METHOD AND ARRANGEMENT FOR ENSURING ROAD TRACKING UP TO A PREDEFINED LATERAL ACCELERATION LIMIT USING A PID CONTROLLER IN A VEHICLE

Methods for ensuring road tracking up to a predefined lateral acceleration limit in a vehicle having an autonomous steering function arranged to selectively apply a steering wheel overlay torque to a normal steering assistance torque in an electrical power assisted steering system of the vehicle are provided. Such methods include acquiring the predetermined lateral acceleration limit; acquiring a signal representing a current lateral acceleration of the vehicle; comparing the predetermined lateral acceleration limit with the acquired current lateral acceleration signal to obtain a controller error; setting a torque limit for the steering wheel overlay torque; and subjecting the controller error to a proportional-integral-derivative (PID) controller, which is arranged to provide the torque limit for the steering wheel overlay torque after setting the torque limit to the initial value.