Abstract: A control system for controlling generation of a steering overlay signal to control a trajectory of a host vehicle can include one or more controllers and is configured to identify a lateral boundary of the host-vehicle lane of travel. The control system monitors a position of the host vehicle in relation to the lateral boundary of the host-vehicle lane of travel. A lateral velocity of the host vehicle is determined by the control system. The steering overlay signal is generated based on a determination that the host vehicle is approaching or traversing the lateral boundary of the host-vehicle lane of travel and that the determined lateral velocity is greater than or equal to a first lateral velocity threshold. The control system can determine a lateral separation between the host vehicle and an object.

Abstract: The present disclosure relates to a control system for controlling generation of a steering wheel overlay signal to control a trajectory of a host vehicle. The control system includes one or more controllers. The control system is configured to determine a principal axis of a lane of travel. A target trajectory is determined for the host vehicle in dependence on the determined principal axis. The steering wheel overlay signal is generated, including an intra-lane steering signal for aligning the trajectory of the host vehicle with the target trajectory. The intra-lane steering signal is removed when the trajectory is at least substantially aligned with the target trajectory. The present disclosure also relates to a vehicle; and a method of controlling generation of a steering wheel overlay signal.