Method and system of assisting a driver of a vehicle

• US 10,457,327 B2
• Filed: 09/26/2014
• Issued: 10/29/2019
• Est. Priority Date: 09/26/2014
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan North America Incorporated (Nissan Motor Co., Ltd.)
• Inventors: Takamatsu, Yoshiro, Takada, Yuji, Kusayanagi, Yoshinori, Kishi, Norimasa
• Primary Examiner(s): Cass, Jean Paul
• Application Number:
  US15/329,922
• Publication Number:
  US 20170267286A1
• Time in Patent Office: 1,859 Days
• Field of Search: 701 42
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2540/043 Identity of occupants
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/16 Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• CPC Class Codes: B62D 15/024 Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
• 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: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system

Abstract

A method of assisting a driver of a vehicle includes obtaining a feature of a road to be traveled by the vehicle with a sensor and/or a GPS system. A parameter is selected to assist a driver of the vehicle in driving a segment of the road based on the feature of the road. The parameter includes information on the location of a boundary along the road and a preferred trajectory to be driven along the road. A controller determines whether a current trajectory of the vehicle while travelling the road is deviating from the preferred trajectory of the vehicle along the road. A feedback operation is provided to assist the driver in guiding the vehicle nearer to the preferred trajectory based on the selected parameter.

Claims

1. A method of assisting a driver of a vehicle, the method comprising the steps of:

obtaining a feature of a road to be travelled by a vehicle,

selecting a trajectory to be driven along the road as a first parameter, the trajectory being selected by the driver;

selecting a feedback as a second parameter, the feedback being selected by the driver, program instructions for the first and second parameters being selected on the identity of the driver or program instructions for the first and second parameters being selected on the condition of a selection made by the driver;

determining whether a current trajectory of the vehicle while travelling the road is deviating from the selected trajectory of the vehicle along the road; and

providing a feedback operation to assist a driver in guiding the vehicle nearer to the selected trajectory, the feedback operation being based on the second parameter.

2. The method of claim 1, wherein

the step of providing the feedback operation to the driver includes providing haptic feedback to a portion of the vehicle interior located proximal to the driver.

3. The method of claim 1, wherein

the step of providing the feedback operation to the driver includes applying an assist torque on a portion of a steering system of the vehicle to cause movement of the vehicle toward the selected trajectory.

4. The method of claim 3, wherein

the assist torque is calculated using at least one of the group consisting of a lateral distance of the vehicle across the road, the current trajectory of the vehicle, and curvature of the road.

5. The method of claim 1, wherein

the first and second parameters include the location of a trajectory along the road with respect to a boundary and indicates when to apply a feedback force.

6. The method of claim 5, wherein

the second parameter includes a feedback force gradient for determining the amount of the feedback force to be applied, when the system indicates to apply the feedback force the force is calculated according to the feedback force gradient.

7. The method of claim 6, wherein

the feedback force gradient is adjusted based on a condition of the vehicle.

8. The method of claim 1, wherein

the first parameter is updated based on a driving operation of the vehicle along the road.

9. The method of claim 8, wherein

the first and second parameters are updated based on a condition of a steering system.

10. The method of claim 9, wherein

the first parameter is updated based on a plurality of previous trajectories the vehicle travelled along the road segment.

11. The method of claim 3, wherein

the second parameter is updated based on a steering input supplied by the driver, when the steering input is similar to the assist torque the values of a parameter map are changed to increase the assist torque.

12. The method of claim 3, wherein

the assist torque is calculated using estimated values for the distance of the vehicle to the selected trajectory, angle to the selected trajectory, and curvature of the selected trajectory at a predetermined period of time in the future.

13. The method of claim 12, wherein

the estimated values of the distance of the vehicle to the selected trajectory, angle to the selected trajectory, and curvature of the selected trajectory are calculated based on the vehicle'"'"'s current trajectory.

14. The method of claim 12, wherein

the predetermined period of time in the future is based on a speed of the driver'"'"'s steering operation during previous driving maneuvers.

15. The method of claim 14, wherein

when the average speed of the driver'"'"'s steering operation is faster, the predetermined period of time is shorter.

16. The method of claim 14, wherein

the average speed of the driver'"'"'s steering operation is estimated based on previous driving maneuvers road with or without the assist torque applied.

17. The method of claim 1, wherein

the boundary is a wall or curb proximal to the road.

18. The method of claim 1, wherein

the boundary is a lane marker on a road.