STEERING WHEEL OVERLAY SIGNAL METHOD AND APPARATUS

The present disclosure relates to a control system for controlling generation of a steering wheel overlay signal to control a trajectory of a host vehicle. The control system includes one or more controllers. The control system is configured to determine a principal axis of a lane of travel. A target trajectory is determined for the host vehicle in dependence on the determined principal axis. The steering wheel overlay signal is generated, including an intra-lane steering signal for aligning the trajectory of the host vehicle with the target trajectory. The intra-lane steering signal is removed when the trajectory is at least substantially aligned with the target trajectory. The present disclosure also relates to a vehicle; and a method of controlling generation of a steering wheel overlay signal.