include autonomous driving systems including an algorithm analyzing motion controller performance in real time with respect to a set of attributes. The system and method may include an algorithm monitoring conditions such as monitoring actuations, vehicle dynamics, vehicle operating environment, and vehicle capability. The system and method may include an algorithm evaluating said conditions to determine which controller is best suited to the current situation during live vehicle operations.

Abstract: A system and method of hands-off signature detection may include applying a unique sinusoidal motor command to an EPS or handwheel actuator of a vehicle and monitoring attenuation of the unique sinusoidal motor command to determine if a user's hands are on or off of a handwheel of a vehicle. Attenuation of the unique sinusoidal motor command may occur due to the physical presence of a driver's hand(s) on the steering wheel.