{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1299437",
  "publishedAt": "2021-09-09T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B62D15/025",
    "ZENUITY AB"
  ],
  "textContent": "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.",
  "title": "METHOD AND ARRANGEMENT FOR ENSURING ROAD TRACKING UP TO A PREDEFINED LATERAL ACCELERATION LIMIT USING A PID CONTROLLER IN A VEHICLE"
}