Method and system of assisting a driver of a vehicle

• US 9,227,635 B1
• Filed: 09/25/2014
• Issued: 01/05/2016
• Est. Priority Date: 09/25/2014
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd., Nissan North America Incorporated (Nissan Motor Co., Ltd.)
• Inventors: Kusayanagi, Yoshinori, Kishi, Norimasa, Takamatsu, Yoshiro, Takada, Yuji
• Primary Examiner(s): Nguyen, Cuong H
• Application Number:
  US14/497,069
• Time in Patent Office: 467 Days
• Field of Search: 318466-467, 701/300, 701 25- 26, 701 41- 42, 701/538, 345/173, 382/199, 340/465, 348/119, 180/443
• US Class Current: 1/1
• CPC Class Codes: B60W 2050/0083 Setting, resetting, calibration
• CPC Class Codes: B60W 2540/043 Identity of occupants
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/12 Lane keeping
• 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 5/0433 the clutch being of on-off type
• CPC Class Codes: B62D 5/0466 for returning the steering wheel to neutral position

Abstract

A method of assisting a driver of a vehicle. A road to be driven by the driver is identified using a position determination unit. A parameter is selected to assist a driver of the vehicle in driving a segment of the road. The parameter includes information on the location of a boundary along the road and a preferred trajectory to be driven along the road. A controller determines whether a current trajectory of the vehicle while travelling the road is deviating from the preferred trajectory of the vehicle along the road. A feedback operation is provided to assist the driver in guiding the vehicle nearer to the preferred trajectory based on the selected parameter.

Claims

1. A method of assisting a driver of a vehicle, the method comprising the steps of:

identifying a road to be driven by the driver using a position determination unit;

selecting a parameter to assist a driver of the vehicle in driving a segment of the road, the parameter including information on a location of a boundary along the road and a location of a preferred trajectory to be driven along the road with respect to the boundary and indicates when to apply a feedback force, the parameter further including a feedback force gradient for determining the amount of the feedback force to be applied, the feedback force being calculated according to the feedback force gradient;

determining, via a controller in communication with a sensor system, whether a current trajectory of the vehicle while travelling the road is deviating from the preferred trajectory of the vehicle along the road; and

providing a feedback operation to assist the driver in guiding the vehicle nearer to the preferred trajectory based on the selected parameter, the feedback operation including the application of the feedback force.

2. The method of claim 1, wherein

the step of providing the feedback operation to the driver includes providing haptic feedback to a portion of the vehicle interior located proximal to the driver.

3. The method of claim 1, wherein

the step of providing the feedback operation to the driver includes the feedback force applying an assist torque on a portion of a steering system of the vehicle to cause movement of the vehicle toward the preferred trajectory.

4. The method of claim 3, wherein the feedback force gradient is adjusted using at least one of the group consisting of a lateral distance of the vehicle across the road, the current trajectory of the vehicle, and curvature of the road.

5. The method of claim 1, wherein

the parameter is selected based on the condition of an identity of the driver.

6. The method of claim 1, wherein

the parameter is selected based on the condition of a selection made by the driver.

7. The method of claim 1, wherein

the feedback force gradient is adjusted based on an identity of the driver.

8. The method of claim 7, wherein

when the average speed of the driver'"'"'s steering operation is faster, the predetermined period of time is shorter.

9. The method of claim 8, wherein

the preferred trajectory is based on a desired aggressiveness selected by the driver.

10. The method of claim 7, wherein

the average speed of the driver'"'"'s steering operation is estimated based on previous driving maneuvers on the road with or without the assist torque applied.

11. The method of claim 7, wherein

the preferred trajectory is based on a desired aggressiveness selected by the driver.

14. The method of claim 3, wherein

the feedback force gradient is adjusted using estimated values for a distance of the vehicle to the preferred trajectory, an angle to the preferred trajectory, and a curvature of the preferred trajectory at a predetermined period of time in the future.

15. The method of claim 14, wherein

an estimated value of the distance of the vehicle to the boundary, an estimated value of the angle to the boundary, and an estimated value of the curvature of the road are calculated based on the vehicle'"'"'s current trajectory.

16. The method of claim 3, wherein

the feedback force is modified based on a resistance of the drive to the applied assist torque.

17. The method of claim 1, wherein

the preferred trajectory is based on a desired aggressiveness selected by the driver.

18. The method of claim 1, wherein

the parameter is updated based on a driven trajectory along the road segment during a previous driving operation.

19. The method of claim 1, wherein

the boundary is a wall or a curb proximal to the road.

20. The method of claim 1, wherein

the boundary is a lane marker on the road.

12. A method of assisting a driver of a vehicle, the method comprising the steps of:

identifying a road to be driven by the driver using a position determination unit;

selecting a parameter to assist a driver of the vehicle in driving a segment of the road, the parameter including information on the location of a boundary along the road and a preferred trajectory to be driven along the road;

determining, via a controller in communication with a sensor system, whether a current trajectory of the vehicle while travelling the road is deviating from the preferred trajectory of the vehicle along the road; and

applying an assist torque on a portion of a steering system to move the vehicle toward the preferred trajectory based on the selected parameter,

the assist torque being calculated using estimated values for a distance of the vehicle to the preferred trajectory, an angle to the preferred trajectory, and a curvature of the preferred trajectory at a predetermined period of time in the future, and

the predetermined period of time in the future being based on a speed of the driver'"'"'s steering operation during previous driving maneuvers.

13. A method of assisting a driver of a vehicle, the method comprising the steps of:

identifying a road to be driven by the driver using a position determination unit;

selecting a parameter to assist a driver of the vehicle in driving a segment of the road, the parameter including information on the location of a boundary along the road and a preferred trajectory to be driven along the road;

determining, via a controller in communication with a sensor system, whether a current trajectory of the vehicle while travelling the road is deviating from the preferred trajectory of the vehicle along the road; and

providing a feedback operation to assist the driver in guiding the vehicle nearer to the preferred trajectory based on the selected parameter,

the preferred trajectory being updated based on a plurality of previous trajectories the vehicle travelled along the road segment.