DRIVING-BASED LANE OFFSET CONTROL FOR LANE CENTERING SYSTEM

• US 20120166032A1
• Filed: 12/23/2010
• Published: 06/28/2012
• Est. Priority Date: 12/23/2010
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: LEE, JIN-WOO, LITKOUHI, BAKHTIAR BRIAN
• Granted Patent: US 8,977,419 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: B60W 2050/0073 Driver overrides controller
• CPC Class Codes: B60W 2050/0074 Driver shifts control to the controller, e.g. by pressing a button
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention

Abstract

A system and method for providing adaptive lane centering in an autonomous or semi-autonomous vehicle driving system includes activating a lane centering control system, detecting a driver steering override of the lane centering control system, monitoring a lane centering offset when a driver override condition is detected, determining if the lane centering offset represents a driver bias and adjusting the lane centering offset in the lane centering control system to compensate for the driver bias.

Claims

1. A method for providing adaptive lane centering in an autonomous or semi-autonomous vehicle driving system, said method comprising:

activating a lane centering control;

detecting a driver steering override during the lane centering control;

monitoring a lane centering offset when a driver override condition is detected;

determining if the lane centering offset represents a driver bias; and

adjusting the lane centering offset to compensate for the driver bias.

2. The method according to claim 1 further including determining if the driver override condition has ended prior to determining if the offset is a driver bias.

3. The method according to claim 1 wherein determining if the lane centering offset represents a driver bias includes determining if the lane centering offset is constant for a predetermined period of time.

4. The method according claim 1 further including activating the lane centering control in response to a request from the driver.

5. The method according to claim 1 further including relinquishing steering control to the driver if a driver override condition is detected.

6. The method according to claim 1 further including engaging the lane centering control with the driver bias offset.

7. The method according to claim 1 further including retrieving an initial lane offset prior to activating the lane centering control.

8. A system for providing vehicle steering control in an autonomous or semi-autonomous vehicle driving system, said system including non-transitory computer-readable storage medium with an executable program stored thereon, wherein the program instructs a controller to:

activate a lane centering control;

detect a driver steering override of the lane centering control;

monitor a lane centering offset when a driver override condition is detected;

determine if the lane centering offset represents a driver bias; and

adjust the lane centering offset to compensate for the driver bias.

9. The system according to claim 8 further including determining if the driver override condition has ended prior to determining if the offset is a driver bias.

10. The system according to claim 8 wherein the driver steering override is detected using a steering angle sensor and a torque sensor.

11. The system according to claim 8 wherein determining if the lane centering offset represents a driver bias includes determining if the lane centering offset is constant for a predetermined period of time.

12. The system according claim 8 wherein the lane centering control is activated in response to a request from the driver.

13. The system according to claim 8 further including relinquishing steering control to the driver if a driver override condition is detected.

14. The system according to claim 8 the lane centering control is re-activated with the driver bias offset.

15. The system according to claim 8 further including retrieving an initial lane offset prior to activating the lane centering control.

16. A system for providing vehicle steering control in an autonomous or semi-autonomous vehicle driving system, said system comprising:

means for activating a lane centering control;

means for detecting a driver steering override of the lane centering control system;

means for monitoring a lane centering offset when a driver override condition is detected;

means for determining if the lane centering offset represents a driver bias; and

means for adjusting the lane centering offset to compensate for the driver bias.

17. The system according to claim 16 further including a means for determining if the driver override condition has ended prior to determining if the offset is a driver bias.

18. The system according to claim 16 further including a means for determining if the lane centering offset is constant for a predetermined period of time.