THIRD-ORDER POLYNOMIAL-BASED COURSE PREDICTION FOR DRIVER ASSISTANCE FUNCTIONS
First Claim
1. A method of performing driver assistance for a vehicle, the method comprising:
- determining, at a controller, whether the vehicle is steering toward a drive-straight state;
when the vehicle is steering toward the drive-straight state, calculating, at the controller, a predicted course trajectory using a third order polynomial;
when the vehicle is not steering toward the drive-straight state, calculating, at the controller, the predicted course trajectory using a non-third-order function; and
performing the driver assistance based on the predicted course trajectory.
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Accused Products
Abstract
Methods and systems for performing vehicle driver assistance. One method includes determining, at a controller, whether the vehicle is steering toward a drive-straight state and when the vehicle is steering toward the drive-straight state, calculating, at the controller, a predicted course trajectory using a third order polynomial. The method also includes calculating, at the controller, the predicted course trajectory using a non-third-order function when the vehicle is not steering toward the drive-straight state. In addition, the method includes performing the driver assistance based on the predicted course trajectory.
19 Citations
20 Claims
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1. A method of performing driver assistance for a vehicle, the method comprising:
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determining, at a controller, whether the vehicle is steering toward a drive-straight state; when the vehicle is steering toward the drive-straight state, calculating, at the controller, a predicted course trajectory using a third order polynomial; when the vehicle is not steering toward the drive-straight state, calculating, at the controller, the predicted course trajectory using a non-third-order function; and performing the driver assistance based on the predicted course trajectory. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10)
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2. The method of claim 1, wherein determining whether the vehicle is driving toward the drive-straight state includes determining whether a steering angle of the vehicle is greater than zero and a steering angle velocity of the vehicle is less than zero.
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11. A driver assistance system for a vehicle, the system including:
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a vehicle dynamic state sensor; and a controller configured to; receive a signal from the vehicle dynamic state sensor, determine whether the vehicle is steering toward a drive-straight state based on the signal from the vehicle dynamic state sensor, when the vehicle is steering toward the drive-straight state, calculate a predicted course trajectory using a third order polynomial, when the vehicle is not steering toward the drive-straight state, calculate the predicted course trajectory using a non-third-order function, and perform a driver assistance function based on the predicted course trajectory. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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11-1. (canceled)
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12. The system of claim 11, wherein the signal indicates at least one selected from the group comprising (i) a steering angle of the vehicle, (ii) a steering angle velocity of the vehicle, (iii) a yaw rate of the vehicle, and (iv) a velocity of the vehicle.
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12-2. (canceled)
Specification