Abstract: Vehicles and related systems and methods are provided for mitigating lane departures, alternatively referred to as lane keeping assistance. One method of assisting vehicle operation involves determining a control trajectory for the vehicle over a prediction horizon that satisfies one or more steering angle constraints for operating a steering system of the vehicle based at least in part on a current steering angle, a first difference between the control trajectory and a reference lateral trajectory for the vehicle and a second difference between the control trajectory and a lane boundary, for example, by minimizing a weighted sum of the differences. The method continues by determining a steering angle command for the vehicle based at least in part on the control trajectory and autonomously operating one or more actuators onboard the vehicle in accordance with the steering angle command prior to the vehicle crossing the lane boundary.

Abstract: In accordance with an exemplary embodiment, methods and systems are provided for controlling steering of an autonomous vehicle. The method includes: operating, by a processor, the autonomous vehicle in a semi-automated mode; receiving, by the processor, driver input including a measured driver torque; receiving, by the processor, threat data; determining, by the processor, a steering command bias based on an impedance relation, impedance parameters, the measured driver torque, and the threat data; determining, by the processor, a reference angle based on the steering command bias and a desired angle; and generating, by the processor, control data to control the steering of the autonomous vehicle based on the reference angle.

Abstract: Methods and systems are provided for alerting a driver to take control of a vehicle. In one embodiment, a method includes: determining, by a processor, a driver alertness level based on a weighted summation of a first set of feature data; determining, by the processor, a required alertness level based on a weighted summation of a second set of feature data; determining, by the processor, an escalation index based on the driver alertness level and the required alertness level; and generating, by the processor, alert notification data based on the escalation index.

Abstract: In accordance with an exemplary embodiment, methods and systems are provided for controlling steering of an autonomous vehicle. The method includes: operating, by a processor, the autonomous vehicle in a path-based automated driving assist mode; receiving, by the processor, driver input including a driver torque; classifying, by the processor, an operation mode based on a type of the path-based automated driving assist mode; determining, by the processor, an override threshold for overriding the path-based automated driving assist mode on a first lateral side of the autonomous vehicle based on the operation mode; determining, by the processor, a driver override status based on the override torque threshold; and generating, by the processor, control signals to control the steering of the autonomous vehicle based on the driver override status and the driver torque.

Abstract: In accordance with an exemplary embodiment, methods and systems are provided for controlling steering of an autonomous vehicle. The method includes: operating, by a processor, the autonomous vehicle in a semi-automated mode; receiving, by the processor, driver input including a measured driver torque; receiving, by the processor, threat data; determining, by the processor, a steering command bias based on an impedance relation, impedance parameters, the measured driver torque, and the threat data; determining, by the processor, a reference angle based on the steering command bias and a desired angle; and generating, by the processor, control data to control the steering of the autonomous vehicle based on the reference angle.

Abstract: In accordance with an exemplary embodiment, methods and systems are provided for controlling steering of an autonomous vehicle. The method includes: operating, by a processor, the autonomous vehicle in a path-based automated driving assist mode; receiving, by the processor, driver input including a driver torque; classifying, by the processor, an operation mode based on a type of the path-based automated driving assist mode; determining, by the processor, an override threshold for overriding the path-based automated driving assist mode on a first lateral side of the autonomous vehicle based on the operation mode; determining, by the processor, a driver override status based on the override torque threshold; and generating, by the processor, control signals to control the steering of the autonomous vehicle based on the driver override status and the driver torque.