Abstract: Methods and systems are provided for controlling a vehicle comprising an Electric Power Steering System (EPS). In an embodiment, a method includes learning, by a processor, a non-linearity of a boost factor associated with the EPS; determining, by the processor, a deboost factor based on an inverse relationship of the learned non-linearity of the boost factor associated with the EPS; and generating, by the processor, a steering command to the EPS based on the deboost factor.

Abstract: Methods and systems are provided for controlling a vehicle comprising an Electric Power Steering System (EPS). In an embodiment, a method includes determining, by the processor, a lateral acceleration reference based on reference path data and vehicle dynamics data; determining, by the processor, coefficient data based on at least one of measured lateral acceleration data and measured steering angle data, and measured torque data; determining, by the processor, a torque command based on the coefficient and the reference lateral acceleration data; and generating, by the processor, a steering command to the EPS based on the torque command.

Abstract: Methods and systems are provided for a vehicle towing a trailer. In one embodiment, a method includes: receiving, by a processor, sensor data from one or more sensors of the vehicle; estimating, by a processor, a steering torque value based on the sensor data; estimating, by the processor, a steering angle value based on the sensor data; determining, by the processor, a trailer tongue value based on the steering torque value and the steering angle value; and generating, by the processor, a control signal to control the vehicle based on the trailer tongue value.

Abstract: Methods and systems are provided for controlling a vehicle comprising an Electric Power Steering System (EPS). In an embodiment, a method includes determining, by the processor, a lateral acceleration reference based on reference path data and vehicle dynamics data; determining, by the processor, coefficient data based on at least one of measured lateral acceleration data and measured steering angle data, and measured torque data; determining, by the processor, a torque command based on the coefficient and the reference lateral acceleration data; and generating, by the processor, a steering command to the EPS based on the torque command.

Abstract: Methods and systems are provided for controlling a vehicle comprising an Electric Power Steering System (EPS). In an embodiment, a method includes learning, by a processor, a non-linearity of a boost factor associated with the EPS; determining, by the processor, a deboost factor based on an inverse relationship of the learned non-linearity of the boost factor associated with the EPS; and generating, by the processor, a steering command to the EPS based on the deboost factor.

Abstract: A system and method are provided for controlling a vehicle. In one embodiment, a system includes: a sensor system configured to generate sensor data sensed from an environment of the vehicle; and a control module configured to, by a processor, based on the sensor data, identify a gap in a lane line on a roadway in front of the vehicle, determine at least two points within the gap, determine a curve between the at least two points, compute a correlation measure based on the curve, generate lane stitching data based on data based on the curve and an evaluation of the correlation measure, and controlling one or more components of the vehicle based on the stitching data.