ALWAYS-ON ADVANCED LATERAL DRIVER ASSISTANCE SYSTEM

Abstract

Method (300) for providing a driver assistance system, wherein the method (300) comprises: in response to an ignition turn-on signal (302): Determine (304), using at least one first value associated with one or more sensors (106), whether a host vehicle (10) is moving from a first lane (202) to a second lane (204); in response to the detection (304) that the host vehicle (10) is moving from the first lane (202) to the second lane (204), detection (306), using at least one second value assigned to the one or more sensors (106), whether an object is in a blind spot of the host vehicle (10) and / or on the second lane (204) within a threshold distance of the host vehicle (10); in response to the detection (306) that an object is in the blind spot of the host vehicle (10) and / or in the second lane (204) within the threshold distance to the host vehicle (10), perform (308) at least one driver assistance maneuver; and in response to the finding (306) that an object is neither in the blind spot of the host vehicle (10) nor on the second lane (204) within the threshold distance to the host vehicle, not to perform at least one driver assistance maneuver, wherein the host vehicle (10) has electronic power steering, characterized by the fact that that includes at least one driver assistance maneuver providing a torque superposition to at least one component of the electronic power steering to steer the host vehicle (10) away from the object.

Description

TECHNICAL AREA

[0001] This disclosure relates to advanced driver assistance systems and, in particular, to features of an always-on advanced lateral driver assistance system. BACKGROUND

[0002] Vehicles such as cars, trucks, sport utility vehicles, crossovers, minivans, marine vessels, aircraft, off-road vehicles, motorhomes, and other suitable vehicles are increasingly equipped with driver assistance features, such as advanced driver assistance systems. These systems can offer lane keeping, lane centering, and similar functions that assist the driver in staying in their lane, avoiding collisions, maintaining a position within the lane, and so on.

[0003] Typically, such systems require a driver selection to activate a corresponding system function (e.g., to turn the function on and / or off). For example, a lane keeping assist function may remain deactivated until the driver selects it (e.g., via a button or other suitable selection device), at which point the lane keeping assist function activates and helps the driver stay in the lane. Such selection may be perceived as cumbersome by the driver, as operating the vehicle involves various other buttons, actuators, selections, and driver interventions. Additionally or alternatively, at least some functions of such systems may not operate as the driver expects. Consequently, such system functions may remain deactivated and unused by the driver.Reasons for not using such system functions may include the driver's distrust of one or more functions, or environmental sensors (e.g., radio detection and distance measurement sensors, image capture sensors, etc.) providing inaccurate information for controlling various aspects of the vehicle due to dust, dirt, snow, rain, sunlight, etc. Furthermore, the overall control of such functions may not provide the driver with the desired operating feel, particularly a desirable steering feel.

[0004] German patent application DE 10 2015 214 573 A1 discloses a method according to the respective preambles of claims 1 and 2 and a system according to the respective preambles of claims 8 and 9. German patent applications DE 10 2007 007 540 A1, DE 10 2014 219 110 A1, DE 10 2007 002 220 A1, DE 10 2006 027 325 A1 and DE 10 2016 201 070 A1 disclose similar methods and systems.

[0005] One of the invention's aims is to increase road safety.

[0006] This problem is solved according to the invention by the subject matter of the independent claims. Advantageous embodiments are defined in the dependent claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The revelation is best understood with the help of the following detailed description, when read in conjunction with the accompanying drawings. It is emphasized that, in accordance with common practice, the various features in the drawings are not to scale. On the contrary, the dimensions of the various features have been arbitrarily enlarged or reduced for clarity. Fig. Figure 1 generally shows a vehicle according to the principles of the present disclosure. Fig. Figure 2 generally shows a driver assistance system with a control unit according to the principles of the present disclosure. Fig. Figures 3A to 3E generally show a vehicle traveling through different lanes of a road according to the principles of the present disclosure. Fig. Figure 4 is a flowchart that generally shows a method for driver assistance in accordance with the principles of the present disclosure. Fig. Figure 5 is a flowchart that generally illustrates an alternative method for driver assistance according to the principles of the present disclosure. DETAILED DESCRIPTION

[0008] The following discussion relates to various embodiments of the disclosure. Although one or more of these embodiments may be preferred, the disclosed embodiments should not be interpreted or otherwise used as limiting the scope of the disclosure, including the claims. Furthermore, the person skilled in the art will understand that the following description has a broad scope, and the discussion of any one embodiment is intended only as an example of that embodiment and is not meant to imply that the scope of the disclosure, including the claims, is limited to that embodiment.

[0009] As described, vehicles such as cars, trucks, sport utility vehicles, crossovers, minivans, watercraft, aircraft, off-road vehicles, recreational vehicles, or other suitable vehicles are increasingly equipped with driver assistance features, for example, advanced driver assistance systems. Such systems can offer lane keeping functions, lane centering functions, and similar features that assist the driver of a vehicle in staying in its lane, avoiding a collision, maintaining a position within the lane, and so on.

[0010] Typically, such systems require a driver selection to activate a corresponding system function (e.g., to turn the function on and / or off). For example, a lane keeping assist function might remain deactivated until the driver selects it (e.g., via a button or other suitable selection device), at which point the lane keeping assist function activates and helps the driver stay in their lane. Such selections can be perceived as cumbersome by the driver, as operating the vehicle involves various other buttons, actuators, selections, and driver interventions.

[0011] Additionally or alternatively, at least some functions of such systems may not work as the driver expects. Consequently, such system functions may remain deactivated and unused by the driver. Reasons for not using such system functions may include the driver's distrust of one or more functions, or environmental sensors (e.g., radio detection and distance sensors, image capture sensors, etc.) providing inaccurate information for controlling various aspects of the vehicle due to dust, dirt, snow, rain, sunlight, etc. Furthermore, the overall control of such functions may not provide the driver with the desired operating feel, particularly a desired steering feel.

[0012] Accordingly, systems and methods such as those described here, which eliminate driver selection for activating advanced driver assistance system (ADAS) functions (e.g., those that can leave such functions continuously enabled), may be desirable. In some embodiments, the systems and methods described here may be configured to provide driver selection for disabling the ADAS functions based on various production requirements.

[0013] The systems and procedures described here can be configured to take no action when vehicle operation is not perfect (e.g., below an ideal operating threshold), as long as the vehicle operation is still considered safe. The systems and procedures described here can be configured to perform relatively minimal (e.g., imperceptible to the driver) measures to assist the driver in operating the vehicle. The systems and procedures described here can be configured to provide ideal driver and / or full vehicle autonomy under certain circumstances. Additionally or alternatively, the systems and procedures described here can be configured to enable semi-autonomous vehicle operation. The systems and procedures described here can be configured to intervene only when the vehicle is likely to enter an unsafe situation.

[0014] In some embodiments, the systems and methods described herein may be configured to activate ADAS functions when the vehicle's ignition is switched on (e.g., by turning it on), so that these functions remain activated throughout the vehicle's operation (e.g., unless deactivated by the driver if the vehicle includes a deactivation option). Such functions may include a blind spot assist function, a lane keeping function, a lane centering function, a lane keeping function, a collision avoidance function, other suitable functions, or a combination thereof.

[0015] In some embodiments, the systems and procedures described herein may be configured so that such functions are always enabled and intervene only when the driver does something unsafe or fails to react to an unsafe situation. For example, if the driver is traveling on a highway and changes lanes (e.g., with or without a signal), the systems and procedures described herein may be configured not to take any action if this movement does not pose a hazard. Alternatively, the systems and procedures described herein may be configured to intervene (e.g., take action) if another vehicle or object is in that lane or in the vehicle's blind spot. For example, the systems and procedures described herein may be configured to intervene and move the vehicle back into its original lane.: pushback]. Additionally or alternatively, the systems and procedures described here can be configured to move the vehicle back to the original lane if there is no lane next to the original lane and the driver deviates from the road (this can be referred to, for example, as "road keeping").

[0016] In some embodiments, as is generally the case in Fig. As shown in Figure 3A, the systems and procedures described here may be configured so that they do not provide the driver with any perceptible assistance and / or intervention, since the vehicle 10 is not in danger, as will be described below (e.g., even if the driver changes lanes without using a signal).

[0017] In some embodiments, as is generally the case in Fig. As shown in Figure 3B, the systems and procedures described herein can be configured to provide vehicle 10 with a reversing assistance based on the fact that vehicle 200 is in the blind spot of vehicle 10.

[0018] In some embodiments, as is generally the case in Fig. As shown in Figure 3C, the systems and procedures described herein can be configured to provide reverse movement assistance for vehicle 10 if drifting of vehicle 10 is dangerous (e.g. because vehicle 10 leaves the road).

[0019] In some embodiments, the systems and methods described herein can be configured to provide a relatively small torque overlay (e.g., in electronic power steering systems) and / or a relatively small position overlay (e.g., in steer-by-wire systems) when providing driver assistance, moving the vehicle away from the detected hazard without moving the vehicle so far as to cause it to enter another lane (e.g., the vehicle can be moved by 75 centimeters or another suitable amount). The torque overlay can be open-loop or closed-loop.

[0020] In some embodiments, as is generally the case in Fig. As depicted in 3D, the systems and methods described herein can be configured to use various sensors of vehicle 10 to detect that vehicle 200 is drifting towards vehicle 10 (which may indicate, for example, a dangerous situation or a potential collision, especially if vehicle 200 is relatively large). The systems and methods described herein can be configured to provide sufficient driver assistance to vehicle 10 to keep it smoothly within its lane by adding a torque overlay to a (reduced) basic assistance function and / or by adding a position overlay to the basic assistance function. In some embodiments, the systems and methods described herein can be configured to use various sensors of the vehicle to detect that the vehicle is traveling relatively straight within its lane.The systems and procedures described here can be configured to provide assistance with relative lane centering, helping to keep the vehicle relatively centered in the lane, which can reduce driver fatigue on longer journeys. The lane centering assistance can be configured so that, when applied, the assistance is imperceptible to the driver (e.g., whether or not the driver's hands are on the steering wheel) and is not sufficient to maintain the center of the lane through every significant curve in the road (e.g., when the driver's hands are not on the steering wheel).

[0021] In some embodiments, the systems and methods described herein may be configured to provide ADAS functions without a selection button for the driver, offer active interventions with a steering feel desirable to the driver, assist the driver in driver-created hazardous situations (e.g., blind spot assist, lane keeping assist, and the like), assist in situations created by other drivers (e.g., road immobilizer, pushback assist, and the like), and provide relatively limited lane centering assistance.

[0022] In some embodiments, the systems and methods described herein may be configured 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 the determination 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 the blind spot of the host vehicle and / or in the second lane within a threshold distance of the host vehicle; in response to the determination that an object is in the blind spot of the host vehicle and / or in the second lane within the threshold distance of the host vehicle, perform at least one driver assistance maneuver;and in response to the finding that an object is neither in the blind spot of the host vehicle nor in the second lane within the threshold distance to the vehicle, which is not performing at least one driver assistance maneuver.

[0023] In some embodiments, the object comprises a target vehicle. In some embodiments, the host vehicle includes an electronic power steering system. In some embodiments, the systems and methods described herein can be configured to perform the at least one driver assistance maneuver by providing torque superposition to at least one component of the electronic power steering system to steer the host vehicle away from the object and / or the second lane.

[0024] In some embodiments, the host vehicle includes a steer-by-wire steering system. In some embodiments, the systems and methods described herein can be configured to perform the at least one driver assistance maneuver by providing a position overlay for at least one component of the steer-by-wire steering system to steer the host vehicle away from the object and / or the second lane.

[0025] In some embodiments, the systems and methods described herein may be configured to: in response to the ignition-on signal, using at least one third value corresponding to one or more sensors, determine whether the host vehicle is moving away from a road traversed by the host vehicle; and in response to the determination that the host vehicle is moving away from the road traversed by the host vehicle, perform at least one driver assistance maneuver.

[0026] In some embodiments, the systems and methods described herein may be configured to: in response to the ignition-on signal, using at least one fourth value corresponding to one or more sensors, determine whether the host vehicle is drifting from the center of the first lane; and in response to the determination that the host vehicle is drifting from the center of the first lane, perform at least one other driver assistance maneuver.

[0027] In some embodiments, the systems and methods described herein can be configured to perform at least one other driver assistance maneuver by providing lane centering for the host vehicle. In some embodiments, the lane centering is less than a lane centering threshold.

[0028] Fig. Figure 1 shows a vehicle 10 in general, according to the principles of this disclosure. The vehicle 10 can be any suitable vehicle, such as a passenger car, a truck, a sport utility vehicle, a minivan, a crossover, any other passenger vehicle, a suitable utility vehicle, or any other suitable vehicle. Although the vehicle 10 is shown as a wheeled passenger vehicle for use on roads, the principles of this disclosure can also apply to other vehicles, such as airplanes, boats, trains, drones, or other suitable vehicles.

[0029] The vehicle 10 comprises a vehicle body 12 and an engine hood 14. A passenger compartment 18 is at least partially enclosed by the vehicle body 12. Another part of the vehicle body 12 encloses an engine compartment 20. The engine hood 14 can be movably attached to a part of the vehicle body 12 such that the engine hood 14 provides access to the engine compartment 20 when the engine hood 14 is in a first or open position, and the engine hood 14 covers the engine compartment 20 when the engine hood 14 is in a second or closed position. In some embodiments, the engine compartment 20 can be located at a rear of the vehicle 10, unlike the generally depicted configuration.

[0030] The passenger compartment 18 can be located behind the engine compartment 20, but it can also be located in front of the engine compartment 20 if the engine compartment 20 is located in the rear part of the vehicle 10. The vehicle 10 can comprise any suitable propulsion system, including an internal combustion engine, one or more electric motors (e.g., of an electric vehicle), one or more fuel cells, a hybrid propulsion system (e.g., of a hybrid vehicle) comprising a combination of an internal combustion engine and one or more electric motors, and / or any other suitable propulsion system.

[0031] In some embodiments, the vehicle 10 may include a gasoline engine, e.g., a spark-ignition engine. In some embodiments, the vehicle 10 may include a diesel engine, such as a compression-ignition engine. The engine compartment 20 houses and / or encloses at least some components of the vehicle 10's drive system. Additionally or alternatively, drive controls such as an accelerator pedal, a brake pedal, a steering wheel, and other such components are arranged in the passenger compartment 18 of the vehicle 10. The drive controls can be operated or controlled by a driver of the vehicle 10 and can be directly connected to the corresponding components of the drive system, such as a throttle valve, a brake, a vehicle axle, a vehicle transmission, and the like. In some embodiments, the drive controls can transmit signals to a vehicle computer (e.g.,(Dive-by-Wire), which in turn can control the corresponding drive component of the drive system. Thus, in some embodiments, vehicle 10 can be an autonomous vehicle.

[0032] In some embodiments, the vehicle 10 includes a transmission connected to a crankshaft via a flywheel, clutch, or fluid coupling. In some embodiments, the transmission is a manual transmission. In some embodiments, the transmission is an automatic transmission. In the case of an internal combustion engine or a hybrid vehicle, the vehicle 10 may include one or more pistons that cooperate with the crankshaft to generate a force that is transmitted via the transmission to one or more axles that rotate the wheels 22. If the vehicle 10 includes one or more electric motors, a vehicle battery and / or a fuel cell supplies energy to the electric motors to rotate the wheels 22.

[0033] Vehicle 10 may include automatic vehicle propulsion systems, such as cruise control, adaptive cruise control, automatic braking control, other automatic vehicle propulsion systems, or a combination thereof. Vehicle 10 may be an autonomous or semi-autonomous vehicle, or another suitable vehicle type. Vehicle 10 may have additional or fewer features than those generally described and / or disclosed herein.

[0034] In some embodiments, the vehicle 10 may include an Ethernet component 24, a CAN bus (Controller Area Network) 26, a MOST component (Media Oriented Systems Transport) 28, a FlexRay component 30 (e.g., a brake-by-wire system and the like), and a LIN component (Local Interconnect Network) 32. The vehicle 10 may use the CAN bus 26, the MOST component 28, the FlexRay component 30, the LIN component 32, other suitable networks or communication systems, or a combination thereof, to transmit various information from, for example, sensors inside or outside the vehicle to, for example, various processors or control units inside or outside the vehicle. The vehicle 10 may have additional or fewer features than those generally described and / or disclosed herein.

[0035] In some embodiments, the vehicle 10 may include a steering system, such as an EPS system, a wired steering system (which may, for example, include or communicate with one or more control units that control the components of the steering system without the use of a mechanical connection between the handwheel and the wheels 22 of the vehicle 10), a hydraulic steering system (which may, for example, include a magnetic actuator integrated into a valve assembly of the hydraulic steering system), or another suitable steering system. The steering system may include an open-feedback control system or mechanism, a closed-feedback control system or mechanism, or a combination thereof.The steering system can be configured to receive various inputs, including but not limited to a handwheel position, an input torque, one or more road wheel positions, other suitable inputs or information, or a combination thereof. Additionally or alternatively, the inputs can include a handwheel torque, a handwheel angle, an engine speed, a vehicle speed, an estimated engine torque command, other suitable inputs, or a combination thereof. The steering system can be configured to provide the steering function and / or control of the vehicle 10. For example, the steering system can generate an auxiliary torque based on the various inputs. The steering system can be configured to selectively control a motor of the steering system using the auxiliary torque to provide steering assistance to the driver of the vehicle 10.

[0036] In some embodiments, the vehicle 10 may contain a control unit, such as the control unit 100, as is generally found in Fig. Figure 2 is shown. The control unit 100 can be any suitable control unit, such as an electronic control unit or another suitable control unit. The control unit 100 can be configured to control, for example, the various functions of the steering system and / or various functions of the vehicle 10. The control unit 100 can include a processor 102 and a memory 104. The processor 102 can be any suitable processor as described herein. Additionally or alternatively, the control unit 100 can include any number of processors in addition to the processor 102, or other processors. The memory 104 can include a single disk or a plurality of disks (e.g., hard disks) and contains a memory management module that manages one or more partitions within the memory 104.In some embodiments, the memory 104 may comprise flash memory, solid-state memory, or the like. The memory 104 may be random access memory (RAM), read-only memory (ROM), or a combination thereof. The memory 104 may contain instructions which, when executed by the processor 102, cause the processor 102 to control at least various aspects of the vehicle 10.

[0037] The control unit 100 can receive one or more signals from various measuring instruments or sensors 106 indicating detected or measured characteristics of the vehicle 10. The sensors 106 can include any suitable sensors, measuring instruments, and / or other suitable mechanisms. For example, the sensors 106 can include one or more torque sensors or devices, one or more handwheel position sensors or devices, one or more engine position sensors or devices, one or more position sensors or devices, other suitable sensors or devices, or a combination thereof. The one or more signals can indicate handwheel torque, handwheel angle, engine speed, vehicle speed, other suitable information, or a combination thereof.

[0038] In some embodiments, the sensors 106 may comprise one or more image acquisition devices (e.g. a camera), one or more audio input devices (e.g. a microphone), one or more global positioning devices, one or more proximity sensors, one or more radar sensors, one or more light detection and distance sensors, one or more ultrasonic sensors, other suitable sensors or devices, or a combination thereof.

[0039] In some embodiments, as commonly found in Fig. As shown in 3A-3E, the control unit 100 can be configured to determine, in response to an ignition-on signal (which may include, for example, any signal indicating that the vehicle is in an operational state), using at least one initial value corresponding to the sensors 106, whether the vehicle 10 (which may be referred to here, for example, as the host vehicle) is moving from a first lane 202 to a second lane 204.

[0040] The control unit 100, in response to the detection that vehicle 10 is moving from the first lane 202 to the second lane 204, can use at least one second value corresponding to sensors 106 to determine whether an object, such as vehicle 200, is in a blind spot of vehicle 10 or is within a threshold distance of vehicle 10 on the second lane 204. The threshold distance can be any suitable distance and indicate a possible collision with vehicle 10.

[0041] The control unit 100 can, in response to the detection that vehicle 200 is either in the blind spot of vehicle 10 or in the second lane 204 within the threshold distance to vehicle 10, perform at least one driver assistance maneuver. The driver assistance maneuver can include any suitable maneuver, including, but not limited to, those described herein.

[0042] Alternatively, in response to the finding that vehicle 200 is not in the blind spot of vehicle 10 or on the second lane 204 within the threshold distance to vehicle 10, the control unit 100 may take no action.

[0043] In some embodiments, the vehicle 10, as described, may include an electronic power steering system. The control unit 100 can perform at least one driver assistance maneuver by providing a torque superposition to at least one component of the electronic power steering system to steer the vehicle 10 away from the vehicle 200 and / or the second lane 204.

[0044] In some embodiments, the vehicle 10, as described, may include a steer-by-wire steering system. The control unit 100 can perform at least one driver assistance maneuver by providing a position overlay for at least one component of the steer-by-wire steering system to steer the vehicle 10 away from the vehicle 200 and / or the second lane 204.

[0045] In some embodiments, the control unit 100 can, in response to the ignition switch-on signal, use at least a third value corresponding to the sensors 106 to determine whether the vehicle 10 is leaving a road traversed by the vehicle 10, as shown in Fig. 3C at 208. The control unit 100 can, in response to the detection that the vehicle 10 has moved away from the road traversed by the host vehicle, perform at least one driver assistance maneuver.

[0046] In some embodiments, the control unit 100 can, in response to the ignition-on signal, use at least a fourth value corresponding to the sensors 106 to determine whether the vehicle 10 is drifting from the center 210 of the first lane 202, as is generally the case in Fig. The control unit 100 is shown in 3D. In response to the detection that the vehicle 10 is drifting from the center 210 of the first lane 202, the control unit 100 can perform at least one further driver assistance maneuver. The control unit 100 can perform at least one further driver assistance maneuver by providing lane centering for the vehicle 10. In some embodiments, the lane centering is less than a lane centering threshold.

[0047] In some embodiments, the control unit can be 100, as is generally the case in Fig. As shown in Figure 3A, no action is taken in response to the drift of the vehicle 10 from the first lane 202 to the second lane 204 or the third lane 206 if the control unit 100, using the various sensors 106, determines that there is no danger when the vehicle 10 drifts to the second lane 204 (e.g., with or without the use of a signal) and / or if the control unit 100, using the various sensors 106, determines that there is no danger when the vehicle 10 drifts to the third lane 206 (e.g., with or without the use of a signal).

[0048] In some embodiments, such as in Fig. In general 3D representation, the control unit 100 can move the vehicle 10 within a lane if, using the various sensors 106, it detects that the vehicle 200 is maneuvering towards the vehicle 10 (e.g., and such a maneuver could be dangerous or cause a possible collision with the vehicle 10). The control unit 100 can move the vehicle 10 by any suitable amount 212 within the lane. The amount 212 can be 75 centimeters or any other suitable amount.

[0049] As in Fig. In general terms, the control unit 100 can be configured to determine a closed-loop command (CL command) [or control loop command] based on an angle associated with a pushback command [or reverse movement command] and an angle associated with one or more steering signals provided by the vehicle's EPS 10. The control unit 100 can compare the CL command with an open-loop command (OL command) [or control command]. Based on the CL command and / or the OL command, the control unit 100 can supply a signal to an amplifier K. The control unit 100 can determine a sum of an amplified signal from amplifier K and a modified assist value from the vehicle's EPS 10. The control unit 100 can supply the sum to the vehicle's EPS 10. The EPS can selectively control various aspects of the vehicle's steering 10 based on the sum (e.g.,by providing pushback assistance or other suitable aspects of the vehicle's steering 10).

[0050] In some embodiments, the control unit 100 can perform the procedures described herein. However, the procedures described herein, which are performed by the control unit 100, are not to be understood as a limitation, and any type of software running on a control unit or a processor can perform the procedures described herein without exceeding the scope of this disclosure. For example, a control unit, such as a processor running software in a computer device, can perform the procedures described herein.

[0051] Fig. Figure 4 is a flowchart that generally illustrates a method 300 for driver assistance according to the principles of the present disclosure. At 302, the method 300 receives an ignition signal indicating that the ignition of a vehicle is switched on. For example, the control unit 100 can receive the ignition signal indicating that the ignition of vehicle 10 is switched on.

[0052] In 304, the method 300, in response to an ignition-on signal, determines, 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. For example, the control unit 100, in response to an ignition-on signal, can determine, using at least one first value corresponding to one or more sensors 106, whether the host vehicle 10 is moving from a first lane 202 to a second lane 204.

[0053] In 306, the procedure 300, in response to the detection that the host vehicle is moving from the first lane to the second lane, uses at least one second value corresponding to one or more sensors to determine whether an object is in the blind spot of the host vehicle and / or in the second lane within a threshold distance of the host vehicle. For example, in response to the detection that the host vehicle is moving from the first lane to the second lane, the control unit 100 can use at least one second value corresponding to one or more sensors 106 to determine whether the vehicle 200 or another object is either in the blind spot of the host vehicle 10 or in the second lane 204 within a threshold distance of the host vehicle 10.

[0054] In procedure 308, the procedure 300 executes at least one driver assistance maneuver in response to the detection that an object is in the blind spot of the host vehicle and / or in the second lane within the threshold distance to the host vehicle. For example, the control unit 100 can perform at least one driver assistance maneuver in response to the detection that the vehicle 200 or another object is in the blind spot of the host vehicle 10 or in the second lane 204 within the threshold distance to the host vehicle 10.

[0055] In case 310, the procedure 300, in response to the determination that an object is neither in the blind spot of the host vehicle nor in the second lane within the threshold distance to the vehicle, does not perform at least one driver assistance maneuver. For example, the control unit 100, in response to the determination that vehicle 200 or another object is neither in the blind spot of host vehicle 10 nor in the second lane 204 within the threshold distance to host vehicle 10, does not perform at least one driver assistance maneuver.

[0056] Fig. Figure 5 is a flowchart that generally shows an alternative method 400 for driver assistance according to the principles of the present disclosure. At 402, the method 400 receives at least one steering signal. For example, the control unit 100 can receive any suitable steering signal, such as those described herein, or any other suitable steering signal.

[0057] In the case of 404, the procedure 400 generates a vehicle path prediction based on at least one steering signal. For example, the control unit 100 can create a path prediction for vehicle 10 based on at least one steering signal.

[0058] At step 406, procedure 400 determines whether the vehicle remains in its current lane. For example, control unit 100 can determine whether vehicle 10 remains in its current lane (e.g., based on at least one steering signal, path prediction, other suitable signals or information, or a combination thereof). If control unit 100 determines that vehicle 10 remains in its current lane, procedure 400 continues at step 410. If control unit 100 determines that vehicle 10 does not remain in its current lane, procedure 400 continues at step 408.

[0059] In procedure 408, procedure 400 retains lane keeping and / or lane centering. For example, the control unit 100 may continue to provide lane keeping and / or lane centering functions (e.g., based on at least one steering signal, path prediction, other suitable signals or information, or a combination thereof).

[0060] At 410, procedure 400 interrupts lane keeping and / or lane centering. For example, control unit 100 can interrupt the provision of lane keeping and / or lane centering functions.

[0061] At step 412, procedure 400 determines whether a conflict exists in the new lane. For example, the control unit 100 can determine whether a conflict (e.g., another vehicle, another object, or a suitable conflict) exists in the new lane to which vehicle 10 is changing from the current lane. If the control unit 100 determines that a conflict exists in the new lane, procedure 400 continues at step 416. If the control unit 100 determines that there is no conflict in the new lane, procedure 400 continues at step 414.

[0062] At 414, procedure 400 reactivates lane keeping and / or lane centering. For example, control unit 100 can reactivate the lane keeping and / or lane centering functions.

[0063] At step 416, procedure 400 determines whether there is a safety reason for the lane change. For example, the control unit 100 can determine whether there is a safety reason (e.g., a slow-moving or stationary vehicle, debris, and / or another suitable safety reason) for changing lanes to the new lane. If the control unit 100 determines that there is a safety reason for the lane change, procedure 400 continues at step 420. If the control unit 100 determines that there is no safety reason for the lane change, procedure 400 continues at step 418.

[0064] In 418, procedure 400 performs the pushback [moving back]. For example, control unit 100 performs the pushback functions described here, including providing pushback assistance.

[0065] At 420, procedure 400 activates manual driving. For example, control unit 100 activates manual driving mode, allowing the driver to change lanes without pushback assistance.

[0066] In some embodiments, a driver assistance method is provided. The method comprises, 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 the determination 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 a blind spot of the host vehicle and / or in the second lane within a threshold distance of the host vehicle; in response to the determination that an object is in the blind spot of the host vehicle and / or in the second lane within the threshold distance of the host vehicle, performing at least one driver assistance maneuver.and in response to the finding that an object is neither in the blind spot of the host vehicle nor in the second lane within the threshold distance to the vehicle, failure to perform at least one driver assistance maneuver.

[0067] In some embodiments, the object comprises a target vehicle. In some embodiments, the host vehicle includes an electronic power steering system. In some embodiments, the at least one driver assistance maneuver comprises providing torque overlay to at least one component of the electronic power steering system to steer the host vehicle away from the object and / or the second lane. In some embodiments, the host vehicle comprises a steer-by-wire steering system. In some embodiments, the at least one driver assistance maneuver comprises providing position overlay to at least one component of the steer-by-wire steering system to steer the host vehicle away from the object and / or the second lane.In some embodiments, the method also includes, in response to the ignition-on signal: determining, using at least one third value corresponding to one or more sensors, whether the host vehicle is moving away from a road traversed by the host vehicle; and, in response to the determination that the host vehicle is moving away from the road traversed by the host vehicle, performing the at least one driver assistance maneuver. In some embodiments, the method also includes, in response to the ignition-on signal: determining, using at least one fourth value corresponding to one or more sensors, whether the host vehicle is drifting from the center of the first lane; and, in response to the determination that the host vehicle is drifting from the center of the first lane, performing the at least one other driver assistance maneuver.In some embodiments, at least one other driver assistance maneuver includes providing lane centering for the host vehicle. In some embodiments, the lane centering is less than a lane centering threshold.

[0068] In some embodiments, a driver assistance system comprises a processor and memory. The memory contains instructions which, 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 the determination that the host vehicle is moving from the first lane to the second lane, using at least one second value corresponding to the one or more sensors, determine whether an object is in the blind spot of the host vehicle and / or in the second lane within a threshold distance of the host vehicle;to perform at least one driver assistance maneuver in response to the detection that an object is in the blind spot of the host vehicle and / or in the second lane within the threshold distance to the host vehicle; and to refrain from performing at least one driver assistance maneuver in response to the detection that an object is neither in the blind spot of the host vehicle nor in the second lane within the threshold distance to the vehicle.

[0069] In some embodiments, the object comprises a target vehicle. In some embodiments, the host vehicle includes an electronic power steering system. In some embodiments, the instructions also cause the processor to perform the at least one driver assistance maneuver by providing a torque overlay for at least one component of the electronic power steering system to steer the host vehicle away from the object and / or the second lane. In some embodiments, the host vehicle comprises a steer-by-wire steering system. In some embodiments, the instructions also cause the processor to perform the at least one driver assistance maneuver by providing a position overlay for at least one component of the steer-by-wire steering system to steer the host vehicle away from the object and / or 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 one or more sensors, whether the host vehicle is moving away from a road traversed by the host vehicle; and, in response to the determination that the host vehicle is moving away from the road traversed by the host vehicle, to perform at least one driver assistance maneuver.In some embodiments, the instructions further instruct the processor, in response to the ignition-on signal: using at least one fourth value corresponding to one or more sensors, to determine whether the host vehicle is drifting from the center of the first lane; and, in response to the detection that the host vehicle is drifting from the center of the first lane, to perform at least one further driver assistance maneuver. In some embodiments, the instructions also instruct the processor to perform the at least one other driver assistance maneuver by providing lane centering for the host vehicle. In some embodiments, the lane centering is less than a lane centering threshold.

[0070] The word "example" is used here to serve as an illustration, instance, or point of reference. Each aspect or design described herein as an "example" is not necessarily to be interpreted as being preferred or advantageous over other aspects or designs. Rather, the use of the word "example" is intended to illustrate concepts in a concrete way. As used in this application, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or." That is to say, unless otherwise stated or evident from the context, "X includes A or B" means any of the natural inclusive permutations. That is to say, if X includes A, X includes B, or X includes both A and B, then "X includes A or B" is satisfied in each of the aforementioned cases.Furthermore, the articles “one / an” as used in this application and the attached claims should generally be interpreted as meaning “one or more”, unless otherwise specified or it is clear from the context that they refer to a singular form. Moreover, the use of the term “an implementation” or “the one implementation” is not synonymous with the same embodiment or implementation unless described as such.

[0071] Implementations of the systems, algorithms, procedures, instructions, etc., described herein may be realized in hardware, software, or any combination thereof. The hardware may 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 circuitry. In the claims, the term "processor" is to be understood as encompassing any of the aforementioned hardware, either individually or in combination. The terms "signal" and "data" are used interchangeably.

[0072] As used herein, the term module can encompass a packaged functional hardware unit designed for use with other components, a set of instructions that can be executed by a control device (such as a processor running software or firmware), processing circuits configured to perform a particular function, and a self-contained hardware or software component that provides an interface to a larger system. For example, a module might 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, gates, and other types of hardware, or a combination thereof.In other embodiments, a module may contain a memory in which instructions are stored that can be executed by a control unit to implement a feature of the module.

[0073] In one aspect, the systems described here can also be implemented, for example, with a general-purpose computer or a general-purpose processor running a computer program that executes the respective procedures, algorithms, and / or instructions described here. Additionally or alternatively, a specialized computer / processor can be used, which may contain other hardware for executing the procedures, algorithms, or instructions described here.

[0074] Furthermore, all or part of the implementations of the present disclosure may take the form of a computer program product accessible, for example, from a computer-usable or computer-readable medium. A computer-usable or computer-readable medium may be any device capable of, for example, containing, storing, transmitting, or transporting the program for use by or in conjunction with any processor. The medium may, for example, be an electronic, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media are also available.

Claims

[1] Method (300) for providing a driver assistance system, wherein the method (300) comprises: in response to an ignition turn-on signal (302): Determine (304), using at least one first value associated with one or more sensors (106), whether a host vehicle (10) is moving from a first lane (202) to a second lane (204); in response to the detection (304) that the host vehicle (10) is moving from the first lane (202) to the second lane (204), detection (306), using at least one second value assigned to the one or more sensors (106), whether an object is in a blind spot of the host vehicle (10) and / or on the second lane (204) within a threshold distance of the host vehicle (10); in response to the detection (306) that an object is in the blind spot of the host vehicle (10) and / or in the second lane (204) within the threshold distance to the host vehicle (10), perform (308) at least one driver assistance maneuver; and in response to the finding (306) that an object is neither in the blind spot of the host vehicle (10) nor on the second lane (204) within the threshold distance to the host vehicle, not to perform at least one driver assistance maneuver, wherein the host vehicle (10) has electronic power steering, characterized by , that that includes at least one driver assistance maneuver providing a torque superposition to at least one component of the electronic power steering to steer the host vehicle (10) away from the object. [2] Method (300) for providing a driver assistance system, wherein the method (300) comprises: in response to an ignition turn-on signal (302): Determine (304), using at least one first value associated with one or more sensors (106), whether a host vehicle (10) is moving from a first lane (202) to a second lane (204); in response to the detection (304) that the host vehicle (10) is moving from the first lane (202) to the second lane (204), detection (306), using at least one second value assigned to the one or more sensors (106), whether an object is in a blind spot of the host vehicle (10) and / or on the second lane (204) within a threshold distance of the host vehicle (10); in response to the detection (306) that an object is in the blind spot of the host vehicle (10) and / or in the second lane (204) within the threshold distance to the host vehicle (10), perform (308) at least one driver assistance maneuver; and in response to the finding (306) that an object is neither in the blind spot of the host vehicle (10) nor on the second lane (204) within the threshold distance to the host vehicle, not to perform at least one driver assistance maneuver, wherein the host vehicle (10) has a steer-by-wire steering system, characterized by , that that includes at least one driver assistance maneuver providing a position overlay for at least one component of the steer-by-wire steering system to steer the host vehicle (10) away from the object. [3] Method (300) according to claim 1 or 2, wherein the object comprises a target vehicle (200). [4] Method (300) according to at least one of the preceding claims, further comprising, in response to the ignition switch-on signal (302): Determine whether the host vehicle (10) is leaving a road traversed by the host vehicle (10), using at least one third value assigned to the one or more sensors (106); and in response to the detection that the host vehicle (10) is leaving the road being traveled by the host vehicle (10), performing (308) at least one driver assistance maneuver. [5] Method (300) according to at least one of the preceding claims, further comprising, in response to the ignition switch-on signal (302): Determine whether the host vehicle (10) is drifting from the center of the first lane (204) using at least one fourth value assigned to the one or more sensors (106); and In response to the detection that the host vehicle (10) is drifting from the center of the first lane (204), perform at least one other driver assistance maneuver. [6] Method (300) according to claim 5, wherein the at least one other driver assistance maneuver comprises providing lane centering for the host vehicle (10). [7] Method (300) according to claim 6, wherein the lane centering is less than a threshold value for lane centering. [8] System for providing driver assistance, comprising: a processor (102); and a memory (104) containing instructions which, when executed by the processor (102), cause the processor (102) to: in response to an ignition turn-on signal (302): using at least one first value assigned to one or more sensors (106) to determine whether a host vehicle (10) is moving from a first lane (202) to a second lane (204); in response to the detection that the host vehicle (10) is moving from the first lane (202) to the second lane (204), to determine, using at least one second value assigned to the one or more sensors (106), whether an object is in a blind spot of the host vehicle (10) and / or on the second lane (204) within a threshold distance of the host vehicle (10); in response to the detection that an object is in the blind spot of the host vehicle (10) and / or in the second lane (204) within the threshold distance to the host vehicle (10), to perform at least one driver assistance maneuver; and in response to the finding that an object is neither in the blind spot of the host vehicle (10) nor on the second lane (204) within the threshold distance to the host vehicle (10), which does not perform at least one driver assistance maneuver, wherein the host vehicle (10) has electronic power steering, characterized by , that the instructions further instruct the processor (102) to perform at least one driver assistance maneuver by providing a torque superposition for at least one component of the electronic power steering to steer the host vehicle (10) away from the object. [9] System for providing driver assistance, comprising: a processor (102); and a memory (104) containing instructions which, when executed by the processor (102), cause the processor (102) to: in response to an ignition turn-on signal (302): using at least one first value assigned to one or more sensors (106) to determine whether a host vehicle (10) is moving from a first lane (202) to a second lane (204); in response to the detection that the host vehicle (10) is moving from the first lane (202) to the second lane (204), to determine, using at least one second value assigned to the one or more sensors (106), whether an object is in a blind spot of the host vehicle (10) and / or on the second lane (204) within a threshold distance of the host vehicle (10); in response to the detection that an object is in the blind spot of the host vehicle (10) and / or in the second lane (204) within the threshold distance to the host vehicle (10), to perform at least one driver assistance maneuver; and in response to the finding that an object is neither in the blind spot of the host vehicle (10) nor on the second lane (204) within the threshold distance to the host vehicle (10), which does not perform at least one driver assistance maneuver, wherein the host vehicle (10) includes a steer-by-wire steering system, characterized by , that the instructions further induce the processor (102) to perform at least one driver assistance maneuver by providing a position overlay for at least one component of the steer-by-wire steering system to steer the host vehicle (10) away from the object. [10] System according to claim 8 or 9, wherein the object comprises a target vehicle (200). [11] System according to at least one of claims 8 to 10, wherein the instructions further cause the processor (102) to, in response to the ignition-on signal: to determine whether the host vehicle (10) is moving away from a road traversed by the host vehicle (10), using at least one third value assigned to the one or more sensors (106); and in response to the detection that the host vehicle (10) is moving away from the road traversed by the host vehicle (10), to perform at least one driver assistance maneuver. [12] System according to at least one of claims 8 to 11, wherein the instructions further cause the processor (102) to, in response to the ignition-on signal: to determine whether the host vehicle (10) is drifting from the center of the first lane (202) using at least one fourth value assigned to the one or more sensors (106); and in response to the detection that the host vehicle (10) is drifting from the center of the first lane (202), to perform at least one further driver assistance maneuver. [13] System according to claim 12, wherein the instructions further cause the processor (102) to perform at least one other driver assistance maneuver by providing lane centering for the host vehicle (10). [14] System according to claim 13, wherein the lane centering is smaller than a threshold value for lane centering.

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