SYSTEM AND METHOD FOR SMOOTH STEERING OVERRIDE TRANSITION DURING AUTOMATED LANE CENTERING
First Claim
1. A method comprising:
- measuring one or more vehicle steering measurements of a vehicle;
calculating one or more expected vehicle steering measurements, each calculated expected vehicle steering measurement corresponding to one of the measured vehicle steering measurements;
calculating at least one difference between one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement;
calculating a lower boundary and an upper boundary of at least one override transition zone, each of the override transition zones corresponding to one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement; and
transferring steering control of the vehicle from an automatic vehicle control system to a driver of the vehicle over a predetermined period of time when one or more of said at least one calculated difference lies between the calculated lower boundary and the calculated upper boundary of the corresponding override transition zone.
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Accused Products
Abstract
Vehicle steering measurements of a vehicle may be measured. Expected vehicle steering measurements may be calculated, each calculated expected vehicle steering measurement corresponding to one of the measured vehicle steering measurements. At least one difference between one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement may be calculated. A lower boundary and an upper boundary of at least one override transition zone, each of the override transition zones corresponding to one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement, may be calculated. Steering control of the vehicle may be gradually transferred from an automatic vehicle control system to a driver of the vehicle over a predetermined period of time when one or more of the calculated differences lie between the calculated lower boundary and the calculated upper boundary of the corresponding override transition zone.
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Citations
18 Claims
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1. A method comprising:
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measuring one or more vehicle steering measurements of a vehicle; calculating one or more expected vehicle steering measurements, each calculated expected vehicle steering measurement corresponding to one of the measured vehicle steering measurements; calculating at least one difference between one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement; calculating a lower boundary and an upper boundary of at least one override transition zone, each of the override transition zones corresponding to one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement; and transferring steering control of the vehicle from an automatic vehicle control system to a driver of the vehicle over a predetermined period of time when one or more of said at least one calculated difference lies between the calculated lower boundary and the calculated upper boundary of the corresponding override transition zone. - View Dependent Claims (2, 3, 4, 5, 7, 8, 9)
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6. The method of claim 6, wherein the predetermined motion criterion comprises an upper limit on lateral acceleration or an upper limit on yaw acceleration.
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10. A system comprising:
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a vehicle automated steering system; one or more sensors; and a controller to; measure one or more vehicle steering measurements of a vehicle; calculate one or more expected vehicle steering measurements, each calculated expected vehicle steering measurement corresponding to one of the measured vehicle steering measurements; calculate at least one difference between one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement; calculate a lower boundary and an upper boundary of at least one override transition zone, each of the override transition zones corresponding to one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement; and transfer steering control of the vehicle from an automatic vehicle control system to a driver of the vehicle over a period of time when one or more of said at least one calculated difference lies between the calculated lower boundary and the calculated upper boundary of the corresponding override transition zone. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification