Systems and methods for maneuvering vehicles using predictive control and automated driving

A non-transitory computer-readable medium comprising:

• instructions that when executed by a processor cause the processor to:
• receive, by a controller, an operator command associated with a vehicle maneuver while automated driving is engaged;
• adjust a motion command associated with the vehicle maneuver by applying a predictive control according to motion estimates outputted from the automated driving and the operator command, the predictive control using motion constraints that are constant between time intervals for the vehicle maneuver;
• and
• control, by the controller, the vehicle using the motion command for a time step during the time intervals.

A method comprising:

• receiving, by a controller, an operator command associated with a vehicle maneuver while automated driving is engaged;
• adjusting a motion command associated with the vehicle maneuver by applying a predictive control according to motion estimates outputted from the automated driving and the operator command, the predictive control using motion constraints that are constant between time intervals for the vehicle maneuver;
• and
• controlling, by the controller, a vehicle using the motion command for a time step during the time intervals.