System and method of standstill engagement of steering system

A system comprising:

• data processing hardware;
• and
• memory hardware in communication with the data processing hardware, the memory hardware storing instructions that, when executed on the data processing hardware, cause the data processing hardware to perform operations comprising:
• detecting a request to enable an automated driving system of a vehicle while the vehicle is at rest or at a low speed;
• determining an intended path of the vehicle;
• determining a road wheel angle of a front wheel of the vehicle while the vehicle is at rest or at a low speed;
• calculating a desired steering angle based on the intended path;
• calculating a commanded steering angle, the commanded steering angle being an input for a steering control module;
• evaluating the road wheel angle of the front wheel of the vehicle while the vehicle is at rest or at a low speed versus the desired steering angle;
• evaluating a path tracking quality index, the path tracking quality index being calculated based on predicted future vehicle states and intended future trajectory;
• initiating a driving maneuver with the road wheel angle of the front wheel of the vehicle while the vehicle is at rest or at the low speed when the path tracking quality index is between a first threshold and a second threshold;
• and
• adjusting, if the path tracking quality index is less than the second threshold and greater than or equal to a third threshold, the road wheel angle, via a vehicle steering system, based on the commanded steering angle before the driving maneuver is initiated.

A vehicle management system comprising:

• a steering system configured to adjust a road wheel angle of a front wheel of a vehicle;
• data processing hardware;
• and
• memory hardware in communication with the data processing hardware, the memory hardware storing instructions that, when executed on the data processing hardware, cause the data processing hardware to perform operations comprising:
• detecting a request to enable an automated driving system of a vehicle while the vehicle is at rest or at a low speed;
• determining an intended path of the vehicle;
• determining the road wheel angle of the front wheel of the vehicle while the vehicle is at rest or at a low speed;
• calculating a desired steering angle based on the intended path;
• calculating a commanded steering angle, the commanded steering angle being an input for a steering control module;
• evaluating the road wheel angle of the front wheel of the vehicle while the vehicle is at rest or at a low speed versus the desired steering angle;
• evaluating a path tracking quality index, the path tracking quality index being calculated based on predicted future vehicle states and intended future trajectory;
• initiating a driving maneuver with the road wheel angle of the front wheel of the vehicle while the vehicle is at rest or at the low speed when the path tracking quality index is between a first threshold and a second threshold;
• and
• adjusting, if the path tracking quality index is less than the second threshold and greater than or equal to a third threshold, the road wheel angle, via the steering system, based on the commanded steering angle before the driving maneuver is initiated.