Abstract: The present invention generally relates to closed-loop control methods, a computer program product and an open-loop control device (28) for a motor vehicle (24). The closed-loop control method is configured for the cooperative vehicle lateral guidance of a motor vehicle (24) with respect to a reference trajectory by means of an overall closed control loop (12) of a vehicle closed-loop control unit (26). The overall closed control loop (12) comprises at least one first closed-loop control module (18) and one second closed-loop control module (20). The first closed-loop control module (18) has a dynamic open-loop pilot controller (14) having a virtual closed control loop (22) which is configured to take into account a steering wheel state based on a manual steering input for influencing the vehicle lateral guidance.

Abstract: A control method for automated control of a transverse deviation and/or a steering wheel angle of a motor vehicle by an overall control loop is described. The overall control loop has a first control module, a second control module, and at least one controlled system. The at least one controlled system comprises a front-axle actuator of the motor vehicle and/or a steering wheel of the motor vehicle. A provisional manipulated variable is determined by way of the first control module, wherein the provisional manipulated variable is independent of a speed of the motor vehicle. A final manipulated variable for the at least one controlled system is determined based on the provisional manipulated variable by way of the second control module, wherein the second control module compensates for a speed dependency of the at least one controlled system. A controller and a motor vehicle are also described.

Abstract: The disclosure relates to a method for cooperative steering angle control for an electromechanically assisted steering system of a motor vehicle. The steering system has electromechanical steering assistance with an electric motor and at least one controller. The controller has two degrees of freedom, a first of the two degrees of freedom being associated with a torque exerted on a steering wheel, and a second of the two degrees of freedom being associated with a steering angle. The method comprises the following steps: determining a driver torque; ascertaining a reference steering wheel torque by a dynamic feedforward; receiving a reference steering angle; feeding the reference steering angle into a control loop; feeding the determined reference steering wheel torque into the control loop by the dynamic feedforward; and ascertaining a steering wheel torque and a steering angle by the control circuit (34).

Abstract: A control system for an electric motor circuit comprises a current controller which produces a set of idealised voltage demands for the motor circuit, an observer which observes the inputs to the motor circuit and the outputs of the motor circuit and which generates from the observations estimates of the voltage disturbances within the motor circuit, the observer being arranged in use to output a first correction signal indicative of the voltage disturbances in the motor circuit, a feed-forward controller which receives as an input a measurement or estimate of the current flowing in the motor and calculates from the input a second correction signal. The first correction signal output from the observer and the second correction signal output from the feedforward controller are combined with the idealised voltage demands output from the controller to provide a set of modified voltages demands that are fed to the motor.

Abstract: A control system for an electric motor circuit comprises a current controller which produces a set of idealised voltage demands for the motor circuit, an observer which observes the inputs to the motor circuit and the outputs of the motor circuit and which generates from the observations estimates of the voltage disturbances within the motor circuit, the observer being arranged in use to output a first correction signal indicative of the voltage disturbances in the motor circuit, a feed-forward controller which receives as an input a measurement or estimate of the current flowing in the motor and calculates from the input a second correction signal. The first correction signal output from the observer and the second correction signal output from the feedforward controller are combined with the idealised voltage demands output from the controller to provide a set of modified voltages demands that are fed to the motor.