System and method for providing a variable limit on active dryer assistance system steering authority

• US 10,220,873 B2
• Filed: 07/24/2017
• Issued: 03/05/2019
• Est. Priority Date: 07/24/2017
• Status: Active Grant

• Current Assignee: FCA US LLC (Stellantis NV)
• Original Assignee: FCA US LLC (Stellantis NV)
• Inventors: Radabaugh, Scott L
• Primary Examiner(s): Mustafa, Imran K
• Application Number:
  US15/657,319
• Publication Number:
  US 20190023304A1
• Time in Patent Office: 589 Days
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

A control system and method of operating a vehicle having an active driver assistance system includes receiving, from a steering wheel torque sensor, a measured torque applied to a steering wheel of the vehicle by a driver of the vehicle, obtaining a steering torque request for an active steering feature of the active driver assistance system, determining a steering torque request limit for the active steering feature based on the measured steering wheel torque, wherein an increase in the steering wheel torque corresponds to a decrease in the steering torque request limit and vice-versa, limiting the steering torque request based on the steering torque request limit, wherein the limited steering torque request is greater than zero, and commanding a steering actuator as part of the active steering feature based on the limited steering torque request, the steering actuator being configured to control steering of the vehicle.

Claims

1. An active driver assistance system (ADAS) for a vehicle, the system comprising:

a steering wheel torque sensor configured to measure torque applied to a steering wheel by a driver of the vehicle and a steering actuator configured to control steering of the vehicle; and

a control system configured to;

receive the measured steering wheel torque that represents torque being applied to the steering wheel by the driver and obtain a steering torque request for an automatic steering feature of the ADAS;

based on the measured steering wheel torque, determine a steering torque request limit for the steering torque request of the automatic steering feature, the steering torque request limit being inversely proportional to the measured steering wheel torque applied by the driver such that an increase in the measured steering wheel torque corresponds to a decrease in the steering torque request limit for the automatic steering feature and vice-versa; and

command the steering actuator as part of the automatic steering feature based on the limited steering torque request such that the automatic steering feature is suppressed but remains enabled and active while steering wheel torque is being applied by the driver, thereby providing for both the automatic steering feature and the driver to steer the vehicle with the measured steering wheel torque applied by the driver controlling over the automatic steering feature,

wherein the control system is further configured to command the steering actuator by ramping up or down from a previous or current steering torque request to the limited steering torque request, and wherein the control system is configured to ramp up to the limited steering torque request at a different ramp up rate than a ramp down rate for ramping down to the limited steering torque request.

2. The system of claim 1, wherein the automatic steering feature is only disabled in response to an evasive or emergency maneuver by the driver where steering wheel power exceeds a predetermined threshold;

and wherein the ramp down rate is faster than the ramp up rate thereby eliminating a need for the driver to overpower the steering actuator and providing for gradual ramp up to the limited steering torque request.

3. The system of claim 1, further comprising a steering wheel contact sensor configured to detect hand contact by the driver on the steering wheel, wherein the control system is configured to determine the steering torque request limit based on whether or not driver hand contact is detected by the steering wheel contact sensor.

4. The system of claim 3, wherein no driver hand contact detected by the steering wheel contact sensor corresponds to an increase in the steering torque request limit and vice-versa.

5. The system of claim 1, further comprising a vehicle speed sensor configured to measure a speed of the vehicle, wherein the control system is configured to determine the steering torque request limit based on the measured vehicle speed.

6. The system of claim 1, wherein the control system is configured to determine the steering torque request based on captured information relating to keeping the vehicle on its desired path.

7. A method of operating an active driver assistance system (ADAS) of a vehicle, the method comprising:

receiving, by a vehicle control system and from a steering wheel torque sensor, a measured torque applied to a steering wheel by a driver of the vehicle;

obtaining, by the control system, a steering torque request for an automatic steering feature of the ADAS;

determining, by the control system, a steering torque request limit for the for the steering torque request of the active steering feature that is based on the measured steering wheel torque, the steering torque request limit being inversely proportional to the measured steering wheel torque applied by the driver such that an increase in the measured steering wheel torque corresponds to a decrease in the steering torque request limit for the automatic steering feature and vice-versa; and

commanding, by the control system and based on the limited steering torque request, a steering actuator that is configured to control steering of the vehicle as part of the automatic steering feature such that the automatic steering feature is suppressed but remains enabled and active while steering wheel torque is being applied by the driver, thereby providing for both the automatic steering feature and the driver to steer the vehicle with the measured steering wheel torque applied by the driver controlling over the enabled automatic steering feature,

wherein commanding the steering actuator comprises ramping up or down, by the control system, from a previous or current steering torque to the limited steering torque request, and wherein the control system ramps up to the limited steering torque request at a different ramp up rate than a ramp down rate for ramping down to the limited steering torque request.

8. The method of claim 7, further comprising receiving, by the control system and from a steering wheel contact sensor, a signal indicative of detected hand contact by the driver on the steering wheel, wherein the control system determines the steering torque request limit based on whether or not the driver hand contact is detected by the steering wheel contact sensor.

9. The method of claim 8, wherein no driver hand contact detected by the steering wheel contact sensor corresponds to an increase in the steering torque request limit and vice-versa.

10. The method of claim 7, further comprising receiving, by the control system and from a vehicle speed sensor, a measured speed of the vehicle, wherein the control system determines the steering torque request limit based on the measured vehicle speed.

11. The method of claim 7, further comprising determining, by the control system, the steering torque request based on captured information relating to keeping the vehicle on its desired path.

12. The method of claim 7, wherein the automatic steering feature is only disabled in response to an evasive or emergency maneuver by the driver where steering wheel power exceeds a threshold;

and wherein the ramp down rate is faster than the ramp up rate thereby eliminating a need for the driver to overpower the steering actuator and providing for gradual ramp up to the limited steering torque request.