Steer torque manager for an advanced driver assistance system of a road vehicle

摘要

A steer torque manager (STM) for an advanced driver assistance system (ADAS) of a road vehicle and a method therefor. A driver in the loop functionality determines when to hand over control to a driver. A wheel angle controller uses an ADAS wheel angle request to produce an overlay torque request to be added to a torque request from an electrical power assisted steering. The STM is arranged to receive an assistance torque related signal. When driver assistance is provided by the ADAS, the STM is arranged to feed forward and subtract from the overlay torque request a feed forward signal scaled to be a scaled version of the assistance torque related signal, using a scale factor in the range from 0 to 1 that assumes a lower value if a measure of driver activity indicates high driver activity and a higher value if the measure indicates low driver activity.