System and method of lane centering control with active rear steering

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:
• determining a desired effective steering angle based on a desired path of a vehicle;
• measuring a front road wheel angle and a rear road wheel angle;
• determining an actual effective steering angle;
• determining an effective steering angle error based on the desired effective steering angle and the actual effective steering angle;
• generating a torque command for an electronic power steering system based on the effective steering angle error;
• and
• controlling an active rear steering system independently from the electronic power steering system.

A vehicle management system comprising:

• an advanced driver assistance system for maintaining control of a vehicle;
• an active rear steering system;
• an active rear steering compensation module system comprising a feature state module;
• and
• a computing 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:
• determining a desired effective steering angle based on a desired path of the vehicle;
• measuring a front road wheel angle and a rear road wheel angle;
• determining an actual effective steering angle;
• determining an effective steering angle error based on the desired effective steering angle and the actual effective steering angle;
• generating a torque command for an electronic power steering system based on the effective steering angle error;
• and
• controlling an active rear steering system independently from the electronic power steering system.