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.

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.

Technical solutions are described for attenuating dither noise in a steering system. An example method includes computing multiple filter parameters, each filter parameter based on a corresponding signal in the steering system. The method further includes determining at least one final filter parameter from the plurality of filter parameters by arbitrating the plurality of filter parameters. The method further includes dynamically configuring a filter using the at least one final filter parameter. Further, the method includes filtering a motor torque command using the filter, a filtered motor torque command being applied to a motor to generate a corresponding amount of torque.

Technical solutions are described for attenuating dither noise in a steering system. An example method includes computing multiple filter parameters, each filter parameter based on a corresponding signal in the steering system. The method further includes determining at least one final filter parameter from the plurality of filter parameters by arbitrating the plurality of filter parameters. The method further includes dynamically configuring a filter using the at least one final filter parameter. Further, the method includes filtering a motor torque command using the filter, a filtered motor torque command being applied to a motor to generate a corresponding amount of torque.

Disclosed herein are an apparatus and method of controlling a motor-driven power steering system. The apparatus may include: a sensor configured to detect at least one of a steering angle, an angular speed, and a column torque in the motor-driven power steering system; and a controller configured to determine whether a reverse steering operation has been performed based on the steering angle or the angular speed, and configured to output, when non-reverse steering, a high-frequency compensation gain (a second gain) based on the column torque, as a final compensation gain, and output, when reverse steering, a value obtained by applying an additional compensation gain (a first gain) optimized corresponding to an angular acceleration to the high-frequency compensation gain (the second gain), as the final compensation gain.

Disclosed herein are an apparatus and method of controlling a motor-driven power steering system. The apparatus may include: a sensor configured to detect at least one of a steering angle, an angular speed, and a column torque in the motor-driven power steering system; and a controller configured to determine whether a reverse steering operation has been performed based on the steering angle or the angular speed, and configured to output, when non-reverse steering, a high-frequency compensation gain (a second gain) based on the column torque, as a final compensation gain, and output, when reverse steering, a value obtained by applying an additional compensation gain (a first gain) optimized corresponding to an angular acceleration to the high-frequency compensation gain (the second gain), as the final compensation gain.

An automatic tilting vehicle includes a pair of wheels that are non-steering driving wheels, a braking/driving device, a vehicle tilting device, and a control device, and the control unit calculates a target tilt angle of the vehicle for tilting the vehicle turning inward and controls the vehicle tilting device so that a tilt angle of the vehicle becomes the target tilt angle. The control unit calculates target braking/driving forces of the pair of wheels based on a braking/driving operation of a driver, corrects the target braking/driving forces so that a difference between vertical forces acting on the wheels caused by the braking/driving forces of the pair of wheels is reduced, and controls the braking/driving device such that braking/driving forces of the pair of wheels becomes the corrected target braking/driving forces.

An automatic tilting vehicle includes a pair of wheels that are non-steering driving wheels, a braking/driving device, a vehicle tilting device, and a control device, and the control unit calculates a target tilt angle of the vehicle for tilting the vehicle turning inward and controls the vehicle tilting device so that a tilt angle of the vehicle becomes the target tilt angle. The control unit calculates target braking/driving forces of the pair of wheels based on a braking/driving operation of a driver, corrects the target braking/driving forces so that a difference between vertical forces acting on the wheels caused by the braking/driving forces of the pair of wheels is reduced, and controls the braking/driving device such that braking/driving forces of the pair of wheels becomes the corrected target braking/driving forces.

A driving assistance apparatus predicts an appropriate operation amount which is an operation amount performed by a driver in correspondence with the external environment, and sets the appropriate operation amount range including the appropriate operation amount, an appropriate operation amount range including the appropriate operation amount, and changes the reaction force characteristics of the operation device when it is determined that the operation amount of the driver corresponding to the prediction time point of the appropriate operation amount is not included in the appropriate operation amount range.

A driving assistance apparatus predicts an appropriate operation amount which is an operation amount performed by a driver in correspondence with the external environment, and sets the appropriate operation amount range including the appropriate operation amount, an appropriate operation amount range including the appropriate operation amount, and changes the reaction force characteristics of the operation device when it is determined that the operation amount of the driver corresponding to the prediction time point of the appropriate operation amount is not included in the appropriate operation amount range.