Lane keeping system for autonomous vehicle in wind conditions

• US 10,479,357 B2
• Filed: 05/23/2016
• Issued: 11/19/2019
• Est. Priority Date: 05/23/2016
• Status: Active Grant

• Current Assignee: Aptiv Technologies AG
• Original Assignee: Aptiv Technologies Limited (BorgWarner Incorporated)
• Inventors: Hawes, Kevin J., Samiei, Ehsan, Chia, Michael I.
• Primary Examiner(s): Sood, Anshul
• Application Number:
  US15/161,502
• Publication Number:
  US 20170334444A1
• Time in Patent Office: 1,275 Days
• CPC Class Codes: B60G 17/0165 to an external condition, e.g. rough road surface, side wind
• CPC Class Codes: B60R 21/0136 responsive to actual contact with an obstacle , e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle monitoring crash strength in combination with passenger seat detection B60R21/01558
• CPC Class Codes: B60R 21/36 using airbags
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 2710/223 Stiffness
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 40/02 related to ambient conditions
• 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: G07C 5/00 Registering or indicating the working of vehicles
• CPC Class Codes: G08G 1/09626 where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A lane keeping system includes an absolute pressure sensor located in a door on each of opposing sides of a vehicle. Each sensor generates a signal indicative of a door cavity pressure on that side of the vehicle. A safety restraint system (SRS) controller is in communication with the pressure sensor. The SRS controller is configured to determine a collision event in response to the signal (e.g., increased pressure in the door as it is crushed) and activate a safety restraint component in response to the determined collision event. A lane keeping system (LKS) controller is in communication with the pressure sensors. The LKS controller determines a lateral wind force on the vehicle in response to the signal from each pressure sensor. The LKS controller determines a correction in response to the determined lateral wind force to maintain the vehicle along a desired path.

Claims

1. A lane keeping system for a vehicle comprising:

a pressure sensor configured to generate a signal indicative of a pressure;

a safety restraint system (SRS) controller in communication with the pressure sensor, the SRS controller configured to determine a collision event in response to the signal and activate a safety restraint component in response to the determined collision event; and

a lane keeping system (LKS) controller in communication with the pressure sensor, the LKS controller configured to determine a lateral wind force on the vehicle in response to the signal, the LKS controller configured to determine a correction in response to the determined lateral wind force to maintain the vehicle along a desired path.

2. The system according to claim 1, comprising a vehicle body that includes an exterior body panel that at least partially defines an enclosed cavity, the pressure sensor is arranged in the enclosed cavity, and the exterior body panel includes an opening in fluid communication with the enclosed cavity.

3. The system according to claim 2, wherein the vehicle body includes a door that provides the exterior body panel and the enclosed cavity.

4. The system according to claim 2, comprising a body molding mounted to the exterior body panel over the opening, the body molding includes an aperture in fluid communication with the opening.

5. The system according to claim 1, wherein the safety restraint component includes an airbag.

6. The system according to claim 1, wherein the pressure sensor is an absolute pressure sensor, the vehicle includes opposing lateral sides, and one of the pressure sensor is arranged on each of the opposing lateral sides.

7. The system according to claim 6, wherein a differential pressure is measured from the absolute pressure sensors, and the lateral wind force is determined based upon a product of the differential pressure and an area of a lateral side of the vehicle, wherein the correction is a function of the lateral wind force, a vehicle speed, a steering ratio, a tire coefficient, and a suspension coefficient.

8. The system according to claim 1, comprising a steering system in communication with the LKS controller, the LKS controller configured to add a wind compensation value to a commanded steering angle to maintain the vehicle along a desired path and counteract the determined wind force.

9. The system according to claim 1, comprising a suspension system in communication with the LKS controller, the LKS controller configured to add a wind compensation value to a desired suspension stiffness to maintain the vehicle along a desired path and counteract the determined wind force.

10. The system according to claim 1, wherein the SRS controller includes a filter configured to condition the signal and remove effects of noise due to wind.

11. A lane keeping system for a vehicle comprising:

a vehicle body having a first door panel on one side of the vehicle body and a second door panel on another side of the vehicle body;

first and second absolute pressure sensors configured to respectively generate first and second signals indicative of first and second pressures, the first absolute pressure sensor located in the first door panel and the second absolute pressure sensor located in the second door panel; and

a lane keeping system (LKS) controller in communication with the first and second absolute pressure sensors, the LKS controller configured to determine a lateral wind force on the vehicle in response to a difference between the first and second signals, the LKS controller configured to determine a correction in response to the determined lateral wind force to maintain the vehicle along a desired path.

12. The system according to claim 11, wherein the first and second door panels each at least partially define an enclosed cavity, the first absolute pressure sensor is arranged in the enclosed cavity of the first door panel, and the second absolute pressure sensor is arranged in the enclosed cavity of the second door panel.

13. The system according to claim 12, wherein each of the first and second door panels includes an opening in fluid communication with its enclosed cavity.

14. The system according to claim 13, comprising a body molding mounted to each door panel over its respective opening, the body molding includes an aperture in fluid communication with its respective opening.

15. The system according to claim 11, wherein a differential pressure is measured from the first and second signals, and the lateral wind force is determined based upon a product of the differential pressure and an area of a lateral side of the vehicle, wherein the correction is a function of the lateral wind force, a vehicle speed, a steering ratio, a tire coefficient, and a suspension coefficient.

16. The system according to claim 11, comprising a steering system in communication with the LKS controller, the LKS controller configured to add a wind compensation value to a commanded steering angle to maintain the vehicle along a desired path and counteract the determined wind force.

17. The system according to claim 11, comprising a suspension system in communication with the LKS controller, the LKS controller configured to add a wind compensation value to a desired suspension stiffness to maintain the vehicle along a desired path and counteract the determined wind force.

18. A method of maintaining a vehicle along a desired path comprising the steps of:

determining a differential pressure using first and second absolute pressure sensors, wherein the first and second absolute pressure sensors are respectively arranged within first and second door cavities arranged on opposite lateral sides of the vehicle;

determining a correction from the pressure differential; and

adding a wind compensation value to at least one of a commanded steering angle and a desired suspension stiffness based upon the correction.

19. The method according to claim 18, wherein the correction is a function of the lateral wind force, a vehicle speed, a steering ratio, a tire coefficient, and a suspension coefficient.