CONTROLLER AND METHOD FOR GENERATION OF STEERING OVERLAY SIGNAL

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.