Lateral motion control for vehicle, automatic driving control, steering system, vehicle and storage medium

Description

Technical Field

[0001] The application relates to the field of vehicle control, and in particular to a lateral motion control method for a vehicle, a lateral motion control system for a vehicle, an automatic driving controller, a steering system, a vehicle, and a computer readable storage medium.Background Art

[0002] At present, there is an increasing demand for automatic / aided driving, and the research in this field is also simultaneously performed from different dimensions. As an aspect of vehicle control safety, lateral motion control for a vehicle is critical to vehicle driving safety. In a traditional solution, the way of limiting a steering change rate is used to avoid an unexpected steering command. However, this way heavily relies on an initially set judgment criterion for defining a normal / abnormal steering command. This way of setting the criterion in advance is relatively inflexible and cannot accurately reflect the actual condition during vehicle driving. In the other aspect, the initially set judgment criterion will limit the lateral movement of the vehicle such that it is no longer possible to get out of danger by a lateral maneuvering operation, such as in case of emergency. In view of this, a more flexible and efficient lateral motion control mechanism for a vehicle should be proposed. EP 1 462 312A1 directs to a parking assist apparatus, which includes an initial traveling locus calculating means for calculating an initial traveling locus, a new traveling locus calculating means for calculating a new traveling locus when a deviation amount of the present vehicle position from a current traveling locus is equal to or greater than a first predetermined value, and a parking assist means for performing a parking assist characterized in that the parking assist apparatus further includes an initial traveling locus deviation calculating means for calculating the deviation amount of the present vehicle position from the initial traveling locus generated by the calculation of the initial traveling locus calculating means EP 1 462 312 A1 discloses in particular a lateral motion control method for a vehicle, comprising: generating and outputting a steering control command according to a desired track of the vehicle, such that the vehicle moves along an actual track according to the steering control command; determining a vehicle running state, wherein the vehicle running state is generated according to an error value between the desired track and the actual track; and determining whether to stop / limit outputting of the steering control command or not according to the vehicle running state. US 2019 / 0367092 A1 relates to a steering control device and method including an automatic steering controller configured to generate automatic steering information corresponding to at least one of steering torque information or steering angle information used for controlling a vehicle travelling in an automatic steering mode; a driver steering information detector configured to detect driver steering information generated according to a steering wheel operation of the driver; and an automatic steering mode deactivator configured to determine the deactivation of the automatic steering mode based on the driver steering information and the difference value between the driver steering information and the automatic steering information if the driver steering information is detected during the automatic steering mode, and to deactivate the automatic steering mode if the deactivation of the automatic steering mode is determined. US 2018 / 0304918 A1 directs to an automatic driving system, which comprises an electric power steering apparatus and a control apparatus that performs automatic steering control. The control apparatus is programmed to perform determining processing and coping processing. In the determining processing, it is determined whether the automatic driving system is working well or not working well, based on tracking condition of the target traveling route by the vehicle. Summary of the Invention

[0003] Embodiments of the application provide a lateral motion control method for a vehicle, a lateral motion control system for a vehicle, an automatic driving controller, a steering system, a vehicle, and a computer readable storage medium, which are used for controlling lateral motion of the vehicle.

[0004] According to an aspect of the application, provided is a lateral motion control method for a vehicle, comprising: generating and outputting a steering control command according to a desired track of the vehicle, such that the vehicle moves along an actual track according to the steering control command during driving; determining a vehicle running state, wherein the vehicle running state is generated according to an error value between the desired track and the actual track; and determining whether to stop / limit outputting of the steering control command or not according to the vehicle running state to avoid the vehicle being at a risk of becoming out of control, and wherein determining the vehicle running state comprises: determining an acceptable steering torque range of the vehicle at a current vehicle speed on the basis of the error value.

[0005] In some embodiments of the application, optionally, the vehicle running state comprises at least one of: a variation trend of the error value; whether a current steering torque is within the acceptable steering torque range or not; and the time during which the current steering torque is beyond the acceptable steering torque range.

[0006] In some embodiments of the application, optionally, determining whether to stop / limit outputting of the steering control command or not according to the vehicle running state: stopping / limiting outputting of the steering control command in response to the error value having an increasing trend, the current steering torque being beyond the acceptable steering torque range, and / or the time during which the current steering torque is beyond the acceptable steering torque range exceeding a preset time.

[0007] In some embodiments of the application, optionally, if the continuous time during which the current steering torque is beyond the acceptable steering torque range reaches a time threshold value, determining that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time; and / or in the case of consecutive sampling of a predetermined number of times at predetermined time intervals, if the count percentage of the current steering torque being beyond the acceptable steering torque range exceeds a proportion threshold value, determining that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time.

[0008] According to another aspect of the application, provided is a lateral motion control system for a vehicle, comprising: a generation module configured to generate and output a steering control command according to a desired track of the vehicle, such that the vehicle moves along an actual track according to the steering control command during driving; and a monitoring module configured to determine a vehicle running state and to determine whether to stop / limit the generating module to output the steering control command or not according to the vehicle running state to avoid the vehicle being at a risk of becoming out of control, wherein the vehicle running state is generated according to an error value between the desired track and the actual track, and wherein the monitoring module is configured to: determine an acceptable steering torque range corresponding to the error value of the vehicle at a current vehicle speed on the basis of the error value.

[0009] In some embodiments of the application, optionally, the vehicle running state comprises at least one of: a variation trend of the error value; whether a current steering torque is within the acceptable steering torque range or not; and the time during which the current steering torque is beyond the acceptable steering torque range.

[0010] In some embodiments of the application, optionally, the monitoring module is configured to stop / limit outputting of the steering control command from the generating module in response to the error value having an increasing trend, the current steering torque being beyond the acceptable steering torque range, and / or the time during which the current steering torque is beyond the acceptable steering torque range exceeding a preset time.

[0011] In some embodiments of the application, optionally, the monitoring module is configured to: determine that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time if the continuous time during which the current steering torque is beyond the acceptable steering torque range reaches a time threshold value; and / or in the case of consecutive sampling of a predetermined number of times at predetermined time intervals, if the count percentage of the current steering torque being beyond the acceptable steering torque range exceeds a proportion threshold value, determining that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time.

[0012] According to another aspect of the application, provided is a vehicle, comprising any one of the lateral motion control systems for the vehicle as described above.Brief Description of the Drawings

[0013] The above and other objectives and advantages of this application will be more thorough and clearer from the following detailed description in conjunction with the drawings, where the same or similar elements are represented by the same reference numerals. Fig. 1 shows a lateral motion control method for a vehicle according to an embodiment of the application. Fig. 2 shows a lateral motion control system for a vehicle according to an embodiment of the application. Fig. 3 shows the principle of lateral motion control for vehicle according to the prior art. Detailed Description of Embodiments

[0014] For the sake of brevity and illustrative purposes, the principles of this application are mainly described herein with reference to its exemplary embodiments.

[0015] A track in the context of the invention refers to a set of all locations of the vehicle as a mass point in an inertial coordinate system (not including time or velocity variables). For example, a desired track refers to a set of all locations of the vehicle as a mass point running in an inertial coordinate system, and an actual track refers to a set of all locations of the vehicle in actually running. In some scenarios, if the selection of the coordinate system does not affect computational complexity, various tracks may also be generated in other coordinate systems than the vehicle coordinate system, where practicable.

[0016] Fig. 3 shows the principle of lateral motion control for vehicle according to the prior art. Currently, in order for enabling a lateral motion control function such as automatic drive to meet the functional safety requirements of ASIL-D, the functional safety requirements of ASIL-D are typically assigned to a steering actuator for execution such that the steering actuator may limit a lateral drive torque / angle request magnitude and the rate of change of an automatic driving controller below a certain value. This way is sufficient for a low-level automatic driving function that allows the steering actuator to monitor the automatic driving controller. Even if the automatic driving controller issues an unexpected steering command, due to the limitation of the steering actuator on a steering command amplitude rate, it can also be ensured that the entire automatic driving function is not against the functional safety objective of the entire vehicle.

[0017] Although the steering actuator limits the lateral control input of the automatic driving controller, this way can only meet the performance requirements of the low-level automatic driving function. For a high-level automatic driving function, sometimes, there is also a need to remove the limitation of the steering actuator's request for the automatic driving controller due to the need to cope with more complex vehicle operation scenarios. This objective is inconsistent with the original intention of limiting the lateral control input of the automatic driving controller by using the steering actuator.

[0018] According to an aspect of the application, provided is a lateral motion control method for a vehicle. As shown in Fig. 1, the lateral motion control method 10 for the vehicle (referred to simply as a method 10 or a process 10) comprises the following steps: in step S102, generating and outputting a steering control command according to a desired track of the vehicle, such that the vehicle moves along an actual track according to the steering control command; in step S104, determining a vehicle running state according to an error value between the desired track and the actual track; and in step S106, determining whether to stop / limit outputting of the steering control command or not according to the vehicle running state.

[0019] The method 10 generates and outputs the steering control command according to the desired track of the vehicle in step S102. In some examples of the application, the steering control command is generated on the basis of a steering demand that may result from the adjustment of a motion track. For example, with respect to the current track, the desired (motion) track is a desired vehicle driving track, and the vehicle may be driven to reach the desired track by means of a steering operation. For example, during automatic driving, a corresponding controller of the vehicle may continuously generate a control amount for achieving the desired track, such as the steering control command, by a control means (such as PID control and MPC control) according to a desired variable, a feedback variable, and a certain disturbance input. The control process of generating the steering control command is repeated continuously throughout the automatic driving process.

[0020] However, limited by the computational accuracy and the complexity of the vehicle's condition, even if the vehicle receives the steering control command that desires to drive the vehicle to the desired track and executes a steering operation according to the command, the vehicle may also not strictly advance according to the desired track, but may advance on a motion track that deviates from the desired track, which is referred to as an actual track in the context of the application. In other words, the steering control command is generated according to the desired track, but when the actuator on the vehicle actually executes the steering control command (due to an error of the actuator itself and disturbances present in the surrounding environment), the vehicle eventually follows an actual track that deviates from the desired track. In some examples of the invention, the working principle of determining whether the vehicle is at risk of becoming out of control (namely, being against a whole vehicle safety metric for lateral control of the vehicle) or not according to the desired track and the actual track will be described in detail below.

[0021] The method 10 determines the vehicle running state according to the error value between the desired track and the actual track in step S 104. The vehicle is driven by the steering control command to run along the actual track, in some cases, the deviation between the actual track and the desired track may be so small as to be negligible; in other cases, the deviation between the actual track and the desired track may be so great as to affect vehicle control stability or even driving safety. The error value of the desired track and the actual track may be evaluated in step S104 to determine whether the vehicle running state generated according to the error value of the desired track and the actual track may affect the control stability or even the driving safety, and an active safety measure may be taken according to an evaluation result in the following step.

[0022] The method 10 determines whether to stop / limit outputting of the steering control command or not according to the vehicle running state in step S106. For example, when the vehicle running state is sufficient to affect control or even driving safety, the outputting of the steering control command may be stopped or limited; otherwise, the steering control command may continue to be output. In some examples, if the outputting of the steering control command is stopped during automatic driving, a reminder may be sent to a driver such that the driver takes over the vehicle. In some examples, the outputting of the steering control command may be limited, for example, the magnitude, rate of change, etc. of a steering torque / steering angle in the steering control command may be limited below a predetermined value. In some examples, after the outputting of the steering control command is stopped or limited, the vehicle may be parked in a safe state according to an established program.

[0023] In some embodiments of the application, an acceptable steering torque range corresponding to the error value of the vehicle at a current vehicle speed is also determined in step S104, and the vehicle running state is further determined according to the error value and / or the acceptable steering torque range.

[0024] In some examples, the error value of the desired track and the actual track is a distance value, for example, a few centimeters. In this case, the error value may be used to measure the vehicle running state. In some examples, the acceptable steering torque range of the vehicle at the current vehicle speed may also be determined according to the error value. In general, the error value may cause that the vehicle is at risk of becoming out of control, and the uncontrolled degree varies as the current speed of the vehicle varies. In some examples, the relative relationship of the error value, the current vehicle speed and the acceptable steering torque range of the vehicle may be calibrated according to the safety metric of the whole vehicle, which may include a limit value for lateral acceleration. The above calibration process may be completed in advance in an offline manner, and a calibration result may be stored in a table form. The stored table may be invoked in use, for example, the acceptable steering torque range of the vehicle may be derived by looking up the table according to the error value of the desired track and the actual track of the vehicle and the current vehicle speed.

[0025] In some embodiments of the application, the vehicle running state includes at least one of: a variation trend in the error value (for example, the error becomes larger or smaller); whether a current steering torque is within the acceptable steering torque range or not; and the time during which the current steering torque is beyond the acceptable steering torque range.

[0026] In some embodiments of the application, the outputting of the steering control command may be stopped / limited in step S106 in response to an increasing trend in the error value (one of the indications that the vehicle is at risk of becoming out of control), the current steering torque being beyond the acceptable steering torque range (one of the indications that the vehicle is at risk of becoming out of control) and / or the time during which the current steering torque is beyond the acceptable steering torque range exceeding the preset time (one of the indications that the vehicle is at risk of becoming out of control); otherwise, the steering control command may continue to be output. At least one of the above three criteria for evaluating the representations that the vehicle is at risk of becoming out of control may be selected as desired for implementation.

[0027] In some embodiments of the application, if the continuous time during which the current steering torque is beyond the acceptable steering torque range (greater than its upper limit or less than its lower limit) reaches a time threshold value T th , it is determined that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time (which may also be referred to be greater than the preset time). This process is also known as a sliding time window measurement method. For example, if it is recorded that the current steering torque is beyond the acceptable steering torque range at a moment t 1 , and it is also recorded that the current steering torque is still beyond the acceptable steering torque range until a moment t 2 , which is T th from the moment t 1 , it may be determined that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time (T th ), and it may be further determined that the vehicle is at risk of becoming out of control.

[0028] In some embodiments of the application, in the case of consecutive sampling of a predetermined number of times at predetermined time intervals, if the count percentage of the current steering torque being beyond the acceptable steering torque range exceeds a proportion threshold value, it is determined that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time. Sometimes, continuously examination of the steering torque over a period of time has the high requirement for data processing. In this case, a sampling method may be used to presume whether or not the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time. For example, N consecutive sampling may be performed at predetermined time intervals Δt (for example, N = 20), and if the acquired data indicates that the count percentage of the current steering torque being beyond the acceptable steering torque range is more than 75% (for example, 0.75 * N = 15), it is assumed that the current steering torque is beyond the acceptable steering torque range within the time range (preset time) of Δt * (N-1), and it may be further determined that the vehicle is at risk of becoming out of control.

[0029] The above two manners of determining whether the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time or not may be used alternatively or in combination.

[0030] According to another aspect of the application, provided is a lateral motion control system for a vehicle. As shown in Fig. 2, the lateral motion control system 20 for the vehicle(referred to simply as a system 20) comprises a generation module 202 and a monitoring module 204.

[0031] The generation module 202 of the system 20 is configured to generate and output a steering control command according to a desired track of the vehicle. In some examples of the application, the steering control command is generated on the basis of a steering demand that may result from the adjustment of a motion track. For example, with respect to the current track, the desired (motion) track is a desired vehicle driving track, and the vehicle may be driven to reach the desired track by means of a steering operation. However, limited by the computational accuracy and the complexity of the vehicle's condition, even if the vehicle receives the steering control command that desires to drive the vehicle to the desired track and executes a steering operation according to the command, the vehicle may also not strictly advance according to the desired track, but may advance on a motion track that deviates from the desired track, which is referred to as an actual track in the context of the application. In other words, the steering control command is generated according to the desired track, but when the steering control command is actually executed, the vehicle is driven to the actual track. In some practices of the invention, the working principle of determining whether the vehicle is at risk of becoming out of control (namely, being against a whole vehicle safety metric for lateral control of the vehicle) or not according to the desired track and the actual track will be described in detail below.

[0032] The monitoring module 204 of the system 20 is configured to generate a vehicle running state according to the error value of the desired track and the actual track, and to determine whether to stop / limit the generating module 202 to output a steering control command according to the vehicle running state. The vehicle is driven by the steering control command to run along the actual track, in some cases, the deviation between the actual track and the desired track may be so small as to be negligible; In other cases, the deviation between the actual track and the desired track may be so great as to affect vehicle handling or even driving safety. The monitoring module 204 may evaluate the error value of the desired track and the actual track to determine whether the vehicle running state generated according to the error value of the desired track and the actual track may affect the control or even the driving safety, and an active safety measure may be taken according to an evaluation result in the following step.

[0033] For example, the monitoring module 204 may stop or limit the outputting of the steering control command when the vehicle running state is sufficient to affect control or even driving safety; otherwise, the steering control command may continue to be output. In some examples, if the outputting of the steering control command is stopped during automatic driving, a reminder may be sent to a driver such that the driver takes over the vehicle. In some examples, the outputting of the steering control command may be limited, for example, the magnitude, rate of change, etc. of a steering torque / steering angle in the steering control command may be limited below a predetermined value. In some examples, after the outputting of the steering control command is stopped or limited, the vehicle may be parked in a safe state according to an established program.

[0034] In some embodiments of the application, the monitoring module 204 is configured to determine an acceptable steering torque range corresponding to the error value of the vehicle at the current vehicle speed, and the monitoring module 204 is configured to further determine the vehicle running state according to the error value and / or the acceptable steering torque range.

[0035] In some examples, the error value of the desired track and the actual track is a distance value, for example, a few centimeters. In this case, the error value may be used to measure the vehicle running state. In some examples, the acceptable steering torque range of the vehicle at the current vehicle speed may also be determined according to the error value. In general, the error value may cause that the vehicle is at risk of becoming out of control, and the uncontrolled degree varies as the current speed of the vehicle varies. In some examples, the relative relationship of the error value, the current vehicle speed and the acceptable steering torque range of the vehicle may be calibrated according to the safety metric of the whole vehicle, which may include a limit value for lateral acceleration. The above calibration process may be completed in advance in an offline manner, and a calibration result may be stored in a table form. The stored table may be invoked in use, for example, the acceptable steering torque range of the vehicle may be derived according to the error value of the desired track and the actual track of the vehicle and the current vehicle speed.

[0036] In some embodiments of the application, the vehicle running state includes at least one of: a variation trend in the error value (for example, the error becomes larger or smaller); whether a current steering torque is within the acceptable steering torque range or not; and the time during which the current steering torque is beyond the acceptable steering torque range.

[0037] In some embodiments of the application, the monitoring module 204 is configured to stop / limit outputting of the steering control command from the generation module 202 in response to an increasing trend in the error value (one of the indications that the vehicle is at risk of becoming out of control), the current steering torque being beyond the acceptable steering torque range (one of the indications that the vehicle is at risk of becoming out of control) and / or the time during which the current steering torque is beyond the acceptable steering torque range exceeding the preset time (one of the indications that the vehicle is at risk of becoming out of control); otherwise, the steering control command may continue to be output. The monitoring module 204 may select at least one of the above three criteria for evaluating the representations that the vehicle is at risk of becoming out of control for implementation.

[0038] In some embodiments of the application, the monitoring module 204 is configured to determine that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time in the case where the continuous time during which the current steering torque is beyond the acceptable steering torque range (greater than its upper limit or less than its lower limit) reaches a time threshold value T th . This process is also known as a sliding time window measurement method. For example, if the monitoring module 204 records that the current steering torque is out of the acceptable steering torque range at a moment t 1 , and records that the current steering torque is still beyond the acceptable steering torque range until a moment t 2 , which is T th from the moment t 1 , it may be determined that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time (T th ), and it may be further determined that the vehicle is at risk of becoming out of control.

[0039] The monitoring module 204 may also be configured to determine, in the case of consecutive sampling of a predetermined number of times at predetermined time intervals, that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time if the count percentage of the current steering torque being beyond the acceptable steering torque range exceeds a proportion threshold value. Sometimes, continuously examination of the steering torque over a period of time has the high requirement for data processing. In this case, a sampling method may be used to presume whether or not the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time. For example, the monitoring module 204 may perform N consecutive sampling at predetermined time intervals Δt (for example, N = 20), and if the data acquired by the monitoring module 204 indicates that the count percentage of the current steering torque being beyond the acceptable steering torque range is more than 75% (for example, 0.75 * N = 15), it is assumed that the current steering torque is beyond the acceptable steering torque range within the time range (preset time) of Δt * (N-1), and it may be further determined that the vehicle is at risk of becoming out of control.

[0040] The above two manners of determining whether the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time or not may be used alternatively or in combination.

[0041] According to another aspect of the application, provided is a vehicle, comprising any one of the lateral motion control systems for the vehicle as described above.

Claims

1. A lateral motion control method (10) for a vehicle, <b>characterized by comprising: generating and outputting a steering control command according to a desired track of the vehicle (S102), such that the vehicle moves along an actual track according to the steering control command during driving; determining a vehicle running state (S 104), wherein the vehicle running state is generated according to an error value between the desired track and the actual track; and determining whether to stop / limit outputting of the steering control command or not according to the vehicle running state (106) to avoid the vehicle being at a risk of becoming out of control, and wherein determining a vehicle running state (S104) comprises: determining an acceptable steering torque range of the vehicle at a current vehicle speed on the basis of the error value.

2. The method (10) of claim 1, wherein the vehicle running state comprises at least one of: a variation trend of the error value; whether a current steering torque is within the acceptable steering torque range or not; and the time during which the current steering torque is beyond the acceptable steering torque range.

3. The method (10) of any one of claim 1 or 2, wherein determining whether to stop / limit outputting of the steering control command or not according to the vehicle running state (106) comprises: stopping / limiting outputting of the steering control command in response to the error value having an increasing trend, the current steering torque being beyond the acceptable steering torque range, and / or the time during which the current steering torque is beyond the acceptable steering torque range exceeding a preset time.

4. The method (10) of claim 3, wherein determining that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time if the continuous time during which the current steering torque is beyond the acceptable steering torque range reaches a time threshold value; and / or in the case of consecutive sampling of a predetermined number of times at predetermined time intervals, if the count percentage of the current steering torque being beyond the acceptable steering torque range exceeds a proportion threshold value, determining that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time.

5. A lateral motion control system (20) for a vehicle, preferably adapted to perform the method of any one of claims 1 to 5, <b>characterized by comprising: a generation module (202) configured to generate and output a steering control command according to a desired track of the vehicle, such that the vehicle moves along an actual track according to the steering control command during driving; and a monitoring module (204) configured to determine a vehicle running state and to determine whether to stop / limit outputting of a steering control command from the generating module according to the vehicle running state to avoid the vehicle being at a risk of becoming out of control, wherein the vehicle running state is generated according to an error value between the desired track and the actual track, and wherein the monitoring module (204) is configured to: determine an acceptable steering torque range corresponding to the error value of the vehicle at a current vehicle speed on the basis of the error value.

6. The system of claim 5, wherein the vehicle running state comprises at least one of: a variation trend of the error value; whether a current steering torque is within the acceptable steering torque range or not; and the time during which the current steering torque is beyond the acceptable steering torque range.

7. The system of claim 5 or 6, wherein the monitoring module (204) is configured to stop / limit outputting of the steering control command from the generating module in response to the error value having an increasing trend, the current steering torque being beyond the acceptable steering torque range, and / or the time during which the current steering torque is beyond the acceptable steering torque range exceeding a preset time.

8. The system of claim 7, wherein the monitoring module (204) is configured to: determine that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time if the continuous time during which the current steering torque is beyond the acceptable steering torque range reaches a time threshold value; and / or in the case of consecutive sampling of a predetermined number of times at predetermined time intervals, if the count percentage of the current steering torque being beyond the acceptable steering torque range exceeds a proportion threshold value, determining that the time during which the current steering torque is beyond the acceptable steering torque range exceeds the preset time.

9. A vehicle, characterized by comprising the lateral motion control system for a vehicle of any one of claims 5 to 8.