System and method for vehicle steering control

A method for steering control of a vehicle having an actuator which turns steered wheels of the vehicle, comprising:

• Obtaining a target line ahead of the vehicle based on a maneuver the vehicle is performing;
• predicting a forward location of the vehicle, wherein the forward location is at the look-ahead distance away from the vehicle;
• determining a distance from the forward location to the target line;
• computing a normalized error by dividing the distance with the look-ahead distance;
• determining a steering control command based on an integration of the normalized error;
• whereby the actuator turns the steered wheels according to the steering control command so as to steer the vehicle to perform the maneuver.

A lateral control system installed on a vehicle including steered wheels for controlling the steering of the vehicle, comprising:

• a road detection means that provides information of the road in front of the vehicle;
• a speed sensor for providing a vehicle speed signal;
• a steering angle sensor for providing a steering angle signal;
• a processor, connected to the road detection means to receive the information of the lane and connected to the speed sensor and the steering angle sensor to receive the vehicle speed signal and the steering angle signal, for computing a steering angle command by determining a look-ahead distance, computing a location of a target point at the look-ahead distance ahead the vehicle, predicting a forward location of the vehicle, calculating a distance between the location of the target point and the forward location, computing a normalized error by dividing the distance with the look-ahead distance, and integrating the normalized error;
• and
• at least one steering actuator for turning the steered wheels according to the steering angle command so as to steer the vehicle to perform the maneuver.