Driver command prediction

A method for driver command prediction comprising:

• commanding an adjustment of one or more motion vectors of a vehicle relative to a roadway in response to a plurality of actual driver commands and a plurality of future driver commands, wherein the plurality of actual driver commands are received by a circuit at a current time;
• generating a plurality of sensor data that determines a plurality of actual states of the vehicle in response to the one or more motion vectors as commanded;
• and
• generating the plurality of future driver commands at a plurality of update times in response to a driver model, wherein the plurality of update times range from the current time to a future time, and the driver model operates on the plurality of actual driver commands and the plurality of actual states to predict the plurality of future driver commands at the plurality of update times.

A vehicle comprising:

• a plurality of driver controls configured to generate a plurality of actual driver commands;
• and
• a driver command predictor configured to:
• command an adjustment of one or more motion vectors of the vehicle relative to a roadway in response to the plurality of actual driver commands and a plurality of future driver commands, wherein the plurality of actual driver commands are received at a current time;
• generate a plurality of sensor data that determines a plurality of actual states of the vehicle in response to the one or more motion vectors as commanded;
• and
• generate the plurality of future driver commands at a plurality of update times in response to a driver model, wherein the plurality of update times range from the current time to a future time, and the driver model operates on the plurality of actual driver commands and the plurality of actual states to predict the plurality of future driver commands at the plurality of update times.