Lane-keeping control with steering torque as a control input to a vehicle steering system
First Claim
1. A method for lane-keeping control of a lane-keeping support system for assisting the driver steering action of a vehicle in following a target line between lane markings on a roadway, the method comprising:
- producing a command indicative of steering torque assist needed to steer said vehicle in following said target line between said lane markings on a roadway during driving in lane-keeping control (LKC) mode;
providing a map having two sets of limit data against a range of values of lateral acceleration to which the vehicle is subject, between said sets of limit data there is a range of values of the command during various phases of steering the vehicle to turn in the LKC mode;
correcting the two sets of limit data in a manner to compensate for undesired effect caused by any deviation of the range of values of the command due to the presence of continuous disturbance; and
comparing the instantaneous value of the command to two limit values established out of the corrected two sets of limit data in determining whether or not there is driver steering intervention.
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Accused Products
Abstract
A method for lane-keeping control of a lane-keeping support system provides a current command indicative of steering torque assist needed to steer a vehicle in following a target line between lane markings on a roadway during driving in lane-keeping control (LKC) mode. A map has two sets of limit data against a range of values of lateral acceleration to which the vehicle is subject, between which sets of limit data there is a range of values of the command during various phases of steering the vehicle to turn in the LKC mode. In order to compensate for undesired effect caused by any deviation of the range of values of the current command due to the presence of continuous disturbance, the two sets of limit data are corrected. To determine driver steering intervention, the instantaneous value of the current command is compared to two limit values established out of the corrected two sets of limit data.
63 Citations
10 Claims
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1. A method for lane-keeping control of a lane-keeping support system for assisting the driver steering action of a vehicle in following a target line between lane markings on a roadway, the method comprising:
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producing a command indicative of steering torque assist needed to steer said vehicle in following said target line between said lane markings on a roadway during driving in lane-keeping control (LKC) mode;
providing a map having two sets of limit data against a range of values of lateral acceleration to which the vehicle is subject, between said sets of limit data there is a range of values of the command during various phases of steering the vehicle to turn in the LKC mode;
correcting the two sets of limit data in a manner to compensate for undesired effect caused by any deviation of the range of values of the command due to the presence of continuous disturbance; and
comparing the instantaneous value of the command to two limit values established out of the corrected two sets of limit data in determining whether or not there is driver steering intervention. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification