{
  "$type": "site.standard.document",
  "description": "A computer includes a processor and a memory, the memory storing instructions executable by the processor to detect an actual steering column torque and an actual steering wheel angle, predict a steering wheel torque with a state-estimation algorithm that outputs a plurality of vehicle states…",
  "path": "/patents/1290125",
  "publishedAt": "2021-05-13T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B62D6/10",
    "Ford Global Technologies, LLC"
  ],
  "textContent": "A computer includes a processor and a memory, the memory storing instructions executable by the processor to detect an actual steering column torque and an actual steering wheel angle, predict a steering wheel torque with a state-estimation algorithm that outputs a plurality of vehicle states including the predicted steering wheel torque, adjust the plurality of vehicle states based on an algorithm noise that is based on a steering wheel angular speed to generate estimated vehicle states, output the estimated vehicle states including an estimated user-applied steering wheel torque, and transition from an autonomous mode to a manual mode when the estimated steering wheel torque exceeds a threshold. The state-estimation algorithm accepts input including the actual steering column torque and the actual steering wheel angle and outputs the plurality of vehicle states.",
  "title": "ENHANCED VEHICLE OPERATION"
}