Vehicle control using multiple actuators

Abstract

A vehicle includes a system that performs a method for controlling the vehicle. The first steering device generates a first steering force on the vehicle and the second steering device generates a second steering force on the vehicle. The lateral control module sends a first steering command to a first steering device. The estimation module estimates an external lateral force applied to the vehicle based on the first steering command, a second steering command applied to the second steering device, and a state of the vehicle. The compensation module determines an adjustment value of a second steering command for generating lateral motion at the vehicle to attenuate the external lateral force, and operates a second steering device of the vehicle based on the adjustment value of the second steering command to generate a second steering force at the vehicle that attenuates the external lateral force.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to lateral stability in autonomous or human-driven vehicles, and in particular, to a system and method for attenuating the effects of externally applied lateral forces on a vehicle. BACKGROUND

[0002] In vehicles, front wheel steering is used to change the orientation of the front wheels of the vehicle with respect to the longitudinal axis of the vehicle. To provide accurate tracking of the trajectory when receiving lateral disturbances, autonomous vehicles can perform actions to quickly attenuate the disturbances. However, this requires the steering wheel to move quickly and sometimes unsteadily. On the other hand, to maintain passenger comfort, smoother steering wheel actions are required. Slower steering results in slow attenuation of the disturbances. Therefore, it is desirable to provide a system and method for attenuating lateral disturbances on a vehicle while providing a comfortable ride for passengers. SUMMARY

[0003] In one example embodiment, a method of controlling a vehicle is disclosed. A first steering device of the vehicle is operated based on a first steering command to produce a first steering force on the vehicle. A second steering device of the vehicle is operated based on a second steering command to produce a second steering force at the vehicle. A processor detects an external lateral force on the vehicle based on the first steering command, the second steering command, and a state of the vehicle, determines an adjustment value of the second steering command, wherein the adjustment value produces a lateral motion of the vehicle that attenuates the external lateral force, and operates the second steering device of the vehicle based on the adjustment value of the second steering command to produce the second steering force at the vehicle.

[0004] In addition to one or more features described herein, the first steering device is a front steering device of the vehicle for controlling steering at a front wheel of the vehicle.

[0005] In addition to one or more features described herein, the second steering device is at least one of a rear steering device for controlling steering at a rear wheel of the vehicle, a torque vectoring device for controlling steering of the vehicle, and a separate braking system for controlling steering of the vehicle.

[0006] In addition to one or more features described herein, the method further includes sending the first steering command from a lateral control module of the vehicle to the first steering device.

[0007] In addition to one or more features described herein, the method further includes determining the adjustment value of the second steering command at a compensation module of the vehicle, and sending the adjustment value of the second steering command from the compensation module to the second steering device.

[0008] In addition to one or more of the features described herein, the method further includes determining, at a compensation module of the vehicle, a second steering reference, and sending the second steering reference from the compensation module to the lateral control module, wherein the lateral control module generates an adjusted value of the second steering command from the second steering reference.

[0009] In addition to one or more of the features described herein, the method further includes determining the external lateral force using at least one of a filter, an extended Kalman filter, and a neural network.

[0010] In another example embodiment, a system for controlling a vehicle is disclosed. The system includes a first steering device for producing a first steering force on the vehicle, a second steering device for producing a second steering force at the vehicle, and a processor. The processor is configured to operate a lateral control module to send a first steering command to the first steering device, operate an estimation module to estimate an external lateral force applied to the vehicle based on the first steering command, a second steering command, and a state of the vehicle, wherein the second steering command is applied to the second steering device, operate a compensation module to determine an adjusted value of the second steering command for producing a lateral motion at the vehicle to attenuate the external lateral force, and operate the second steering device of the vehicle based on the adjusted value of the second steering command to produce a second steering force at the vehicle that attenuates the external lateral force.

[0011] In addition to one or more of the features described herein, the first steering device is a front steering device of the vehicle for controlling steering at a front wheel of the vehicle.

[0012] In addition to one or more of the features described herein, the second steering device is at least one of a rear steering device for controlling steering at a rear wheel of the vehicle, a torque vectoring device for controlling steering of the vehicle, and a separate braking system for controlling steering of the vehicle.

[0013] In addition to one or more of the features described herein, the processor is further configured to operate the lateral control module to generate the first steering command using model predictive control using the steering request and the state of the vehicle.

[0014] In addition to one or more of the features described herein, the processor is further configured to operate the compensation module to generate the adjusted value of the second steering command and send the adjusted value of the second steering command to the second steering device.

[0015] In addition to one or more of the features described herein, the processor is further configured to operate the compensation module to determine a second steering reference and send the second steering reference to the lateral control module, and operate the lateral control module to generate the adjusted value of the second steering command from the second steering reference and send the adjusted value of the second steering command to the second steering device.

[0016] In addition to one or more of the features described herein, the processor is configured to operate the estimation module to estimate the external lateral force using at least one of a filter, an extended Kalman filter, and a neural network.

[0017] In yet another example embodiment, a vehicle is disclosed. The vehicle includes a front wheel, a first steering device to generate a first steering force at the front wheel, a second steering device to generate a second steering force at the vehicle, and a processor. The processor is configured to operate a lateral control module to send a first steering command to the first steering device, operate an estimation module to estimate an external lateral force applied to the vehicle based on the first steering command, a second steering command, and a state of the vehicle, where the second steering command is applied to the second steering device, operate a compensation module to determine an adjusted value of the second steering command to generate a lateral motion at the vehicle to attenuate the external lateral force, and operate the second steering device of the vehicle based on the adjusted value of the second steering command to generate the second steering force at the vehicle to attenuate the external lateral force.

[0018] In addition to one or more of the features described herein, the second steering device is at least one of a rear steering device to control steering at a rear wheel of the vehicle, a torque vectoring device to control steering of the vehicle, and a separate braking system to control steering of the vehicle.

[0019] In addition to one or more of the features described herein, the processor is configured to operate the lateral control module to generate the first steering command using model predictive control using the steering request and the state of the vehicle.

[0020] In addition to one or more of the features described herein, the processor is configured to operate the compensation module to generate the adjusted value of the second steering command and send the adjusted value of the second steering command to the second steering device.

[0021] In addition to one or more of the features described herein, the processor is configured to operate the compensation module to determine a second steering reference and send the second steering reference to the lateral control module, and operate the lateral control module to generate the adjusted value of the second steering command from the second steering reference and send the adjusted value of the second steering command to the second steering device.

[0022] In addition to one or more of the features described herein, the processor is configured to operate the estimation module to estimate the external lateral force using at least one of a filter, an extended Kalman filter, and a neural network.

[0023] The above features and advantages and other features and advantages of the present disclosure are readily apparent from the following detailed description when taken in connection with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0024] Other features, advantages, and details are set forth in the detailed description, which refers to the drawings, wherein:

[0025] Figure 1 A vehicle having an associated trajectory control system is shown in accordance with example embodiments;

[0026] Figure 2 is a diagram showing details of a steering system of a vehicle in an embodiment;

[0027] Figure 3 is a diagram showing operation of a steering system of a vehicle in an embodiment to attenuate the effects of lateral disturbances externally applied to the vehicle;

[0028] Figure 4 is a diagram showing operation of a steering system of a vehicle in another embodiment to attenuate lateral disturbances;

[0029] Figure 5 is a graph illustrating lateral deviation of a vehicle in response to a disturbance; and

[0030] Figure 6 is a graph illustrating steering wheel angle of a vehicle in response to a disturbance. DETAILED DESCRIPTION

[0031] The following description is merely exemplary in nature and is not intended to limit the present disclosure, its application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features. As used herein, the term module refers to processing circuitry, which can include an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and memory that execute one or more software or firmware programs, a combinational logic circuit, and / or other suitable components that provide the described functionality.

[0032] In accordance with example embodiments, Figure 1 A vehicle 10 having an associated trajectory control system 100 is shown. Generally, the trajectory control system 100 determines trajectory planning for autonomous driving of the vehicle 10. The vehicle 10 generally includes a chassis 12, a body main body 14, front wheels 16, and rear wheels 18. The body 14 is disposed on the chassis 12 and substantially encloses components of the vehicle 10. The body main body 14 and the chassis 12 can collectively form a frame. The front wheels 16 and the rear wheels 18 are each rotatably coupled to the chassis 12 near respective corners of the body main body 14.

[0033] In various embodiments, vehicle 10 is an autonomous vehicle, and trajectory control system 100 is incorporated into the autonomous vehicle. An autonomous vehicle is, for example, a vehicle that is automatically controlled to transport passengers from one location to another. Vehicle 10 is depicted in the illustrated embodiment as a passenger car, but it will be appreciated that any other vehicle including motorcycles, trucks, sport utility vehicles (SUVs), recreational vehicles (RVs), and the like can also be used. In an exemplary embodiment, the autonomous vehicle is a so-called Level 4 or Level 5 automation system. Level 4 systems indicate "high automation," referring to a driving mode specific performance by an automated driving system on all aspects of the dynamic driving task under both daytime and nighttime conditions even with the human driver not appropriately responding to an intervention request. Level 5 systems indicate "full automation," referring to a full-time performance by an automated driving system on all aspects of the dynamic driving task under all road and environmental conditions that can be managed by a human driver.

[0034] As shown, autonomous vehicle 10 generally includes a propulsion system 20, a drivetrain 22, a steering system 24, a braking system 26, a sensor system 28, an actuator system 30, at least one data store 32, at least one controller 34, and a communication system 36. In various embodiments, propulsion system 20 can include an internal combustion engine, an electric machine such as a traction motor, and / or a fuel cell propulsion system. Drivetrain 22 is configured to transfer power from propulsion system 20 to front wheels 16 and rear wheels 18 according to a selectable speed ratio. According to various embodiments, drivetrain 22 can include a stepped-ratio automatic transmission, a continuously variable transmission, or other suitable transmission. Braking system 26 is configured to provide braking torque to front wheels 16 and rear wheels 18. In various embodiments, braking system 26 can include friction brakes, a brake-by-wire system, a regenerative braking system such as an electric machine, and / or other suitable braking systems. Steering system 24 affects the position of at least one of front wheels 16 and rear wheels 18. While depicted as including a steering wheel for illustrative purposes, steering system 24 can not include a steering wheel in some embodiments contemplated within the scope of the present disclosure.

[0035] The sensor system 28 includes one or more sensing devices 40a-40n that sense observable conditions of an external environment and / or an internal environment of the vehicle 10. The sensing devices 40a-40n can include, but are not limited to, radar, LIDAR, global positioning systems, optical cameras, thermal cameras, ultrasonic sensors, and / or other sensors. The sensor system 28 can also include dynamic sensors for measuring one or more dynamic parameters of the vehicle. Exemplary dynamic sensors include inertial measurement units (IMUs) that measure three-dimensional acceleration at the vehicle, steering angle sensors, torque sensors, yaw rate sensors, wheel speed sensors, and the like. The dynamic sensors can provide a state of the vehicle, including a pose (position and orientation) of the vehicle, a vehicle speed (along a longitudinal and lateral axis of the vehicle), a vehicle acceleration (along a longitudinal and lateral axis of the vehicle), and the like.

[0036] The actuator system 30 includes one or more actuator devices 42a-42n that control one or more vehicle features, such as, but not limited to, the propulsion system 20, the drivetrain system 22, the steering system 24, and the brake system 26. In various embodiments, the vehicle features can also include internal and / or external vehicle features, such as, but not limited to, doors, trunk and cabin features, such as air conditioning, music, lighting, and the like (not shown).

[0037] The controller 34 includes at least one processor 44 and a computer- readable storage device or media 46. The processor 44 can be any custom made or commercially available processor, a central processing unit (CPU), a graphics processing unit (GPU), a co-processor in a number of processors associated with the controller 34, a semiconductor-based microprocessor (in the form of a microchip or chip set), a microprocessor, any combination thereof, or generally any device for executing instructions. The computer-readable storage device or media 46 can include, for example, volatile and non-volatile storage in read-only memory (ROM), random-access memory (RAM), and keep-alive memory (KAM). KAM is a nonvolatile memory that can be used to store various operational variables when the processor 44 is powered down. The computer-readable storage device or media 46 can be implemented using any of a number of known memory devices, such as PROMs (programmable read-only memory), EPROMs (erasable PROMs), EEPROMs (electrically erasable PROMs), flash memory, or any other electrical, magnetic, optical, or combination memory device capable of storing data, some of which means can represent executable instructions used by the controller 34 in controlling the vehicle 10.

[0038] The instructions can include one or more separate programs, each of which comprises an ordered listing of executable instructions for implementing logical functions. When executed by the processor 44, the instructions receive and process signals from the sensor system 28, perform logic, calculations, methods, and / or algorithms for automatically controlling components of the vehicle 10, and generate control signals to the actuator system 30 to automatically control components of the vehicle 10 based on the logic, calculations, methods, and / or algorithms. Although Figure 1 Only one controller 34 is shown in the middle, but embodiments of the vehicle 10 can include any number of controllers 34 that communicate through any suitable communication medium or combination of communication mediums and cooperate to process sensor signals, perform logic, calculations, methods, and / or algorithms, and generate control signals to automatically control features of the vehicle 10.

[0039] In various embodiments, one or more instructions of the controller 34 are embodied in the trajectory control system 100 and, when executed by the processor 44, perform a method of commanding an auxiliary steering device of the vehicle 10 to attenuate the effects of an externally applied lateral force (e.g., from a gust of wind or other external force) on the vehicle.

[0040] The communication system 36 is configured to wirelessly communicate information to and from other entities 48, such as but not limited to other vehicles (“V2V” communication), infrastructure (“V2I” communication), remote systems, global positioning satellites (GPS), map servers, and / or personal devices. In an exemplary embodiment, the communication system 36 is a wireless communication system configured to communicate via a wireless local area network (WLAN) using the IEEE 802.11 standard or by using cellular data communication. However, additional or alternative communication methods, such as a dedicated short-range communications (DSRC) channel, are also contemplated to be within the scope of the present disclosure. A DSRC channel refers to a one-way or two-way short-to-medium range wireless communication channel and a corresponding set of protocols and standards specifically designed for automotive use.

[0041] Figure 2 is a diagram 200 showing details of a steering system 24 of the vehicle 10 in embodiments. The steering system 24 includes a front steering device 202 for controlling a first steering angle of the front wheels 16 and a rear steering device 204 for controlling a second steering angle of the rear wheels 18. A front drive system 206 controls torque applied to the front wheels 16. A rear drive system 208 controls torque applied to the rear wheels 18. A control unit or processor 210 controls operation of the front steering device 202, the rear steering device 204, the front drive system 206, and the rear drive system 208.

[0042] The processor 210 can cause the vehicle to turn by sending a front steering command to the front steering device 202 and / or a rear steering command to the rear steering device 204. The processor 210 can also cause the vehicle to turn using torque vectoring by controlling the front drive system 206 and the rear drive system 208 to provide appropriate torques on the vehicle about the vehicle’s yaw axis.

[0043] Figure 3 is a diagram 300 illustrating the operation of a turning system 24 of a vehicle in an embodiment to attenuate the effects of lateral disturbances externally applied to the vehicle. The turning system 24 can be part of an autonomous driving system (as shown), an advanced driver assistance system (ADAS), a cruise control system, etc. The vehicle can also be a human-driven vehicle. The diagram 300 includes various modules that can be executed at the processor 210 to control the vehicle 10. These modules include a lateral control module 302, a disturbance estimation module 304, and a disturbance compensation module 306. Figure 1

[0044] The lateral control module 304 generates one or more steering commands provided to the vehicle 10 to cause the vehicle to turn. In particular, the lateral control module 302 generates a front steering command FSC to control the operation of the front steering device 202. The lateral control module 302 can receive a steering request 305 from the autonomous driving system or from the driver and generate the front steering command based on the steering request. In various embodiments, the lateral control module 302 determines the front steering command FSC by executing model predictive control (MPC) with the current state 310 and / or current pose of the vehicle 10 and the steering request as inputs. The MPC employs any suitable model, such as a bicycle model.

[0045] The disturbance estimation module 304 computes a disturbance DIS (e.g., a lateral force externally applied) on the vehicle based on the commands sent to the vehicle for turning and from the current vehicle state 310 and / or current vehicle pose. The disturbance estimation module 304 can use various methods to compute the disturbance DIS, including an extended Kalman filter (EKF), a filter, a neural network, etc.

[0046] During operation of the vehicle 10, the disturbance estimation module 304 receives as inputs the front steering command FSC output from the lateral control module 302 and the rear steering command RSC and torque vectoring command TVC output from the disturbance compensation module 306. These inputs and the state 310 of the vehicle are used to compute a subsequent disturbance DIS at the vehicle 10 at a future time step. In embodiments, the disturbance can be determined from the front steering command, the rear steering command, and the state of the vehicle. The disturbance DIS can be a result of a force on the vehicle 10, a lateral displacement of the vehicle from a desired trajectory, etc. The disturbance DIS is sent from the disturbance estimation module 304 to the disturbance compensation module 306. ​

[0047] The disturbance compensation module 306 calculates possible steering commands that can be used at the vehicle to attenuate the disturbance DIS. The steering commands can include a rear steering command RSC and / or a torque vectoring command TVC. The rear steering command RSC can be used at the rear steering device 204. The rear steering command RSC can be an adjustment from a first value currently applied to the rear steering device 204 to a second value subsequently applied at the rear steering device. The adjustment (or adjustment value) is used to counteract or attenuate the disturbance. The torque vectoring command can be used at the processor 210 to activate the front drive system 206 and the rear drive system 208 to apply appropriate torques at the vehicle that counteract the disturbance or attenuate the effect of the disturbance.

[0048] Figure 4 is a diagram 400 illustrating the operation of the steering system of the vehicle 10 attenuating a lateral disturbance in another embodiment. The diagram 400 includes the lateral control module 302, the disturbance estimation module 304, and the disturbance compensation module 306.

[0049] The disturbance compensation module 306 generates a rear steering reference signal RSref and / or a torque vectoring reference signal TVref and sends these signals to the lateral control module 302. The lateral control module 302 uses these inputs in a model predictive control (MPC) to calculate a front steering command FSC, a rear steering command RSC, and / or a torque vectoring command TVC. The lateral control module 302 sends the front steering command FSC, the rear steering command RSC, and / or the torque vectoring command TVC to the vehicle 10 for steering and attenuation of lateral forces.

[0050] The front steering command FSC, the rear steering reference signal RSref, and the torque vectoring reference signal TVref are provided to the disturbance compensation module 304, which calculates a subsequent disturbance DIS at the vehicle 10 based on these inputs and the state 310 of the vehicle.

[0051] Figure 5A plot 500 illustrating lateral deviation of a vehicle in response to a disturbance is shown. Time is shown along the horizontal axis in seconds (s) and lateral deviation is shown along the vertical axis in meters (m). The control system is initiated at time = 0 seconds in the absence of an external lateral force. Curve 502 illustrates lateral movement of the vehicle without compensation applied. Curve 504 illustrates lateral movement with only front steering applied to attenuate the lateral movement. Curve 506 illustrates lateral movement with front steering, rear steering, and torque vectoring applied. At approximately t = 15 seconds, a lateral force is received at vehicle 10, as shown by line 510. Prior to receiving the lateral force, the lateral deviation reaches a steady state at the nominal lateral deviation of 0 meters (at approximately t = 3 seconds). Once the lateral force is received, curve 502 illustrates that vehicle 10 experiences a lateral deviation of approximately 30 centimeters within about 5 seconds after the external force is applied. Curves 504 and 506 illustrate that front steering and using the methods disclosed herein, respectively, are able to keep vehicle 10 at the nominal lateral deviation.

[0052] Figure 6 A plot 600 illustrating steering wheel angle of a vehicle in response to a disturbance is shown. Time is shown along the horizontal axis in seconds (s) and steering wheel angle is shown along the vertical axis in degrees (deg). Prior to the application of the external force, the steering wheel angle is at a steady state of approximately 15 degrees. Curve 602 illustrates the steering wheel angle without compensation from the vehicle. Within about 5 seconds after the application of the external force, the steering wheel angle increases from 15 degrees to approximately 20 degrees. Curve 604 illustrates the steering wheel angle with only front steering applied. Within about 5 seconds after the application of the external force, the steering wheel angle increases to approximately 20 degrees. Curve 606 illustrates the steering wheel angle with front steering, rear steering, and torque vectoring applied. The steering wheel angle remains at the steady state position (e.g., approximately 15 degrees).

[0053] While the methods disclosed herein include one or more of the following actuators: rear steering, torque vectoring, and individual braking. These actuators can be used to control steering of the vehicle.

[0054] The terms“a” and“an” do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item. The term“or” means“and / or” unless clearly indicated otherwise. References throughout this specification to“aspects” mean that a particular element described can be included in the at least one aspect described and can or can not be present in other aspects. Additionally, it is to be understood that the described elements can be combined in any suitable manner in the various aspects.

[0055] When an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present.

[0056] Unless otherwise indicated herein, all test standards are the most recent standard in effect as of the filing date of this application, or, if priority is claimed, the filing date of the earliest priority application in which the test standard appears.

[0057] Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0058] While the foregoing disclosure has been described in reference to exemplary embodiments, it will be understood by those skilled in the art that various changes can be made and equivalents can be substituted for elements thereof without departing from the scope of the disclosure. In addition, many modifications can be made to adapt a particular situation or material to the teachings of the disclosure without departing from the central scope thereof. Therefore, it is intended that the disclosure not be limited to the particular embodiments disclosed, but will include all embodiments falling within the scope of the disclosure.

Claims

1. A method of controlling a vehicle, comprising: operating a first steering device of the vehicle based on a first steering command to produce a first steering force on the vehicle; operating a second steering device of the vehicle based on a second steering command to produce a second steering force at the vehicle; detecting, via a processor, an external lateral force on the vehicle based on the first steering command, the second steering command, and a state of the vehicle; determining, by the processor, an adjustment to the second steering command, wherein the adjustment produces a lateral motion of the vehicle that attenuates the external lateral force; and operating the second steering device of the vehicle based on the adjustment to the second steering command to produce the second steering force at the vehicle that attenuates the external lateral force. the first steering device is a front steering device of the vehicle for controlling steering at a front wheel of the vehicle, and the second steering device is at least one of: (i) a rear steering device for controlling steering at a rear wheel of the vehicle; (ii) a torque vectoring device for controlling steering of the vehicle; 2. The method of claim 1, wherein, and (iii) a separate braking system for controlling steering of the vehicle.

3. The method of claim 1, further comprising sending the first steering command from a lateral control module of the vehicle to the first steering device. determining the adjustment to the second steering command at a compensation module of the vehicle, and sending the adjustment to the second steering command from the compensation module to the second steering device.

4. The method of claim 3, further comprising: determining a second steering reference at a compensation module of the vehicle, and sending the second steering reference from the compensation module to the lateral control module, wherein the lateral control module generates the adjustment to the second steering command from the second steering reference.

5. The method of claim 3, further comprising:

6. A system for controlling a vehicle, comprising: a first steering device for producing a first steering force on a vehicle; a second steering device for producing a second steering force at a vehicle; a processor configured to: operate a lateral control module to send a first steering command to the first steering device; operate an estimation module to estimate an external lateral force applied to the vehicle based on the first steering command, a second steering command, and a state of the vehicle, wherein the second steering command is applied to the second steering device; operate a compensation module to determine an adjustment to the second steering command for producing a lateral motion at the vehicle to attenuate the external lateral force; and operate the second steering device of the vehicle based on the adjustment to the second steering command to produce the second steering force at the vehicle that attenuates the external lateral force. the first steering device is a front steering device of the vehicle for controlling steering at a front wheel of the vehicle, and the second steering device is at least one of: (i) a rear steering device for controlling steering at a rear wheel of the vehicle; (ii) a torque vectoring device for controlling steering of the vehicle; 7. The system of claim 6, wherein, and (iii) a separate braking system for controlling steering of the vehicle. ​ 8. The system of claim 6, wherein, The processor is further configured to operate the lateral control module using model predictive control to generate the first steering command using the steering request and the vehicle state.

9. The system of claim 8, wherein, The processor is further configured to operate the compensation module to generate an adjustment value for the second steering command and send the adjustment value for the second steering command to the second steering device.

10. The system of claim 8, wherein, The processor is further configured to operate the compensation module to determine a second steering reference and send the second steering reference to the lateral control module, and operate the lateral control module to generate the adjustment value for the second steering command from the second steering reference and send the adjustment value for the second steering command to the second steering device.

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