Lateral control for vehicle wireless charging guidance

An automotive vehicle, comprising:

• a steering system;
• and
• a controller electrically connected to the steering system;
• the controller configured to:
• obtain a desired final vehicle position relative to a current vehicle position;
• calculate, by one or more data processors, a target vehicle position based on the current vehicle position and the desired final vehicle position, wherein the target vehicle position is different than the desired final vehicle position;
• calculate by the one or more data processors, a road wheel angle command value based on the target vehicle position;
• determine, by the one or more data processors, a control signal based on the calculated road wheel angle command value;
• and
• provide the control signal to an actuator in the steering system, the actuator effective to steer a road wheel on the vehicle,
• wherein the control signal is determined without explicit determination of a path from the current vehicle position to the desired final vehicle position.

A controller for use in an automotive vehicle having a steering controller, the controller comprising a processor and a non-transitory computer-readable medium containing instructions that, when executed, perform the method comprising the steps of:

• obtaining a desired final vehicle position relative to a current vehicle position;
• calculating, by one or more data processors, a target vehicle position based on the current vehicle position and the desired final vehicle position, wherein the target vehicle position is different than the desired final vehicle position;
• calculating, by the one or more data processors, a road wheel angle command value based on the target vehicle position;
• determining, by the one or more data processors, a control signal based on the calculated road wheel angle command value;
• providing the control signal to the vehicle steering controller;
• and
• sending a control input command to an actuator configured to steer a road wheel on the vehicle,
• wherein the control signal is determined without explicit determination of a path from the current vehicle position to the desired final vehicle position.