Driver assistance system for a vehicle
First Claim
1. A method of assisting a driver of a vehicle in tracking a contrived centerline between lane markings defining a lane boundary on a road by applying a steering bias to a steering system of the vehicle, the steering system being provided with an actuator, which provides the steering bias in response to an estimate produced by an observer that has a friction term correlated with friction in the steering system, the method comprising:
- establishing an ideal frequency function of lateral displacement data;
sampling lateral displacement of the vehicle in relation to the lane markings to provide a real frequency function of lateral displacement data;
comparing the real frequency function with the ideal frequency function; and
updating or leaving unaltered the friction term based on the result of comparison.
1 Assignment
0 Petitions
Accused Products
Abstract
A driver assistance system (10) assists the driver in controlling the direction of a moving vehicle along a contrived centerline between lane markings by regulating a steering bias applied to a steering system of the vehicle. An electric motor (22) coupled to the steering mechanism provides a torque input to the steering in response to an estimate of electric current provided by an observer. The observer has a friction term matrix element (a55), which is correlated with friction in the steering mechanism. A controller (24) is provided, which establishes a desired or ideal frequency function of lateral displacement data (102), samples lateral displacement to provide a real frequency function of lateral displacement data (104), compares the real frequency function with the ideal frequency function (106), and updates or leaves unaltered the friction term (a55) based on the result of comparison.
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Citations
7 Claims
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1. A method of assisting a driver of a vehicle in tracking a contrived centerline between lane markings defining a lane boundary on a road by applying a steering bias to a steering system of the vehicle, the steering system being provided with an actuator, which provides the steering bias in response to an estimate produced by an observer that has a friction term correlated with friction in the steering system, the method comprising:
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establishing an ideal frequency function of lateral displacement data;
sampling lateral displacement of the vehicle in relation to the lane markings to provide a real frequency function of lateral displacement data;
comparing the real frequency function with the ideal frequency function; and
updating or leaving unaltered the friction term based on the result of comparison. - View Dependent Claims (2, 3, 4)
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5. A driver assistance system for a vehicle adapted to assist a driver in tracking a contrived centerline between lane markings defining a lane boundary on a road by applying a steering bias to a steering system of the vehicle, the steering system being provided with an actuator, which provides the steering bias in response to an estimate produced by an observer that has a friction term correlated with friction in the steering system, the system comprising:
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a lane recognition unit providing a lateral displacement of the vehicle in relation to the lane markings;
a controller; and
a computer readable storage media having data representing instructions executable by the controller, the computer readable storage media having;
instructions for establishing an ideal frequency function of lateral displacement data;
instructions for sampling the lateral displacement of the vehicle in relation to the lane markings to provide a real frequency function of lateral displacement data;
instructions for comparing the real frequency function with the ideal frequency function; and
instructions for updating or leaving unaltered the friction term based on the result of comparison. - View Dependent Claims (6)
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7. A driver assistance system for a vehicle adapted to assist a driver in tracking a contrived centerline between lane markings defining a lane boundary on a road by applying a steering bias to a steering system of the vehicle, the steering system being provided with an actuator, which provides the steering bias in response to an estimate produced by an observer that has a friction term correlated with friction in the steering system, the system comprising:
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means for providing a lateral displacement of the vehicle in relation to the lane markings; and
a controller means for executing;
instructions for establishing an ideal frequency function of lateral displacement data;
instructions for sampling the lateral displacement of the vehicle in relation to the lane markings to provide a real frequency function of lateral displacement data;
instructions for comparing the real frequency function with the ideal frequency function; and
instructions for updating or leaving unaltered the friction term based on the result of comparison.
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Specification