Abstract: Aspects of the disclosure relate to a control system and a method for controlling generation of a steering wheel overlay signal to control positioning of a host vehicle. The control system comprises one or more controllers. The control system is configured to generate a steering wheel overlay signal for steering the host vehicle toward a target lane position; receive a driver intervention signal indicative of a driver intervention torque applied to a steering wheel of the host vehicle; and determine a driver intervention torque threshold based at least in part on an elapsed time since the generation of the steering wheel overlay signal. The control system is configured to mitigate the steering wheel overlay signal based at least in part on the driver intervention torque exceeding the driver intervention torque threshold.

Abstract: Aspects of the disclosure relate to a control system and a method for controlling generation of a steering wheel overlay signal to control positioning of a host vehicle. The control system is configured to receive a curvature of a lane of travel. The control system is configured to determine a position of the host vehicle in relation to at least one boundary of the lane of travel; and determine a minimum clearance between the host vehicle and the at least one boundary in dependence based at least in part on the curvature of the lane of travel. If the host vehicle is determined to be closer to the at least one boundary than the minimum clearance, a steering intervention is implemented and the control system generates a steering wheel overlay signal for maintaining the host vehicle within the lane of travel.

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: Aspects of the present disclosure relate to a control system and a method for controlling generation of a steering wheel overlay signal to control positioning of a host vehicle. The control system is configured to determine a first boundary of a lane of travel. The control system is configured to determine a target lane position for the host vehicle in relation to the first boundary, such as a predetermined distance from the first boundary. A steering wheel overlay signal is generated, the steering wheel overlay signal comprising an intra-lane steering signal for steering the host vehicle toward the target lane position. The control system is configured to remove the steering wheel overlay signal in dependence on a velocity of the host vehicle relative to the first boundary being less than a threshold velocity. Thus, the final alignment of the host vehicle achieves the perception of travelling parallel to the boundary, whilst reducing the total intervention time.

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.

Abstract: Aspects of the present invention relate to a control system for controlling generation of a road edge assist steering torque at a steering wheel of a host vehicle. The control system includes one or more controllers. The control system is configured to determine a first width representing a width of a first lane of travel. The determined first width is compared to a predefined first threshold. The control system is configured to control generation of the road edge assist steering torque in dependence on the comparison of the first width and the first threshold. Aspects of the present invention also relate to a vehicle having a control system; and a method of controlling generation of a road edge assist steering torque.