System and method for enhanced steering override detection during automated lane centering
First Claim
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1. A method comprising:
- measuring one or more vehicle steering measurements of a vehicle;
calculating an expected torque based on said measured vehicle steering measurements, wherein said expected torque comprises equivalent steering inertia, equivalent steering damping and equivalent steering stiffness;
calculating by a computing device one or more expected vehicle steering measurements, based on at least a command associated with each said measurement, and based on at least a road condition; and
deactivating an automatic vehicle control system based on the one or more measured vehicle steering measurements, the calculated expected torque and the one or more expected vehicle measurements.
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Abstract
A method and system may measure one or more vehicle steering measurements or quantities and calculate one or more expected vehicle steering measurements. The method and system may deactivate an automatic vehicle control system based on the one or more measured vehicle steering measurements and the one or more expected vehicle steering measurements. The vehicle steering measurements may include a vehicle steering angle measurement, vehicle steering torque measurement, or other vehicle dynamics measurements. The automatic vehicle control system may include an automated lane centering system, lane keeping assist, or other autonomous vehicle steering control system.
19 Citations
20 Claims
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1. A method comprising:
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measuring one or more vehicle steering measurements of a vehicle; calculating an expected torque based on said measured vehicle steering measurements, wherein said expected torque comprises equivalent steering inertia, equivalent steering damping and equivalent steering stiffness; calculating by a computing device one or more expected vehicle steering measurements, based on at least a command associated with each said measurement, and based on at least a road condition; and deactivating an automatic vehicle control system based on the one or more measured vehicle steering measurements, the calculated expected torque and the one or more expected vehicle measurements. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. 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 an expected torque based on said measured vehicle steering measurements, wherein said expected torque comprises equivalent steering inertia, equivalent steering damping and equivalent steering stiffness; calculate one or more expected vehicle steering measurements, based on at least a command associated with each said measurement, and based on at least a road condition; and deactivate the vehicle automated steering system based on the one or more measured vehicle steering measurements, the calculated expected torque and the one or more expected vehicle steering measurements. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method comprising:
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in a vehicle, evaluating a plurality of vehicle steering conditions using a plurality of sensors associated with the vehicle; calculating an expected torque based on the evaluated vehicle steering conditions, wherein said expected torque comprises equivalent steering inertia, equivalent steering damping and equivalent steering stiffness; determining a plurality of expected vehicle steering conditions, based on at least a command associated with each said condition, and based on at least a road condition; and disengaging an autonomous driving application if the evaluated vehicle steering conditions, the calculated expected torque and the expected vehicle steering conditions indicate an operator of the vehicle is overriding the autonomous driving application. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification