Steering control for vehicles

One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform operations comprising:

• receiving a reference trajectory associated with a vehicle, wherein the vehicle is an autonomous vehicle;
• receiving sensor data from a sensor associated with the vehicle;
• determining, based at least in part on the sensor data and the reference trajectory, state data comprising one or more of a yaw, a steering rate, a position, an orientation, a speed, or an acceleration of the vehicle;
• determining, based at least in part on the sensor data, the reference trajectory, and the state data, control data comprising one or more commands for controlling the vehicle
• inputting the state data and the control data into a first model, wherein the first model includes a neural network modeling a steering system of the vehicle, and a deterministic and repeatable second model representing a first principle model of the steering system of the vehicle;
• determining, based at least in part on a first output from the neural network and a second output from the second model, a predicted state comprising one or more of a predicted yaw, a predicted steering rate, a predicted location, a predicted orientation, a predicted speed or a predicted acceleration of the vehicle;
• determining, based at least in part on the predicted state, a control signal for controlling the vehicle;
• and
• causing, based at least in part on the control signal, a steering actuator associated with the steering system of the vehicle to actuate and assist in controlling steering of the vehicle to follow the reference trajectory.

A vehicle comprising:

• a steering assembly;
• one or more sensors;
• one or more processors;
• and
• one or more non-transitory computer-readable media storing instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
• receiving a reference trajectory associated with the vehicle, wherein the vehicle is an autonomous vehicle;
• receiving sensor data from the one or more sensors;
• determining, based at least in part on the sensor data and the reference trajectory, state data associated with a steering system, the state data comprising one or more of a yaw, a steering rate, a position, an orientation, a speed, or an acceleration of the vehicle;
• determining, based at least in part on the sensor data, the reference trajectory, and the state data, control data comprising one or more commands for controlling the vehicle;
• inputting the reference trajectory, the state data, and the control data into a first model, the first model comprising a neural network modeling the steering system, and a deterministic and repeatable second model representing a first principle model of the steering system of the vehicle;
• determining, based at least in part on a first output from the neural network and a second output from the second model , a predicted state comprising one or more of a predicted yaw, a predicted steering rate, a predicted position, a predicted orientation, a predicted speed, or a predicted acceleration associated with the vehicle;
• determining a control signal for controlling the vehicle, based at least in part on the predicted state;
• and
• controlling, based at least in part on the control signal, a steering actuator associated with the steering system to cause the steering actuator to exert a torque on the steering assembly to follow the reference trajectory.