Systems and methods for intention-based steering of vehicle

A method for controlling a movement of a vehicle in both a manual mode and an autonomous mode, wherein the method uses a processor coupled with stored instructions implementing the method, such that the instructions, when executed by the processor carry out at least some steps of the method, comprising:

• receiving a signal indicative of a steering angle of a steering wheel of the vehicle, such that the received signal corresponds to an estimated driving objective of control of moving the vehicle toward the desired heading;
• mapping the received signal to a desired heading of the vehicle using a mapper based on internal states of the vehicle that indicate a type of maneuver associated with the estimated driving objective of control that is attempted to be performed with the measured amount of the manually applied torque with which is actuating the steering wheel;
• receiving vehicle data via a sensor, such that the vehicle data includes a measure of a current heading of the vehicle;
• and
• controlling the movement of the vehicle using the feedback controller, for causing the current heading of the vehicle to track the desired heading of the vehicle.

A non-transitory computer readable storage medium embodied thereon a program executable by a processor for performing a method, the method uses a control system with a single controller such as a feedback controller for controlling a vehicle steering to controls a movement of a vehicle in both a manual mode and an autonomous mode, the method comprising:

• receiving a signal indicative of a steering angle of a steering wheel of the vehicle, such that the received signal corresponds to an estimated driving objective of control of moving the vehicle toward the desired heading;
• mapping the received signal to a desired heading of the vehicle using a mapper based on internal states of the vehicle that indicate a type of maneuver associated with the estimated driving objective of control that is attempted to be performed with the measured amount of the manually applied torque with which is actuating the steering wheel;
• receiving vehicle data via a sensor, such that the vehicle data includes a measure of a current heading of the vehicle;
• and
• controlling the movement of the vehicle using the feedback controller connected to the processor, wherein a gate is to pass to the feedback controller a value of the desired heading of the vehicle determined by the mapper, when the vehicle is in the manual mode, and otherwise, to pass to the feedback controller a value of the desired heading of the vehicle determined by a semi-autonomous driving planning (SADP) system to the feedback controller, when the vehicle is in the autonomous mode, for causing the current heading of the vehicle to track the desired heading of the vehicle.