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US 10,538,268 B2Granted
Steering-wheel control mechanism for autonomous vehicle
AssigneesFord Global Technologies, LLC, The Board of Trustees of the Leland Stanford Junior University
InventorsWalter Joseph Talamonti, Mishel Johns, Wendy Ju
Life of this patent
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Abstract
A computer in a vehicle is programmed to instruct a steering system of the vehicle to perform a lateral steering action depending on whether a steering-wheel angle is greater than a threshold angle, and to determine and apply an amount of torque to a steering wheel based on comparing the steering-wheel angle to the threshold angle.
Claims4
A computer comprising a processor and a memory storing instructions executable by the processor to:
- instruct a steering system to perform a lane change upon a steering-wheel angle being greater than a lane-change threshold angle;
- instruct the steering system to adjust a vehicle position within a lane depending on whether the steering-wheel angle is above a position threshold angle and below the lane-change threshold angle;
- and
- determine and apply an amount of torque to a steering wheel based on comparing the steering-wheel angle to the lane-change threshold angle;
- wherein the amount of torque increases as the steering-wheel angle increases from a reference angle to the position threshold angle;
- the amount of torque decreases as the steering-wheel angle increases above the position threshold angle away from the reference angle to a middle boundary angle;
- the amount of torque increases as the steering-wheel angle increases above the middle boundary angle away from the reference angle to the lane-change threshold angle;
- and
- the amount of torque decreases as a function of the steering-wheel angle as the steering-wheel angle increases above the lane-change threshold angle away from the reference angle to a higher boundary angle.
6 more elements
A method comprising:
- instructing a steering system to perform a lane change upon a steering-wheel angle being greater than a lane-change threshold angle;
- instructing the steering system to adjust a vehicle position within a lane depending on whether the steering-wheel angle is above a position threshold angle and below the lane-change threshold angle;
- and
- determining and applying an amount of torque to a steering wheel based on comparing the steering-wheel angle to the lane-change threshold angle;
- wherein the amount of torque increases as the steering-wheel angle increases from a reference angle to the position threshold angle;
- the amount of torque decreases as the steering-wheel angle increases above the position threshold angle away from the reference angle to a middle boundary angle;
- the amount of torque increases as the steering-wheel angle increases above the middle boundary angle away from the reference angle to the lane-change threshold angle;
- and
- the amount of torque decreases as a function of the steering-wheel angle as the steering-wheel angle increases above the lane-change threshold angle away from the reference angle to a higher boundary angle.
6 more elements
Dependencies are inferred from the claim text.