# US 10,479,357 B2 · Lane keeping system for autonomous vehicle in wind conditions > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,479,357 B2 - Document ID: US10479357B2 - Status: Granted - Kind: B2 - Application number: 15/161,502 - Filed: 2016-05-23 - Published: 2017-11-23 - Granted: 2019-11-19 - Earliest claimed: 2016-05-23 - Assignees: Aptiv Technologies AG - Applicants: Aptiv Technologies Limited - Inventors: Kevin J. Hawes; Ehsan Samiei; Michael I. Chia - Web page: https://patentgrep.com/patent/US10479357B2 ## CPC - B60W 30/12: Lane keeping - B60G 17/0165: to an external condition, e.g. rough road surface, side wind - B60R 21/0136: responsive to actual contact with an obstacle {, e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle (monitoring crash strength in combination with passenger seat detection B60R21/01558)} - B60R 21/36: using airbags - B60W 10/20: including control of steering systems - B60W 10/22: including control of suspension systems - B60W 40/02: related to ambient conditions - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G07C 5/00: Registering or indicating the working of vehicles - G08G 1/09626: {where the origin of the information is within the own vehicle, e.g. a local storage device, digital map} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2520/10: Longitudinal speed - B60W 2555/20: Ambient conditions, e.g. wind or rain - B60W 2710/207: Steering angle of wheels - B60W 2710/223: Stiffness - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60G: VEHICLE SUSPENSION ARRANGEMENTS (air-cushion vehicles B60V; {cycle suspensions B62K25/00}) - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A lane keeping system includes an absolute pressure sensor located in a door on each of opposing sides of a vehicle. Each sensor generates a signal indicative of a door cavity pressure on that side of the vehicle. A safety restraint system (SRS) controller is in communication with the pressure sensor. The SRS controller is configured to determine a collision event in response to the signal (e.g., increased pressure in the door as it is crushed) and activate a safety restraint component in response to the determined collision event. A lane keeping system (LKS) controller is in communication with the pressure sensors. The LKS controller determines a lateral wind force on the vehicle in response to the signal from each pressure sensor. The LKS controller determines a correction in response to the determined lateral wind force to maintain the vehicle along a desired path. ## Claims ### Claim 1 A lane keeping system for a vehicle comprising: a pressure sensor configured to generate a signal indicative of a pressure; a safety restraint system (SRS) controller in communication with the pressure sensor, the SRS controller configured to determine a collision event in response to the signal and activate a safety restraint component in response to the determined collision event; and a lane keeping system (LKS) controller in communication with the pressure sensor, the LKS controller configured to determine a lateral wind force on the vehicle in response to the signal, the LKS controller configured to determine a correction in response to the determined lateral wind force to maintain the vehicle along a desired path. ### Claim 2 (depends on 1) The system according to claim 1, comprising a vehicle body that includes an exterior body panel that at least partially defines an enclosed cavity, the pressure sensor is arranged in the enclosed cavity, and the exterior body panel includes an opening in fluid communication with the enclosed cavity. ### Claim 3 (depends on 2) The system according to claim 2, wherein the vehicle body includes a door that provides the exterior body panel and the enclosed cavity. ### Claim 4 (depends on 2) The system according to claim 2, comprising a body molding mounted to the exterior body panel over the opening, the body molding includes an aperture in fluid communication with the opening. ### Claim 5 (depends on 1) The system according to claim 1, wherein the safety restraint component includes an airbag. ### Claim 6 (depends on 1) The system according to claim 1, wherein the pressure sensor is an absolute pressure sensor, the vehicle includes opposing lateral sides, and one of the pressure sensor is arranged on each of the opposing lateral sides. ### Claim 7 (depends on 6) The system according to claim 6, wherein a differential pressure is measured from the absolute pressure sensors, and the lateral wind force is determined based upon a product of the differential pressure and an area of a lateral side of the vehicle, wherein the correction is a function of the lateral wind force, a vehicle speed, a steering ratio, a tire coefficient, and a suspension coefficient. ### Claim 8 (depends on 1) The system according to claim 1, comprising a steering system in communication with the LKS controller, the LKS controller configured to add a wind compensation value to a commanded steering angle to maintain the vehicle along a desired path and counteract the determined wind force. ### Claim 9 (depends on 1) The system according to claim 1, comprising a suspension system in communication with the LKS controller, the LKS controller configured to add a wind compensation value to a desired suspension stiffness to maintain the vehicle along a desired path and counteract the determined wind force. ### Claim 10 (depends on 1) The system according to claim 1, wherein the SRS controller includes a filter configured to condition the signal and remove effects of noise due to wind. ### Claim 11 A lane keeping system for a vehicle comprising: a vehicle body having a first door panel on one side of the vehicle body and a second door panel on another side of the vehicle body; first and second absolute pressure sensors configured to respectively generate first and second signals indicative of first and second pressures, the first absolute pressure sensor located in the first door panel and the second absolute pressure sensor located in the second door panel; and a lane keeping system (LKS) controller in communication with the first and second absolute pressure sensors, the LKS controller configured to determine a lateral wind force on the vehicle in response to a difference between the first and second signals, the LKS controller configured to determine a correction in response to the determined lateral wind force to maintain the vehicle along a desired path. ### Claim 12 (depends on 11) The system according to claim 11, wherein the first and second door panels each at least partially define an enclosed cavity, the first absolute pressure sensor is arranged in the enclosed cavity of the first door panel, and the second absolute pressure sensor is arranged in the enclosed cavity of the second door panel. ### Claim 13 (depends on 12) The system according to claim 12, wherein each of the first and second door panels includes an opening in fluid communication with its enclosed cavity. ### Claim 14 (depends on 13) The system according to claim 13, comprising a body molding mounted to each door panel over its respective opening, the body molding includes an aperture in fluid communication with its respective opening. ### Claim 15 (depends on 11) The system according to claim 11, wherein a differential pressure is measured from the first and second signals, and the lateral wind force is determined based upon a product of the differential pressure and an area of a lateral side of the vehicle, wherein the correction is a function of the lateral wind force, a vehicle speed, a steering ratio, a tire coefficient, and a suspension coefficient. ### Claim 16 (depends on 11) The system according to claim 11, comprising a steering system in communication with the LKS controller, the LKS controller configured to add a wind compensation value to a commanded steering angle to maintain the vehicle along a desired path and counteract the determined wind force. ### Claim 17 (depends on 11) The system according to claim 11, comprising a suspension system in communication with the LKS controller, the LKS controller configured to add a wind compensation value to a desired suspension stiffness to maintain the vehicle along a desired path and counteract the determined wind force. ### Claim 18 A method of maintaining a vehicle along a desired path comprising the steps of: determining a differential pressure using first and second absolute pressure sensors, wherein the first and second absolute pressure sensors are respectively arranged within first and second door cavities arranged on opposite lateral sides of the vehicle; determining a correction from the pressure differential; and adding a wind compensation value to at least one of a commanded steering angle and a desired suspension stiffness based upon the correction. ### Claim 19 (depends on 18) The method according to claim 18, wherein the correction is a function of the lateral wind force, a vehicle speed, a steering ratio, a tire coefficient, and a suspension coefficient.