Controller and method for generation of steering overlay signal

A control system for controlling generation of a steering wheel overlay signal to control positioning of a host vehicle, the control system comprising one or more controller, the control system configured to:

• generate the steering wheel overlay signal for steering the host vehicle toward a target lane position;
• receive a driver intervention signal indicative of a driver intervention torque applied to a steering wheel of the host vehicle;
• and
• determine a driver intervention torque threshold based at least in part on an elapsed time since generation of the steering wheel overlay signal,
• wherein the control system is configured to mitigate the steering wheel overlay signal based at least in part on the driver intervention torque exceeding the driver intervention torque threshold,
• wherein the steering wheel overlay signal comprises a lane assist steering overlay for maintaining the host vehicle within the lane of travel, and an intra-lane steering signal for steering the host vehicle toward the target lane position, and wherein the control system is configured to:
• apply the intra-lane steering signal after the lane assist steering overlay, and
• reduce the driver intervention torque threshold from a first threshold to a second threshold based at least in part on application of the intra-lane steering signal.