Methods and apparatus to adjust a steering angle of a vehicle in a self-driving mode

A non-transitory machine readable storage medium comprising instructions to cause programmable circuitry to at least:

• determine a first incremental angle based on (a) a torque input to a steering wheel of a vehicle, (b) an offset between a current path of the vehicle and a target path of the vehicle, and (c) a vehicle speed of the vehicle;
• determine a second incremental angle based on the vehicle speed and a torque derivative corresponding to the torque input;
• determine a third incremental angle based on a difference between a return to center reference angle and a current steering wheel angle of the steering wheel;
• determine a fourth incremental angle based on the vehicle speed and a steering wheel velocity of the steering wheel;
• generate a virtual boost curve (VBC) angle request based on a combination of the first incremental angle, the second incremental angle, the third incremental angle, and the fourth incremental angle;
• determine a final angle request based on the VBC angle request;
• and
• cause steering of the vehicle based on the final angle request.

A method comprising:

• determining a first incremental angle based on (a) a torque input to a steering wheel of a vehicle, (b) an offset between a current path of the vehicle and a target path of the vehicle, and (c) a vehicle speed of the vehicle;
• determining a second incremental angle based on the vehicle speed and a torque derivative corresponding to the torque input;
• determining a third incremental angle based on a difference between a return to center reference angle and a current steering wheel angle of the steering wheel;
• determining a fourth incremental angle based on the vehicle speed and a steering wheel velocity of the steering wheel;
• generating a virtual boost curve (VBC) angle request based on a combination of the first incremental angle, the second incremental angle, the third incremental angle, and the fourth incremental angle;
• determining a final angle request based on the VBC angle request;
• and
• causing steering of the vehicle based on the final angle request.