# US 11,029,688 B2 · Rumble strip following for automated vehicle steering

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- Number: US 11,029,688 B2
- Document ID: US11029688B2
- Status: Granted
- Kind: B2
- Application number: 15/920,004
- Filed: 2018-03-13
- Published: 2019-08-15
- Granted: 2021-06-08
- Earliest claimed: 2018-02-12
- Assignees: Motional AD LLC
- Applicants: Motional AD LLC
- Inventors: Zachary T. Batts; Ludong Sun; Junqing Wei
- Web page: https://patentgrep.com/patent/US11029688B2

## CPC

- 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 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- 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)
- G05D 1/0227: {using mechanical sensing means, e.g. for sensing treated area}
- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- 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

## Abstract

A rumble-strip following system for automated vehicle steering includes a vibration-detector, a steering-device, and a controller-circuit. The vibration-detector is configured to detect vibration experienced by a host-vehicle traveling a roadway. The steering-device is configured to steer the host-vehicle. The controller-circuit is in communication with the vibration-detector and the steering-device. The controller-circuit is configured to determine that the vibration is indicative of a tire of the host-vehicle contacting a rumble-strip arranged parallel to a heading of the roadway, and operate the steering-device so the tire follows the rumble-strip.

## Claims

### Claim 1

A rumble-strip following system for automated vehicle steering, said system comprising:
a vibration-detector of a host-vehicle configured to detect vibration experienced by the host-vehicle traveling a roadway;
a steering-device configured to steer the host-vehicle; and
a controller-circuit in communication with the vibration-detector and the steering-device, said controller-circuit configured to determine that the vibration is indicative of a tire of the host-vehicle contacting a rumble-strip arranged parallel to a heading of the roadway, and operate the steering-device so the tire follows the rumble-strip, wherein the controller-circuit is configured to determine a vibration-amplitude of the vibration and operate the steering-device to maximize the vibration-amplitude.

### Claim 2 (depends on 1)

The system in accordance with claim 1, wherein the vibration-detector is configured to indicate that the vibration is from a left-tire or a right-tire of the host-vehicle.

### Claim 3 (depends on 1)

The system in accordance with claim 1, wherein the system includes a camera configured to detect lane-markings on the roadway traveled by the host-vehicle, and the controller-circuit is configured to operate the steering-device so the tire follows the rumble-strip when the camera is unable to detect a respective one of the lane-markings on the roadway.

### Claim 4 (depends on 1)

The system in accordance with claim 1, wherein the system includes a digital-map configured to indicate coordinates of the rumble-strip, and the controller-circuit is configured to operate the steering-device to steer the host-vehicle towards the rumble-strip when the digital-map indicates that the rumble-strip is present beside the host-vehicle.

### Claim 5

A controller-circuit for a rumble-strip following system for automated vehicle steering, said controller-circuit comprising:
an input configured to receive a vibration-signal from a vibration-detector of a host-vehicle configured to detect vibration experienced by the host-vehicle traveling a roadway;
an output configured to provide a control-signal for a steering-device configured to steer the host-vehicle; and
a processor in communication with the vibration-detector and the steering-device, said processor configured to determine that the vibration is indicative of a tire of the host-vehicle contacting a rumble-strip arranged parallel to a heading of the roadway, and operate the steering-device so the tire follows the rumble-strip, wherein the processor is configured to determine a vibration-amplitude of the vibration and operate the steering-device to maximize the vibration-amplitude.

### Claim 6 (depends on 5)

The controller-circuit in accordance with claim 5, wherein the vibration-detector is configured to indicate that the vibration is from a left-tire or a right-tire of the host-vehicle.

### Claim 7 (depends on 5)

The controller-circuit in accordance with claim 5, wherein the system includes a camera configured to detect lane-markings on the roadway traveled by the host-vehicle, and the processor is configured to operate the steering-device so the tire follows the rumble-strip when the camera is unable to detect a respective one of the lane-markings on the roadway.

### Claim 8 (depends on 5)

The controller-circuit in accordance with claim 5, wherein the processor is configured to access a digital-map configured to indicate coordinates of the rumble-strip, and the processor is configured to operate the steering-device so the tire follows the rumble-strip when the digital-map indicates that the rumble-strip is present beside the host-vehicle.

### Claim 9

A method of operating automated vehicle steering to follow a rumble-strip, said method comprising:
receiving a vibration-signal from a vibration-detector configured to detect vibration experienced by a host-vehicle traveling a roadway;
determining by a controller-circuit that the vibration is indicative of a tire of the host-vehicle contacting a rumble-strip arranged parallel to a heading of the roadway;
determining a vibration-amplitude of the vibration; and
steering the host-vehicle to maximize the vibration amplitude, such that the tire follows the rumble strip.

### Claim 10 (depends on 9)

The method in accordance with claim 9, wherein method includes indicating by the vibration-detector that the vibration is from a left-tire or a right-tire of the host-vehicle.

### Claim 11 (depends on 9)

The method in accordance with claim 9, wherein the method includes determining if a camera detects lane-markings on the roadway traveled by the host-vehicle, and operating the steering-device so the tire follows the rumble-strip in accordance with a determination that the camera is unable to detect a respective one of the lane-markings on the roadway.

### Claim 12 (depends on 9)

The method in accordance with claim 9, wherein the method includes accessing a digital-map configured to indicate coordinates of the rumble-strip, and operating the steering-device to steer the host-vehicle towards the rumble-strip.