Always on lateral advanced driver assistance system

Abstract

This application discloses an always-on lateral advanced driver assistance system. One method includes, in response to an ignition start signal: using one or more sensors to determine whether a driver vehicle is moving from a first lane to a second lane; using one or more sensors to determine whether an object is within at least one of the driver vehicle's blind spot and the second lane at a threshold distance from the driver vehicle; in response to determining that the object is within at least one of the driver vehicle's blind spot and the second lane at a threshold distance from the driver vehicle, performing at least one operator assistance maneuver; and in response to determining that the object is not within at least one of the driver vehicle's blind spot and the second lane at a threshold distance from the driver vehicle, not performing the at least one operator assistance maneuver.

Description

[0001] Cross Reference to Related Applications

[0002] This patent application claims priority to U.S. Provisional Patent Application Serial No. 63 / 182,358, filed April 30, 2021, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to advanced driver assistance systems, and in particular to an always-on lateral advanced driver assistance system function. BACKGROUND

[0004] Vehicles, such as cars, trucks, sport utility vehicles, crossovers, minivans, boats, airplanes, all-terrain vehicles, recreational vehicles, or other suitable forms of vehicles, are increasingly including driver assistance features, e.g., advanced driver assistance systems. Such systems can provide lane keeping features, lane centering features, etc., that assist an operator of the vehicle to keep the vehicle in a lane, avoid collisions, maintain a position in a line, etc.

[0005] Typically, such systems require a selection by the operator to engage (e.g., turn on and / or off) a corresponding feature of the system. For example, a lane keeping feature can remain off until the operator selects (e.g., using a button or other suitable selection device) the lane keeping feature, at which point the lane keeping feature will be engaged and provide lane keeping assistance to the operator. Such a selection can be considered tedious by the operator, as operation of the vehicle includes various other buttons, actuators, selections, and involvement of the operator. Additionally or alternatively, at least some features of such systems can not perform as expected by the operator. As a result, such system features can remain off and not be used by the operator. Reasons for not using such system features can include: the operator does not trust one or more features; environmental sensors (e.g., radio detection and ranging sensors, image capture sensors, etc.) can provide inaccurate information to control aspects of the vehicle due to dust, dirt, snow, rain, sunlight, etc. Further, overall control actions of such features can not provide a desired operation feel to the operator, particularly a desired steering feel to the operator. SUMMARY

[0006] The present disclosure relates generally to advanced driver assistance systems.

[0007] One aspect of the disclosed embodiments includes a method for providing vehicle operator assistance. The method includes, in response to an ignition-on signal: determining, using at least one first value corresponding to one or more sensors, whether a host vehicle is moving from a first lane to a second lane; in response to determining that the host vehicle is moving from the first lane to the second lane, determining, using at least one second value corresponding to the one or more sensors, whether an object is in at least one of a blind zone of the host vehicle and the second lane within a threshold distance from the host vehicle; in response to determining that the object is in at least one of the blind zone of the host vehicle and the second lane within the threshold distance from the host vehicle, performing at least one operator assistance maneuver; and in response to determining that the object is not in at least one of the blind zone of the host vehicle and the second lane within the threshold distance from the host vehicle, not performing the at least one operator assistance maneuver.

[0008] Another aspect of the disclosed embodiments includes a system for providing vehicle operator assistance. The system includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to, in response to an ignition-on signal: determine, using at least one first value corresponding to one or more sensors, whether a host vehicle is moving from a first lane to a second lane; in response to determining that the host vehicle is moving from the first lane to the second lane, determine, using at least one second value corresponding to the one or more sensors, whether an object is in at least one of a blind zone of the host vehicle and the second lane within a threshold distance from the host vehicle; in response to determining that the object is in at least one of the blind zone of the host vehicle and the second lane within the threshold distance from the host vehicle, perform at least one operator assistance maneuver; and in response to determining that the object is not in at least one of the blind zone of the host vehicle and the second lane within the threshold distance from the host vehicle, not perform the at least one operator assistance maneuver.

[0009] These and other aspects of the present disclosure are disclosed in the following detailed description of embodiments, accompanied by the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0010] The present disclosure is best understood when the following detailed description of the embodiments, taken in conjunction with the accompanying drawings, is read. It is emphasized that, according to common practice, the various features of the drawings are not to scale. On the contrary, the dimensions of the various features are arbitrarily expanded or reduced for clarity.

[0011] Figure 1 A vehicle according to the principles of the present disclosure is generally shown.

[0012] Figure 2 A vehicle operator assistance system including a controller according to the principles of the present disclosure is generally shown.

[0013] Figures 3A to 3EA vehicle traversing various lanes of a roadway is generally shown in accordance with the principles of the present disclosure.

[0014] Figure 4 FIG. 1 is a flowchart generally showing a vehicle operator assistance method in accordance with the principles of the present disclosure.

[0015] Figure 5 FIG. 2 is a flowchart generally showing an alternative vehicle operator assistance method in accordance with the principles of the present disclosure. DETAILED DESCRIPTION

[0016] The following discussion is directed to various embodiments of the present disclosure. While one or more embodiments can be preferred as described, no embodiment of the present disclosure is to be construed as being limited in scope to only include the specifically described embodiments. Rather, various embodiments of the present disclosure are intended to embrace all alternatives, modifications and equivalents as can be included within the scope of the present disclosure, as well as being intended to embrace claims directed to interchanges of reference characters between claim limitations as if full lists of characters appeared at each claim limitation. Additionally, persons skilled in the art will further appreciate that the various embodiments described herein can be implemented in any of numerous ways, as the disclosed embodiments are not limited to any particular manner of implementation.

[0017] As described, vehicles such as automobiles, trucks, sport utility vehicles, crossovers, minivans, watercraft, aircraft, all-terrain vehicles, recreational vehicles, or other suitable forms of vehicles, etc. are increasingly including driving assistance features, e.g., advanced driver assistance systems. Such systems can provide lane keeping features, lane centering features, etc. that assist an operator of the vehicle to keep the vehicle in a lane, avoid collisions, maintain a position in a line, etc.

[0018] Generally, such systems require an operator to make a selection to enable a corresponding feature of the system, e.g., turn the feature on and / or off. For example, a lane keeping feature can remain off until the operator selects, e.g., using a button or other suitable selection device, the lane keeping feature at which point the lane keeping feature will engage and provide lane keeping assistance to the operator. Such a selection can be considered tedious by the operator as operation of the vehicle includes various other buttons, actuators, selections, and operator involvement.

[0019] Additionally or alternatively, at least some features of such systems can not perform as expected by the operator. As a result, such system features can remain off and not be used by the operator. Reasons for not using such system features can include: the operator does not trust one or more features; environmental sensors, e.g., radar detection and ranging sensors, image capture sensors, etc., can provide inaccurate information to control various aspects of the vehicle due to dust, dirt, snow, rain, sunlight, etc. Further, overall control actions of such features can not provide a desired feel of operation to the operator, particularly a desired feel of steering to the operator.

[0020] Accordingly, it can be desirable for systems and methods such as those described herein to eliminate operator selection for enabling advanced driver assistance system (ADAS) features (e.g., which can leave these features on continuously). In some embodiments, the systems and methods described herein can be configured to provide operator selection for disengaging ADAS features based on various production requirements.

[0021] The systems and methods described herein can be configured to take no action in situations where vehicle operation is not perfect (e.g., below an ideal operation threshold) but the vehicle operation is still considered safe. The systems and methods described herein can be configured to perform relatively minimal actions (e.g., actions that are not detectable by an operator) to assist an operator with vehicle operation. In certain situations, the systems and methods described herein can be configured to provide ideal operator and / or full vehicle autonomy. Additionally or alternatively, the systems and methods described herein can be configured to provide semi-autonomous vehicle operation. The systems and methods described herein can be configured to take action only in situations where the vehicle can be involved in an unsafe situation.

[0022] In some embodiments, the systems and methods described herein can be configured to enable features of ADAS when an ignition of a vehicle is enabled (e.g., turned on), which can allow such features to stay enabled throughout operation of the vehicle (e.g., unless disengaged by an operator when the vehicle includes a disengagement selection), such features can include a blind spot assist feature, a lane keep feature, a lane centering feature, a road keep feature, a collision avoidance feature, other suitable features, or combinations thereof.

[0023] In some embodiments, the systems and methods described herein can be configured to allow such features to be on all the time and only intervene if the operator is doing something unsafe or when the operator is not reacting to an unsafe situation. For example, if an operator is operating a vehicle on a highway and drifts from one lane to an immediately adjacent lane (e.g., with or without signaling), the systems and methods described herein can be configured to take no action if there is no danger in the movement. Alternatively, the systems and methods described herein can be configured to intervene (e.g., take action) if there is another vehicle or object in the lane or blind spot of the vehicle. For example, the systems and methods described herein can be configured to intervene and push the vehicle back to the original lane of travel. Additionally or alternatively, if there is no shoulder alongside the original lane of travel and the operator is drifting off the road, the systems and methods described herein can be configured to push the vehicle back to the original lane of travel (e.g., this can be referred to as road keep).

[0024] In some embodiments, as Figure 3AAs generally illustrated, the systems and methods described herein can be configured to provide no perceivable assistance and / or intervention to the operator, as the vehicle 10 is not in any danger (e.g., even if the operator changes lanes without using the signal lights), as will be described.

[0025] In some embodiments, as Figure 3B As generally illustrated, the systems and methods described herein can be configured to provide pushback assistance to the vehicle 10 based on the vehicle 200 being in the blind spot of the vehicle 10.

[0026] In some embodiments, as Figure 3C As generally illustrated, the systems and methods described herein can be configured to provide pushback assistance to the vehicle 10 based on the drift of the vehicle 10 being dangerous (e.g., because the vehicle 10 is deviating from the road).

[0027] In some embodiments, the systems and methods described herein can be configured to, when providing operator assistance, provide a relatively small amount of torque overlay (e.g., in an electric power steering system) and / or a relatively small amount of position overlay (e.g., in a steer-by-wire steering system) that moves the vehicle away from the identified danger and at the same time does not move the vehicle far enough to enter another lane (e.g., the vehicle can be moved 75 centimeters or other suitable amount). The torque overlay can include a closed loop or any open loop torque overlay.

[0028] In some embodiments, as Figure 3D As generally illustrated, the systems and methods described herein can be configured to use various sensors of the vehicle 10 to determine that the vehicle 200 is drifting towards the vehicle 10 (e.g., which can indicate a dangerous situation or potential collision, especially in the case of a relatively large vehicle 200). The systems and methods described herein can be configured to provide sufficient operator assistance to the vehicle 10 to move the vehicle 10 seamlessly in the lane by adding a torque overlay to (reduced) basic assistance functionality and / or by adding a position overlay to the basic assistance functionality. In some embodiments, the systems and methods described herein can be configured to use various sensors of the vehicle to determine that the vehicle is driving relatively straight in the lane. The systems and methods described herein can be configured to provide a relative lane centering assistance to keep the vehicle relatively centered in the lane, which can reduce operator fatigue over longer trips. The lane centering assistance can be configured such that, when applied, the assistance is not detected by the operator (e.g., in the case of the operator’s hands on the steering wheel or hands off the steering wheel) and is not sufficient to keep the center of the lane with any significant curvature in the road (e.g., if the operator’s hands are off the steering wheel).

[0029] In some embodiments, the systems and methods described herein can be configured to provide ADAS features without operator selection of buttons, provide active intervention with operator-desired steering feel performance, provide assistance to the operator in dangerous situations caused by the operator (e.g., blind spot assistance, lane keeping, etc.), provide assistance in other operator-caused situations (e.g., pull-away assistance, push-back assistance, etc.), and provide relatively limited lane centering assistance.

[0030] In some embodiments, the systems and methods described herein can be configured to, in response to an ignition-on signal: determine, using at least one first value corresponding to one or more sensors, whether the host vehicle is moving from a first lane to a second lane; in response to determining that the host vehicle is moving from the first lane to the second lane, determine, using at least one second value corresponding to the one or more sensors, whether an object is in at least one of a blind zone of the host vehicle and the second lane within a threshold distance from the host vehicle; in response to determining that the object is in at least one of the blind zone of the host vehicle and the second lane within the threshold distance from the host vehicle, perform at least one operator-assist maneuver; and in response to determining that the object is not in at least one of the blind zone of the host vehicle and the second lane within the threshold distance from the host vehicle, not perform the at least one operator-assist maneuver.

[0031] In some embodiments, the object comprises a target vehicle. In some embodiments, the host vehicle comprises an electric power steering system. In some embodiments, the systems and methods described herein can be configured to perform the at least one operator-assist maneuver by providing a torque overlay to at least one component of the electric power steering system to direct the host vehicle away from at least one of the object and the second lane.

[0032] In some embodiments, the host vehicle comprises a steer-by-wire steering system. In some embodiments, the systems and methods described herein can be configured to perform the at least one operator-assist maneuver by providing a position overlay to at least one component of the steer-by-wire steering system to direct the host vehicle away from at least one of the object and the second lane.

[0033] In some embodiments, the systems and methods described herein can be configured to, in response to an ignition-on signal: determine, using at least one third value corresponding to one or more sensors, whether the host vehicle is moving away from a road on which the host vehicle is traveling; and in response to determining that the host vehicle is moving away from the road on which the host vehicle is traveling, perform at least one operator-assist maneuver.

[0034] In some embodiments, the systems and methods described herein can be configured to, in response to the ignition on signal: determine, using the at least one fourth value corresponding to the one or more sensors, whether the host vehicle is deviating from a center of the first lane; and perform at least one other operator-assisted maneuver in response to determining that the host vehicle is deviating from the center of the first lane.

[0035] In some embodiments, the systems and methods described herein can be configured to perform the at least one other operator-assisted maneuver by providing lane centering for the host vehicle. In some embodiments, the lane centering is less than a lane centering threshold.

[0036] Figure 1 A vehicle 10 according to the principles of the present disclosure is generally shown. The vehicle 10 can include any suitable vehicle, such as a car, a truck, a sport utility vehicle, a van, a crossover, any other passenger vehicle, any suitable commercial vehicle, or any other suitable vehicle. Although the vehicle 10 is illustrated as a passenger vehicle having wheels and used on a road, the principles of the present disclosure can be applied to other vehicles, such as an airplane, a boat, a train, a drone, or other suitable vehicles.

[0037] The vehicle 10 includes a vehicle body 12 and a hood 14. A passenger compartment 18 is at least partially defined by the vehicle body 12. Another portion of the vehicle body 12 defines an engine compartment 20. The hood 14 can be movably attached to a portion of the vehicle body 12 such that the hood 14 provides access to the engine compartment 20 when the hood 14 is in a first or open position, and the hood 14 covers the engine compartment 20 when the hood 14 is in a second or closed position. In some embodiments, the engine compartment 20 can be disposed rearward of the vehicle 10 (as compared to what is typically shown).

[0038] The passenger compartment 18 can be disposed rearward of the engine compartment 20, but in embodiments in which the engine compartment 20 is disposed in a rearward portion of the vehicle 10, the passenger compartment 18 can be disposed forward of the engine compartment 20. The vehicle 10 can include any suitable propulsion system, including an internal combustion engine, one or more electric motors (e.g., an electric vehicle), one or more fuel cells, a hybrid (e.g., a hybrid electric vehicle) propulsion system including an internal combustion engine, one or more electric motors, and / or any other suitable propulsion system.

[0039] In some embodiments, the vehicle 10 can include a gasoline engine or a gasoline-fueled engine, such as a spark-ignition engine. In some embodiments, the vehicle 10 can include a diesel-fueled engine, such as a compression-ignition engine. The engine compartment 20 houses and / or encloses at least some components of the propulsion system of the vehicle 10. Additionally or alternatively, propulsion control devices (e.g., accelerator actuators (e.g., accelerator pedal), brake actuators (e.g., brake pedal), steering wheel, and other such components) are disposed in the passenger compartment 18 of the vehicle 10. The propulsion control devices can be actuated or controlled by a driver of the vehicle 10 and can be directly connected to corresponding components of the propulsion system, such as the throttle, brakes, axles, vehicle transmission, etc., respectively. In some embodiments, the propulsion control devices can communicate signals to a vehicle computer (e.g., a line- controlled vehicle computer), which in turn can control corresponding propulsion components of the propulsion system. As such, in some embodiments, the vehicle 10 can be an autonomous vehicle.

[0040] In some embodiments, the vehicle 10 includes a transmission in communication with the crankshaft via a flywheel or clutch or a hydrodynamic coupling. In some embodiments, the transmission includes a manual transmission. In some embodiments, the transmission includes an automatic transmission. The vehicle 10 can include one or more pistons that operate in conjunction with the crankshaft to generate force, which is transferred through the transmission to one or more axles, which causes the wheels 22 to turn, in the case of a combustion engine or a hybrid vehicle. When the vehicle 10 includes one or more electric motors, a vehicle battery and / or a fuel cell provides energy to the electric motor(s) to cause the wheels 22 to turn.

[0041] The vehicle 10 can include an automatic vehicle propulsion system, such as a cruise control, an adaptive cruise control, an automatic brake control, other automatic vehicle propulsion systems, or combinations thereof. The vehicle 10 can be an autonomous or semi-autonomous vehicle, or other suitable type of vehicle. The vehicle 10 can include additional features or fewer features than those generally shown and / or disclosed herein.

[0042] In some embodiments, the vehicle 10 can include an Ethernet component 24, a controller area network (CAN) bus 26, a media oriented systems transport component (MOST) 28, a FlexRay component 30 (e.g., a line-controlled brake system, etc.), and a local interconnect network component (LIN) 32. The vehicle 10 can use the CAN bus 26, the MOST 28, the FlexRay component 30, the LIN 32, other suitable network or communication systems, or combinations thereof, to communicate various information from, for example, sensors within or outside of the vehicle, to, for example, various processors or controllers within or outside of the vehicle. The vehicle 10 can include additional features or fewer features than those generally shown and / or disclosed herein.

[0043] In some embodiments, vehicle 10 may include a steering system such as an EPS system, a steering system with steer-by-wire (e.g., which may include one or more controllers that control or communicate with components of the steering system without using a mechanical connection between the steering wheel and wheels 22 of vehicle 10), a hydraulic steering system (e.g., which may include a magnetic actuator incorporated in a valve assembly of the hydraulic steering system), or other suitable steering systems. The steering system may include an open-loop feedback control system or mechanism, a closed-loop feedback control system or mechanism, or a combination thereof. The steering system may be configured to receive various inputs, including but not limited to steering wheel position, input torque, one or more wheel positions, other suitable inputs or information, or combinations thereof. Additionally or alternatively, inputs may include steering wheel torque, steering wheel angle, motor speed, vehicle speed, estimated motor torque command, other suitable inputs, or combinations thereof. The steering system may be configured to provide steering functionality and / or control to vehicle 10. For example, the steering system may generate an auxiliary torque based on various inputs. The steering system may be configured to selectively control the motor of the steering system using the auxiliary torque to provide steering assistance to the operator of vehicle 10.

[0044] In some embodiments, vehicle 10 may include a controller, for example Figure 2 The controller 100 is generally shown in the diagram. Controller 100 may include any suitable controller, such as an electronic control unit or other suitable controller. For example, controller 100 may be configured to control various functions of the steering system and / or various functions of the vehicle 10. Controller 100 may include processor 102 and memory 104. Processor 102 may include any suitable processor, such as those described herein. Additionally or alternatively, controller 100 may include any suitable number of processors in addition to or excluding processor 102. Memory 104 may include a single disk or multiple disks (e.g., a hard disk drive) and includes a storage management module that manages one or more partitions within memory 104. In some embodiments, memory 104 may include flash memory, semiconductor (solid-state) memory, etc. Memory 104 may include random access memory (RAM), read-only memory (ROM), or a combination thereof. Memory 104 may include instructions that, when executed by processor 102, cause processor 102 to control at least various aspects of the functions of vehicle 10.

[0045] The controller 100 can receive one or more signals from various measurement devices or sensors 106 indicative of sensed or measured characteristics of the vehicle 10. The sensors 106 can include any suitable sensors, measurement devices, and / or other suitable mechanisms. For example, the sensors 106 can include one or more torque sensors or devices, one or more steering wheel position sensors or devices, one or more motor position sensors or devices, one or more position sensors or devices, other suitable sensors or devices, or combinations thereof. The one or more signals can be indicative of steering wheel torque, steering wheel angle, motor speed, vehicle speed, other suitable information, or combinations thereof.

[0046] In some embodiments, the sensors 106 can include one or more image capture devices (e.g., such as a camera), one or more audio input devices (e.g., such as a microphone), one or more global positioning devices, one or more proximity sensing devices, one or more radar sensors, one or more light detection and ranging sensors, one or more ultrasonic sensors, other suitable sensors or devices, or combinations thereof.

[0047] In some embodiments, as generally shown in Figures 3A to 3E In response to an ignition on signal (e.g., which can include any signal indicative of the vehicle being in an operational condition), the controller 100 can be configured to determine, using at least one first value corresponding to the sensors 106, whether the vehicle 10 (e.g., which can be referred to herein as a host vehicle) is moving from a first lane 202 to a second lane 204.

[0048] In response to determining that the vehicle 10 is moving from the first lane 202 to the second lane 204, the controller 100 can determine, using at least one second value corresponding to the sensors 106, whether an object (e.g., the vehicle 200) is in a blind zone of the vehicle 10 or within a threshold distance of the vehicle 10 in the second lane 204. The threshold distance includes any suitable distance and can be indicative of a potential collision with the vehicle 10.

[0049] In response to determining that the vehicle 200 is in one of the blind zone of the vehicle 10 or within the threshold distance of the vehicle 10 in the second lane 204, the controller 100 can perform at least one operator assist maneuver. The operator assist maneuver can include any suitable maneuver, including but not limited to those described herein.

[0050] Alternatively, the controller 100 can take no action in response to determining that the vehicle 200 is not in one of the blind zone of the vehicle 10 or within the threshold distance of the vehicle 10 in the second lane 204.

[0051] In some embodiments, as described, vehicle 10 can include an electric power steering system. Controller 100 can perform at least one operator-assisted maneuver by providing a torque overlay to at least one component of the electric power steering system to direct vehicle 10 away from vehicle 200 and / or second lane 204.

[0052] In some embodiments, as described, vehicle 10 can include a steer-by-wire steering system. Controller 100 can perform at least one operator-assisted maneuver by providing a position overlay to at least one component of the steer-by-wire steering system to direct vehicle 10 away from vehicle 200 and / or second lane 204.

[0053] In some embodiments, controller 100 can determine, in response to an ignition-on signal, whether vehicle 10 is moving away from a road on which vehicle 10 is traveling using at least one third value corresponding to sensor 106, as shown in 208 of Figure 3C Controller 100 can perform at least one operator-assisted maneuver in response to determining that vehicle 10 is moving away from the road on which the host vehicle is traveling.

[0054] In some embodiments, controller 100 can determine, in response to an ignition-on signal, whether vehicle 10 is drifting away from a center 210 of first lane 202 using at least one fourth value corresponding to sensor 106, as generally shown in Figure 3D Controller 100 can perform at least one other operator-assisted maneuver in response to determining that vehicle 10 is drifting away from center 210 of first lane 202. Controller 100 can perform the at least one other operator-assisted maneuver by providing lane centering for vehicle 10. In some embodiments, the lane centering is less than a lane centering threshold.

[0055] In some embodiments, as generally shown in Figure 3A Controller 100 can refrain from taking action in response to vehicle 10 drifting out of first lane 202 into second lane 204 or third lane 206 if controller 100 determines, using various sensors 106, that there is no danger in the course of vehicle 10 drifting into second lane 204 (e.g., with or without a signal light) although vehicle 10 is drifting into second lane 204 and / or if controller 100 determines, using various sensors 106, that there is no danger in the course of vehicle 10 drifting into third lane 206 although vehicle 10 is drifting into third lane 206 (e.g., with or without a signal light).

[0056] In some embodiments, as generally shown in Figure 3DAs generally illustrated, if the controller 100 determines, using various sensors 106, that the vehicle 200 is being maneuvered toward the vehicle 10 (e.g., and such maneuvering could be dangerous or result in a potential collision with the vehicle 10), the controller 100 can move the vehicle 10 into the driving lane. The controller 100 can move the vehicle 10 within the driving lane by any suitable amount 212. This amount 212 can include 75 centimeters or other suitable amounts.

[0057] like Figure 3E As generally illustrated, controller 100 can be configured to determine a closed-loop (CL) command based on the angle associated with a push-back command and the angle associated with one or more steering signals provided by the EPS of vehicle 10. Controller 100 can compare the CL command with an open-loop (OL) command. Controller 100 can provide a signal to amplifier K based on at least one of the CL and OL commands. Controller 100 can determine the sum of the amplified signal from amplifier K and a modified auxiliary value from the EPS of vehicle 10. Controller 100 can provide this sum to the EPS of vehicle 10. The EPS can selectively control various aspects of the steering of vehicle 10 (e.g., providing push-back assistance or other suitable aspects of the steering of vehicle 10) based on this sum.

[0058] In some embodiments, controller 100 may perform the methods described herein. However, the methods performed by controller 100 as described herein are not intended to be limiting, and any type of software executing on the controller or processor can perform the methods described herein without departing from the scope of this disclosure. For example, a controller (e.g., a processor executing software within a computing device) may perform the methods described herein.

[0059] Figure 4 This is a flowchart generally illustrating a vehicle operator assistance method 300 according to the principles of this disclosure. At 302, method 300 receives an ignition signal instructing the vehicle's ignition system to be turned on. For example, controller 100 may receive an ignition signal instructing the vehicle 10's ignition system to be turned on.

[0060] At 304, method 300, in response to an ignition start signal, uses at least one first value corresponding to one or more sensors to determine whether the host vehicle is moving from the first lane to the second lane. For example, in response to an ignition start signal, controller 100 can use at least one first value corresponding to one or more sensors 106 to determine whether the host vehicle 10 is moving from the first lane 202 to the second lane 204.

[0061] At 306, the method 300 determines, responsive to determining that the host vehicle is moving from the first lane to the second lane, whether the object is in at least one of the host vehicle's blind spot and the second lane within a threshold distance of the host vehicle using at least one second value corresponding to the one or more sensors. For example, the controller 100 can determine, responsive to determining that the host vehicle is moving from the first lane to the second lane, whether the vehicle 200 or other object is in one of the host vehicle 10's blind spot or the second lane 204 within a threshold distance of the host vehicle 10 using at least one second value corresponding to the one or more sensors 106.

[0062] At 308, the method 300 performs at least one operator-assisted maneuver responsive to determining that the object is in at least one of the host vehicle's blind spot and the second lane within a threshold distance of the host vehicle. For example, the controller 100 can perform at least one operator-assisted maneuver responsive to determining that the vehicle 200 or other object is in one of the host vehicle 10's blind spot or the second lane 204 within a threshold distance of the host vehicle 10.

[0063] At 310, the method 300 does not perform at least one operator-assisted maneuver responsive to determining that the object is not in at least one of the host vehicle's blind spot and the second lane within a threshold distance of the host vehicle. For example, the controller 100 does not perform at least one operator-assisted maneuver responsive to determining that the vehicle 200 or other object is not in one of the host vehicle 10's blind spot or the second lane 204 within a threshold distance of the host vehicle 10.

[0064] Figure 5 is a flowchart generally showing an alternative vehicle operator-assisted method 400 according to the principles of the present disclosure. At 402, the method 400 receives at least one steering signal. For example, the controller 100 can receive any suitable steering signal, such as those described herein or any other suitable steering signal.

[0065] At 404, the method 400 generates a vehicle path prediction based on the at least one steering signal. For example, the controller 100 can generate a path prediction for the vehicle 10 based on the at least one steering signal.

[0066] At 406, the method 400 determines whether the vehicle is staying in a current lane. For example, the controller 100 can determine whether the vehicle 10 is staying in a current lane of travel (e.g., based on the at least one steering signal, the path prediction, any other suitable signal or information, or a combination thereof). If the controller 100 determines that the vehicle 10 is staying in a current lane of travel, the method 400 continues at 410. If the controller 100 determines that the vehicle 10 is not staying in a current lane of travel, the method 400 continues at 408.

[0067] At 408, the method 400 maintains the lane keeping and / or lane centering. For example, the controller 100 can continue to provide the lane keeping feature and / or the lane centering feature (e.g., based on the at least one steering signal, the path prediction, any other suitable signal or information, or a combination thereof).

[0068] At 410, the method 400 suspends the lane keeping and / or lane centering. For example, the controller 100 can suspend providing the lane keeping feature and / or the lane centering feature.

[0069] At 412, the method 400 determines whether a conflict exists in the new lane. For example, the controller 100 can determine whether a conflict (e.g., another vehicle, or other object, or suitable conflict) exists in the new lane of travel to which the vehicle 10 is transitioning from the current lane of travel. If the controller 100 determines that a conflict exists in the new lane of travel, the method 400 continues at 416. If the controller 100 determines that no conflict exists in the new lane of travel, the method 400 continues at 414.

[0070] At 414, the method 400 re-engages the lane keeping and / or lane centering. For example, the controller 100 can re-engage the lane keeping feature and / or the lane centering feature.

[0071] At 416, the method 400 determines whether a safety reason for the lane change exists. For example, the controller 100 can determine whether a safety reason (e.g., a slow or stopped vehicle, debris, and / or other suitable safety reason) exists for changing lanes to the new lane of travel. If the controller 100 determines that a safety reason for the lane change exists, the method 400 continues at 420. If the controller 100 determines that no safety reason for the lane change exists, the method 400 continues at 418.

[0072] At 418, the method 400 performs a pushback. For example, the controller 100 performs a pushback feature, including providing a pushback assist, as described herein.

[0073] At 420, the method 400 engages manual driving. For example, the controller 100 engages manual driving, thereby allowing the operator to change lanes without providing a pushback assist.

[0074] In some embodiments, a method for providing vehicle operator assistance. The method includes, in response to an ignition-on signal: determining, using at least one first value corresponding to one or more sensors, whether a host vehicle is moving from a first lane to a second lane; in response to determining that the host vehicle is moving from the first lane to the second lane, determining, using at least one second value corresponding to the one or more sensors, whether an object is in at least one of a blind zone of the host vehicle and the second lane within a threshold distance from the host vehicle; in response to determining that the object is in at least one of the blind zone of the host vehicle and the second lane within the threshold distance from the host vehicle, performing at least one operator assistance maneuver; and in response to determining that the object is not in at least one of the blind zone of the host vehicle and the second lane within the threshold distance from the host vehicle, not performing the at least one operator assistance maneuver.

[0075] In some embodiments, the object comprises a target vehicle. In some embodiments, the host vehicle comprises an electric power steering system. In some embodiments, the at least one operator assistance maneuver comprises providing a torque overlay to at least one component of the electric power steering system to direct the host vehicle away from at least one of the object and the second lane. In some embodiments, the host vehicle comprises a steer-by-wire steering system. In some embodiments, the at least one operator assistance maneuver comprises providing a position overlay to at least one component of the steer-by-wire steering system to direct the host vehicle away from at least one of the object and the second lane. In some embodiments, the method further comprises, in response to the ignition-on signal: determining, using at least one third value corresponding to the one or more sensors, whether the host vehicle is moving away from a road on which the host vehicle is traveling; and in response to determining that the host vehicle is moving away from the road on which the host vehicle is traveling, performing the at least one operator assistance maneuver. In some embodiments, the method further comprises, in response to the ignition-on signal: determining, using at least one fourth value corresponding to the one or more sensors, whether the host vehicle is deviating from a center of the first lane; and in response to determining that the host vehicle is deviating from the center of the first lane, performing at least one other operator assistance maneuver. In some embodiments, the at least one other operator assistance maneuver comprises providing a lane centering for the host vehicle. In some embodiments, the lane centering is less than a lane centering threshold.

[0076] In some embodiments, a system for providing vehicle operator assistance includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor, in response to an ignition-on signal: to determine, using at least one first value corresponding to one or more sensors, whether a host vehicle is moving from a first lane to a second lane; in response to determining that the host vehicle is moving from the first lane to the second lane, to determine, using at least one second value corresponding to the one or more sensors, whether an object is in at least one of a blind zone of the host vehicle and the second lane within a threshold distance from the host vehicle; in response to determining that the object is in at least one of the blind zone of the host vehicle and the second lane within the threshold distance from the host vehicle, to perform at least one operator assistance maneuver; and in response to determining that the object is not in at least one of the blind zone of the host vehicle and the second lane within the threshold distance from the host vehicle, to not perform the at least one operator assistance maneuver.

[0077] In some embodiments, the object includes a target vehicle. In some embodiments, the host vehicle includes an electric power steering system. In some embodiments, the instructions further cause the processor to perform the at least one operator assistance maneuver by providing a torque overlay to at least one component of the electric power steering system to direct the host vehicle away from at least one of the object and the second lane. In some embodiments, the host vehicle includes a steer-by-wire steering system. In some embodiments, the instructions further cause the processor to perform the at least one operator assistance maneuver by providing a position overlay to at least one component of the steer-by-wire steering system to direct the host vehicle away from at least one of the object and the second lane. In some embodiments, the instructions further cause the processor, in response to the ignition-on signal: to determine, using at least one third value corresponding to the one or more sensors, whether the host vehicle is moving away from a road on which the host vehicle is traveling; and in response to determining that the host vehicle is moving away from the road on which the host vehicle is traveling, to perform the at least one operator assistance maneuver. In some embodiments, the instructions further cause the processor, in response to the ignition-on signal: to determine, using at least one fourth value corresponding to the one or more sensors, whether the host vehicle is deviating from a center of the first lane; and in response to determining that the host vehicle is deviating from the center of the first lane, to perform at least one other operator assistance maneuver. In some embodiments, the instructions further cause the processor to perform the at least one other operator assistance maneuver by providing a lane centering for the host vehicle. In some embodiments, the lane centering is less than a lane centering threshold.

[0078] The word “example” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “example” is not necessarily to be construed as preferred or advantageous over other aspects or designs. Rather, use of the word “example” is intended to present concepts in a concrete fashion. As used in this application, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or”. That is, unless specified otherwise, or clear from context, “X includes A or B” is intended to mean any of the natural inclusive permutations. That is, if X includes A; X includes B; or X includes both A and B, then “X includes A or B” is satisfied under any of the foregoing instances. In addition, the articles “a” and “an” as used in this application and the appended claims should generally be construed to mean “one or more” unless specified otherwise or clear from context to be directed to a singular form. Moreover, use of the term “an implementation” or “one implementation” throughout is not intended to mean the same implementation or implementation unless so described.

[0079] Implementations of the systems, algorithms, methods, and instructions described herein can be realized in hardware, software, or any combination thereof. The hardware can include, for example, computers, intellectual property (IP) cores, application-specific integrated circuits (ASICs), programmable logic arrays, optical processors, programmable logic controllers, microcode, microcontrollers, servers, microprocessors, digital signal processors or any other suitable circuit. In the claims, the term “processor” should be understood as encompassing any of the foregoing hardware either alone or in combination. The terms “signal” and “data” are used interchangeably.

[0080] As used herein, the term module can include a packaged functional hardware unit designed for use with other components, a set of instructions executable by a controller (e.g., a processor executing software or firmware), a processing circuit configured to perform a specified function, and a self-contained hardware or software component that is configured to perform a specific function. For example, a module can include an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a circuit, a digital logic circuit, an analog circuit, a combination of discrete circuits, a gate array, and other types of hardware or combinations thereof. In other embodiments, a module can include a memory storing instructions executable by a controller to implement functionality of the module.

[0081] Further, in an aspect, for example, a system described herein can be implemented using a general purpose computer or a special purpose computer programmed to perform any of the corresponding methods, algorithms and / or instructions described herein that are realized as a computer program. Additionally or alternatively, for example, a special purpose computer / processor can be utilized which can include other hardware for carrying out any of the methods, algorithms, or instructions described herein.

[0082] Furthermore, all or portions of the implementations of the present disclosure can take the form of a computer program product accessible from, for example, a computer-usable or computer-readable medium. A computer-usable or computer-readable medium can be, for example, any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the any processor. The medium can be, for example, an electronic, magnetic, optical, electromagnetic, or semiconductor apparatus or device. Other suitable mediums, however, can be used as desired.

[0083] The above-described embodiments, implementations and aspects have been described to allow easy understanding of the present disclosure and are not limiting of the present disclosure. Contrarily, the present disclosure is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, which scope should be accorded the broadest interpretation so as to encompass all such modifications and equivalent structure as is permitted under the law.

Claims

1. A method for providing vehicle operator assistance, the method comprising: in response to an ignition on signal: determining, using at least one first value corresponding to one or more sensors, whether a host vehicle is moving from a first lane to a second lane; in response to determining that the host vehicle is moving from the first lane to the second lane, determining, using at least one second value corresponding to the one or more sensors, whether an object is in at least one of a blind zone of the host vehicle and the second lane within a threshold distance from the host vehicle; in response to determining that an object is in at least one of a blind zone of the host vehicle and the second lane within a threshold distance from the host vehicle, performing at least one operator assistance maneuver, wherein the at least one operator assistance maneuver comprises providing a position overlay to at least one component of a steering system of the host vehicle to direct the host vehicle away from at least one of the object and the second lane; and in response to determining that an object is not in at least one of a blind zone of the host vehicle and the second lane within a threshold distance from the host vehicle, not performing the at least one operator assistance maneuver. the object comprises a target vehicle.

2. The method of claim 1, wherein, the host vehicle comprises an electric power assisted steering system.

3. The method of claim 1, wherein, the at least one operator assistance maneuver comprises providing a torque overlay to at least one component of the electric power assisted steering system to direct the host vehicle away from at least one of the object and the second lane.

4. The method of claim 3, wherein, the steering system of the host vehicle comprises a steer-by-wire steering system.

5. The method of claim 1, wherein, 6. The method of claim 1, further comprising, in response to the ignition on signal: determining, using at least one third value corresponding to the one or more sensors, whether the host vehicle is moving away from a roadway on which the host vehicle is traversing; and in response to determining that the host vehicle is moving away from a roadway on which the host vehicle is traversing, performing the at least one operator assistance maneuver.

7. The method of claim 1, further comprising, in response to the ignition on signal: determining, using at least one fourth value corresponding to the one or more sensors, whether the host vehicle is deviating from a center of the first lane; and in response to determining that the host vehicle is deviating from a center of the first lane, performing at least one other operator assistance maneuver. the at least one other operator assistance maneuver comprises providing a lane centering for the host vehicle.

8. The method of claim 7, wherein, the lane centering is less than a lane centering threshold.

9. The method of claim 8, wherein, 10. A system for providing vehicle operator assistance, the system comprising: a processor; and a memory comprising instructions that, when executed by the processor, cause the processor to: in response to an ignition on signal: determine, using at least one first value corresponding to one or more sensors, whether a host vehicle is moving from a first lane to a second lane; in response to determining that the host vehicle is moving from the first lane to the second lane, determine, using at least one second value corresponding to the one or more sensors, whether an object is in at least one of a blind zone of the host vehicle and the second lane within a threshold distance from the host vehicle; ​ ​ in response to determining that the object is in at least one of a blind zone of the host vehicle and the second lane a threshold distance from the host vehicle, performing at least one operator assist maneuver, wherein the at least one operator assist maneuver comprises providing a position overlay to at least one component of a steering system of the host vehicle to direct the host vehicle away from at least one of the object and the second lane; and in response to determining that the object is not in at least one of a blind zone of the host vehicle and the second lane a threshold distance from the host vehicle, not performing the at least one operator assist maneuver.

11. The system of claim 10, wherein, the object comprises a target vehicle.

12. The system of claim 10, wherein, the host vehicle comprises an electric power assisted steering system.

13. The system of claim 12, wherein, the instructions further cause the processor to perform the at least one operator assist maneuver by providing a torque overlay to at least one component of the electric power assisted steering system to direct the host vehicle away from at least one of the object and the second lane.

14. The system of claim 10, wherein, the steering system of the host vehicle comprises a steer-by-wire steering system.

15. The system of claim 10, wherein, the instructions further cause the processor to, in response to the ignition on signal: use at least one third value corresponding to the one or more sensors to determine whether the host vehicle is moving away from a road on which the host vehicle is traveling; and in response to determining that the host vehicle is moving away from the road on which the host vehicle is traveling, perform the at least one operator assist maneuver.

16. The system of claim 10, wherein, the instructions further cause the processor to, in response to the ignition on signal: use at least one fourth value corresponding to the one or more sensors to determine whether the host vehicle is deviating from a center of the first lane; and in response to determining that the host vehicle is deviating from the center of the first lane, perform at least one other operator assist maneuver.

17. The system of claim 16, wherein, the instructions further cause the processor to perform the at least one other operator assist maneuver by providing a lane centering for the host vehicle.

18. The system of claim 17, wherein, the lane centering is less than a lane centering threshold.

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