Vehicle control system

Patent metadata

Field	Value
Publication number	US-2022009522-A1
Application number	US-202016924638-A
Country	US
Kind code	A1
Filing date	Jul 9, 2020
Priority date	Jul 9, 2020
Publication date	Jan 13, 2022
Grant date	—

Abstract

A vehicle control system includes a controller circuit in communication with a steering sensor and one or more perception sensors. The steering sensor is configured to detect a steering torque of a steering wheel of a host vehicle. The one or more perception sensors are configured to detect an environment proximate the host vehicle. The controller circuit is configured to determine when an operator of the host vehicle requests a take-over from fully automated control of the host vehicle based on the steering sensor. The controller circuit classifies the take-over request based on the steering sensor.

First claim

1 - 28 . (canceled)

29 . A vehicle control system, comprising:
a controller circuit configured to: receive, from a steering sensor, a steering torque of a steering wheel of a host vehicle; receive, from one or more perception sensors, an environment proximate the host vehicle; determine, based on the steering torque, when an operator of the host vehicle requests a take-over from fully automated control of the host vehicle; and classify, based on the steering torque, the take-over request.

30 . The vehicle control system of claim 29 , wherein the controller circuit is further configured to determine a level of automated driver assistance based on the steering sensor and the environment.

31 . The vehicle control system of claim 29 , wherein the controller circuit is further configured to determine that the operator requests the take-over when the steering torque is greater than a first threshold.

32 . The vehicle control system of claim 29 , wherein the one or more perception sensors include one of a camera, a RADAR, a LiDAR, and an inertial measurement unit.

33 . The vehicle control system of claim 29 , wherein the controller circuit is further configured to receive, from the steering sensor, a steering angle and a steering angle rate.

34 . The vehicle control system of claim 33 , wherein the controller circuit is further configured to classify a first take-over when:
a maximum steering angle is less than a second threshold; and a maximum steering angle rate is greater than a third threshold and less than a fourth threshold.

35 . The vehicle control system of claim 33 , wherein the controller circuit is further configured to classify a second take-over when:
a maximum steering angle is less than a second threshold; and a maximum steering angle rate is less than a third threshold.

36 . The vehicle of control system of claim 33 , wherein the controller circuit is further configured to classify a third take-over when:
a maximum steering angle is greater than a fifth threshold; and a maximum steering angle rate is greater than a fourth threshold.

37 . The vehicle control system of claim 29 , wherein the controller circuit is further configured to determine a level of automated driver assistance based on the classification of the take-over request and the one or more perception sensors.

38 . The vehicle control system of claim 37 , wherein when the controller circuit is further configured to:
classify a first take-over when no obstacle is detected by the one or more perception sensors; and disable the automated driver assistance.

39 . The vehicle control system of claim 37 , wherein when the controller circuit is further configured to:
classify a second take-over when at least one obstacle is detected by the one or more perception sensors; and enable the automated driver assistance to avoid a collision with the at least one obstacle.

40 . The vehicle control system of claim 37 , wherein when the controller circuit is further configured to:
classify a third take-over when at least one obstacle is detected by the one or more perception sensors; and enable the automated driver assistance to avoid a collision with the at least one obstacle.

41 . The vehicle control system of claim 37 , wherein the controller circuit is further configured to determine the level of automated driver assistance based on a radius of curvature of a roadway.

42 . The vehicle control system of claim 37 , wherein when the controller circuit is further configured to determine the level of automated driver assistance based on a lateral acceleration of the host vehicle.

43 . A method of operating a vehicle control system, the method comprising:
receiving, from a steering sensor, a steering torque of a steering wheel of a host vehicle; receiving, from one or more perception sensors, an environment proximate the host vehicle; determining, with the steering sensor and the one or more perception sensors, when an operator of the host vehicle requests a take-over from fully automated control of the host vehicle based on the steering sensor; and classifying, based on the steering sensor, the take-over request.

44 . The method of claim 43 , further comprising:
determining a level of automated driver assistance based on the steering sensor and the environment.

45 . The method of claim 43 , further comprising:
determining that that operator requests the take-over when the steering torque is greater than a first threshold.

46 . The method of claim 43 , wherein the one or more perception sensors include one of a camera, a RADAR, a LiDAR, and an inertial measurement unit.

47 . The method of claim 43 , further comprising:
receiving, from the steering sensor, a steering angle and a steering angle rate.

48 . A computer-readable storage medium comprising instructions that, when executed by a processor of a host vehicle, cause the processor to:
receive, from a steering sensor, a steering torque of a steering wheel of the host vehicle; receive, from one or more perception sensors, an environment proximate the host vehicle; determine, based on the steering torque, when an operator of the host vehicle requests a take-over from fully automated control of the host vehicle; and classify, based on the steering torque, the take-over request.

49 . The computer-readable storage medium of claim 48 , wherein the instructions further cause the processor to determine a level of automated driver assistance based on the steering sensor and the environment.

50 . The computer-readable storage medium of claim 48 , wherein the instructions further cause the processor to determine that the operator requests the take-over when the steering torque is greater than a first threshold.

51 . The computer-readable storage medium of claim 48 , wherein the one or more perception sensors include one of a camera, a RADAR, a LiDAR, and an inertial measurement unit.

52 . The computer-readable storage medium of claim 48 , wherein the instructions further cause the processor to receive, from the steering sensor, a steering angle and a steering angle rate.

53 . The computer-readable storage medium of claim 52 , wherein the instructions further cause the processor to classify a first take-over when:
a maximum steering angle is less than a second threshold; and a maximum steering angle rate is greater than a third threshold and less than a fourth threshold.

54 . The computer-readable storage medium of claim 52 , wherein the instructions further cause the processor to classify a second take-over when:
a maximum steering angle is less than a second threshold; and a maximum steering angle rate is less than a third threshold.

55 . The computer-readable storage medium of claim 52 , wherein the instructions further cause the processor to classify a third take-over when:
a maximum steering angle is greater than a fifth threshold; and a maximum steering angle rate is greater than a fourth threshold.

56 . The computer-readable storage medium of claim 48 , wherein the instructions further cause the processor to determine a level of automated driver assistance based on the classification of the take-over request and the one or more perception sensors.

Assignees

• Aptiv Tech Ltd

Inventors

• Zhang Guoguang
• Sugiarto Tanto
• Wang Qian

Classifications

• B62D15/0255

  Automatic changing of lane, e.g. for passing another vehicle · CPC title

• B62D15/025

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B62D1/286

  Systems for interrupting non-mechanical steering due to driver intervention · CPC title

• B62D15/0265

  Automatic obstacle avoidance by steering · CPC title

• B60W2552/50

  Barriers · CPC title