SYSTEM AND METHOD OF STANDSTILL ENGAGEMENT OF STEERING SYSTEM

A computer-implemented method that, when executed by data processing hardware, causes the data processing hardware to perform operations comprising detecting a request to enable an automated driving system of a vehicle while the vehicle is at rest or at a low speed, determining an intended path of the vehicle, determining an initial steering angle, calculating a desired steering angle based on the intended path, calculating a commanded steering angle, evaluating the initial steering angle versus the desired steering angle, and either (i) initiating a driving maneuver with the initial steering angle, or (ii) adjusting the steering angle based on the commanded steering angle before initiating the driving maneuver.