Steering system with lane keeping integration

• US 7,510,038 B2
• Filed: 06/10/2004
• Issued: 03/31/2009
• Est. Priority Date: 06/11/2003
• Status: Active Grant

• Current Assignee: GM Global Technology Operations Incorporated (General Motors Company), Steering Solutions IP Holding Corporation (Nexteer Automotive Group Ltd.)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Wittig, Charmaine M., Kaufmann, Timothy W.
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): LOUIE, WAE LENNY
• Application Number:
  US10/865,208
• Publication Number:
  US 20040262063A1
• Time in Patent Office: 1,755 Days
• Field of Search: 701/41, 701/93, 382103-104, 180167-169
• US Class Current: 180/169
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/082 using alarm actuation
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• 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 system for steering a vehicle including: an actuator disposed in a vehicle to apply torque to a steerable wheel; a driver input device receptive to driver commands for directing the vehicle; and a sensor for determining an intent of a driver and generating a signal indicative thereof. The system also includes: a lane keeping system for detecting a location of the vehicle relative to a lane marker and generating a lane position signal indicative thereof; a controller in operable communication with the actuator, the driver input device, the first sensor, and the lane keeping system. The controller provides a command to the actuator responsive to the intent of the driver, the lane position, and a desired lane position. The controller executes a lane keeping algorithm consisting of a single control loop based on at least one of the lane position and the lane position deviation.

Claims

1. A system for steering a vehicle comprising:

an actuator disposed in a vehicle to apply torque to a steerable wheel;

a driver input device comprising a hand wheel disposed in said vehicle operative to receive a steering command for controlling a direction of said vehicle comprising a torque applied by a driver to said hand wheel;

a first sensor disposed in said vehicle for sensing said torque applied by said driver to said hand wheel and generating a first signal indicative thereof;

a lane keeping system for detecting a location of said vehicle relative to a lane marker and generating a lane position signal indicative thereof and transmitting at least one of a lane position signal and a lane position deviation;

a controller in operable communication with said actuator, said driver input device, said first sensor, and said lane keeping system, said controller providing a command to said actuator responsive to said steering command of said driver, said lane position, and a desired lane position; and

wherein said controller executes a lane keeping algorithm comprising a single control loop based on at least one of said lane position and said lane position deviation, and wherein said lane keeping algorithm includes a helper mode and an autonomous mode, wherein the helper mode is at least one of enabled and disabled responsive to receiving said first signal and determining that said torque applied by said driver to said hand wheel is a steering command for controlling a direction of said vehicle.

2. The system of claim 1 further including:

a second sensor in operable communications with said driver input device and said controller for detecting at least one of a force and pressure applied to said driver input device and generating a signal indicative of said at least one of said force and said pressure; and

wherein said command to said actuator is further responsive to said signal indicative of at least one of said force and said pressure.

3. The system of claim 1 further including a vehicle speed sensor, said vehicle speed sensor generating a vehicle speed signal and electrically connected to said controller wherein said command is also responsive to said vehicle speed signal.

4. The system of claim 1 further including a driver attention monitoring system to ascertain attentiveness of a driver, wherein said command is further responsive to said driver attention monitoring system to provide tactile and audible feedback to said driver.

5. The system of claim 1 wherein said autonomous mode is least one of enabled and disabled;

responsive to receiving said first signal and determining that said torque applied by said driver to said hand wheel is a steering command for controlling a direction of said vehicle.

6. The system of claim 1 wherein said helper mode includes providing at least one of tactile and audible feedback to a driver to assist in maintaining said desired lane position.

7. The system of claim 1 wherein said autonomous mode includes providing audible feedback to a driver and maintaining said desired lane position with a selected tolerance.

8. The system of claim 1 wherein said lane keeping system includes an optical sensor and image processing system for detecting and tracking said lane marker and determining a position of the vehicle relative thereto.

9. The system of claim 1 wherein said lane keeping system with the system exhibits a bandwidth greater than or equal to about 3 Hertz.

10. The system of claim 1 wherein said lane keeping system with the system exhibits a bandwidth greater than or equal to about 5 Hertz.

11. The system of claim 1 wherein said lane keeping algorithm further includes a limiter to control a magnitude of said command to said actuator.

12. The system of claim 1 wherein a lane keeping algorithm further includes a compensator configured to maintain stability of said single control loop.

13. The system of claim 12 wherein said compensator comprises at least one zero.

14. The system of claim 13 wherein said compensator comprises at least one pole.

15. The system of claim 12 wherein said compensator comprises a pole placed at about 10 Hertz and a zero placed at about one tenth Hertz.

16. The system of claim 1 further including a global positioning system in operable communication with at least one of said controller and said lane keeping system, said global positioning system configured to facilitate a determination of a geographic location of said vehicle and selection of a desired course on a roadway.

17. The system of claim 1 wherein said first sensor includes at least one of a torque sensor, a steering angle sensor, a steering rate sensor, and a motor velocity sensor and said signal is at least one of a torque signal, a steering angle signal, a steering rate signal, and a motor velocity signal;

and wherein said command to said actuator is also responsive to at least one of a torque signal, a steering angle signal, a steering rate signal, and a motor velocity signal.

18. The system of claim 1 further comprising a turn indicator operative to receive a driver input indicative of a direction of an intended turn and output a second signal to the controller operative to disable the helper mode.

19. A storage medium encoded with a machine readable computer program code, said code including instructions for causing a computer to implement a method for steering a vehicle with an electric power steering system, the method comprising:

receiving a first signal indicative of a torque applied by a driver to a hand wheel operative to control a direction of said vehicle;

ascertaining a location of the vehicle relative to a lane marker and generating a lane position signal indicative thereof and transmitting at least one of a lane position signal and a lane position deviation to a controller;

applying a lane keeping algorithm comprising a single control loop based on at least one of said lane position and said lane position deviation, wherein said lane keeping algorithm includes a helper mode and an autonomous mode and said helper mode is at least one of enabled and disabled responsive to receiving said first signal and determining that said torque applied by said driver to said hand wheel is a steering command for controlling a direction of said vehicle; and

generating a command to an actuator disposed in the vehicle to apply torque to a steerable wheel, said command responsive to said steering command of said driver, a desired lane position, and said at least one of said lane position and said lane position deviation.

20. A computer data signal, said computer data signal comprising code configured to cause a processor to implement a method for steering a vehicle with an electric power steering system, the method comprising:

receiving a first signal indicative of a torque applied by a driver to a hand wheel operative to control a direction of said vehicle;

ascertaining a location of the vehicle relative to a lane marker and generating a lane position signal indicative thereof and transmitting at least one of a lane position signal and a lane position deviation to a controller;

applying a lane keeping algorithm comprising a single control loop based on at least one of said lane position and said lane position deviation, wherein said lane keeping algorithm includes a helper mode and an autonomous mode and said helper mode is at least one of enabled and disabled responsive to receiving said first signal and determining that said torque applied by said driver to said hand wheel is a steering command for controlling a direction of said vehicle; and

generating a command to an actuator disposed in the vehicle to apply torque to a steerable wheel, said command responsive to said steering command of said driver, a desired lane position, and said at least one of said lane position and said lane position deviation.

21. A system for steering a vehicle with an electric power steering system comprising:

a means for receiving a first signal indicative of a torque applied by a driver to a hand wheel operative to control a direction of said vehicle;

a means for ascertaining a location of the vehicle relative to a lane marker and generating a lane position signal indicative thereof and transmitting at least one of a lane position signal and a lane position deviation to a controller;

a means for applying a lane keeping algorithm comprising a single control loop based on at least one of said lane position and said lane position deviation, wherein said lane keeping algorithm includes a helper mode and an autonomous mode and said helper mode is at least one of enabled and disabled responsive to receiving said first signal and determining that said torque applied by said driver to said hand wheel is a steering command for controlling a direction of said vehicle; and

a means for generating a command to an actuator disposed in the vehicle to apply torque to a steerable wheel, said command responsive to said steering command of said driver, a desired lane position, and said at least one of said lane position and said lane position deviation.

22. A method for steering a vehicle with an electric power steering system, the method comprising:

receiving a first signal indicative of a torque applied by a driver to a hand wheel operative to control a direction of said vehicle;

ascertaining a location of the vehicle relative to a lane marker and generating a lane position signal indicative thereof and transmitting at least one of a lane position signal and a lane position deviation to a controller;

applying a lane keeping algorithm comprising a single control loop based on at least one of said lane position and said lane position deviation, wherein said lane keeping algorithm includes a helper mode and an autonomous mode and said helper mode is at least one of enabled and disabled responsive to receiving said first signal and determining that said torque applied by said driver to said hand wheel is a steering command for controlling a direction of said vehicle; and

generating a command to an actuator disposed in the vehicle to apply torque to a steerable wheel, said command responsive to said steering command of said driver, a desired lane position, and said at least one of said lane position and said lane position deviation.

23. The method of claim 22 further including:

detecting at least one of a force and pressure applied to a driver input device and generating a signal indicative of said at least one of said force and said pressure; and

wherein said command is further responsive to said signal indicative of at least one of said force and said pressure.

24. The method of claim 22 further including ascertaining a vehicle speed and generating a vehicle speed signal and wherein said command is also responsive to said vehicle speed signal.

25. The method of claim 22 further including:

ascertaining attentiveness of a driver employing a driver attention monitoring system, wherein said command is further responsive to said attentiveness of said driver; and

providing tactile and audible feedback to said driver.

26. The method of claim 22 wherein said autonomous mode is least one of enabled and disabled responsive to receiving said first signal and determining that said torque applied by said driver to said hand wheel is a steering command for controlling a direction of said vehicle.

27. The method of claim 22 wherein said helper mode includes providing at least on of tactile and audible feedback to a driver to assist in maintaining said desired lane position.

28. The method of claim 22 wherein said autonomous mode includes providing audible feedback to a driver and maintaining said desired lane position with a selected tolerance.

29. The method of claim 22 wherein said ascertaining is accomplished with lane keeping system including a an optical sensor and image processing system for detecting and tracking said lane marker and determining a position of the vehicle relative thereto.

30. The method of claim 22 wherein said control loop including said ascertaining, said lane keeping algorithm, and said actuator exhibits a bandwidth greater than or equal to about 3 Hertz.

31. The method of claim 22 wherein said control loop including said ascertaining, said lane keeping algorithm, and said actuator exhibits a bandwidth greater than or equal to about 5 Hertz.

32. The method of claim 22 wherein said lane keeping algorithm further includes a limiting a magnitude of said command to said actuator.

33. The method of claim 22 wherein a lane keeping algorithm further includes a compensation configured to maintain stability of said single control loop.

34. The method of claim 33 wherein said compensation comprises at least one zero.

35. The method of claim 34 wherein said compensation comprises at least one pole.

36. The method of claim 33 wherein said compensation comprises a pole placed at about 10 Hertz and a zero placed at about one tenth Hertz.

37. The method of claim 22 further including determining a geographic location of said vehicle and selecting of a desired course on a roadway.

38. The method of claim 37 wherein said determining is based on a global positioning system.

39. The method of claim 22 wherein said steering command includes at least one of a torque signal, a steering rate signal, a steering angle, and a motor velocity signal.

40. The method of claim 22 wherein said steering command includes a direction of an intended turn.