Abstract: A method for a semi-autonomous driving of a vehicle with a steer-by-wire system having a steering wheel mechanically decoupled from vehicle wheels determines values for the steering angle and the wheels angle tracking a target value of the wheels angle received from a semi-autonomous driving planning (SADP) system. The method determines the values for the steering angle and the wheels angle subject to constraints, including a constraint on a motion of the vehicle wheels, a constraint on a motion of a steering wheel, a constraint on an actuation of the steering wheel and the vehicle wheels, and a constraint on a relative motion of the steering wheel with respect to the motion of the vehicle wheels. The control commands to the column motor and the rack motor are generated according to the values for the steering angle and the wheels angle.

Abstract: A method for a semi-autonomous driving of a vehicle with a steer-by-wire system having a steering wheel mechanically decoupled from vehicle wheels determines values for the steering angle and the wheels angle tracking a target value of the wheels angle received from a semi-autonomous driving planning (SADP) system. The method determines the values for the steering angle and the wheels angle subject to constraints, including a constraint on a motion of the vehicle wheels, a constraint on a motion of a steering wheel, a constraint on an actuation of the steering wheel and the vehicle wheels, and a constraint on a relative motion of the steering wheel with respect to the motion of the vehicle wheels. The control commands to the column motor and the rack motor are generated according to the values for the steering angle and the wheels angle.

Abstract: A method controls a torque of an electric power steering (EPS) system of a vehicle. The method determines, based on a state of a movement of the vehicle, a range of values of the torque of the EPS system satisfying constraints. The constraints include at least one constraint on an effect of the torque of the EPS system on the steering wheel. The method selects a value of the torque within the range of values based on an objective of the movement of the vehicle and commands the EPS system to generate the torque according to the value of the torque.

Abstract: A method controls a torque of an electric power steering (EPS) system of a vehicle. The method determines, based on a state of a movement of the vehicle, a range of values of the torque of the EPS system satisfying constraints. The constraints include at least one constraint on an effect of the torque of the EPS system on the steering wheel. The method selects a value of the torque within the range of values based on an objective of the movement of the vehicle and commands the EPS system to generate the torque according to the value of the torque.