# US 11,299,203 B2 · Cruise assist system and method

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- Number: US 11,299,203 B2
- Document ID: US11299203B2
- Status: Granted
- Kind: B2
- Application number: 16/007,228
- Filed: 2018-06-13
- Published: 2018-12-20
- Granted: 2022-04-12
- Earliest claimed: 2017-06-14
- Assignees: Denso Corporation
- Applicants: Denso Corporation
- Inventors: Shun Shimizu; Yosuke Hirate; Daiji Watanabe; Toshiya Kabayama; Hisaya Akatsuka
- Web page: https://patentgrep.com/patent/US11299203B2

## 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)}
- B60Q 9/00: Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling}
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B62D 6/00: Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00)
- B60W 2510/202: Steering torque
- B60W 2540/00: Input parameters relating to occupants
- B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction
- B60W 2552/30: Road curve radius
- B60W 2552/35: Road bumpiness, e.g. potholes
- B60W 2552/40: Coefficient of friction
- B60W 2554/00: Input parameters relating to objects
- B60W 2710/20: Steering systems
- 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)
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- 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

## Abstract

In a cruise assist system, a turning angle controller executes at least one of an automatic cruise control task that automatically controls a turning angle of the vehicle, and an assist control task that controls the turning angle of the vehicle in accordance with an occupant's operation of the steering wheel. A holding determiner includes an input detector detecting an occupant's physical input to a steering shaft via a steering wheel based on at least one of a first type physical quantity and second type physical quantities. Each of the first and second physical quantities depends on rotational movement of the steering shaft. The first type physical quantity contains the occupant's physical input, and a disturbance input, which is different therefrom, to the steering shaft. The second type physical quantities have a physical relationship therebetween, which is changed depending on the occupant's physical input.

## Claims

### Claim 1

A cruise assist system for a vehicle including a steering wheel and a steering shaft coupled to the steering wheel, the cruise assist system comprising:
a turning angle controller configured to execute an automatic cruise control task that automatically controls a turning angle of the vehicle in an automatic control mode; and
a holding determiner configured to determine whether an occupant is holding the steering wheel based on the occupant's physical input to the steering shaft that is caused by the occupant's operation of the steering wheel,
the holding determiner comprising:
an input detector configured to detect the occupant's physical input to the steering shaft based on at least one of a first physical quantity and second physical quantities, in which the first physical quantity and the second physical quantities define rotational movement of the steering shaft,
the first physical quantity comprising the occupant's physical input and a disturbance input to the steering shaft, the disturbance input being different from the occupant's physical input, and
the second physical quantities having a relationship therebetween, the relationship changing in response to rotational movement of the steering shaft caused by the occupant's physical input, wherein
when detecting the occupant's physical input to the steering shaft based on the first physical quantity, the input detector is configured to detect the occupant's physical input by removing the disturbance input from the first physical quantity,
when detecting the occupant's physical input to the steering shaft based on the second physical quantities, the input detector is configured to detect the occupant's physical input based on the relationship between the second physical quantities,
the holding determiner further comprises, when the first physical quantity is used by the input detector, a determiner configured to:
perform a comparison of the occupant's physical input with a predetermined threshold; and
determine whether the occupant is holding the steering wheel in accordance with a result of the comparison, and
a value of the predetermined threshold during execution of the automatic cruise control task being set to be larger than a value of the predetermined threshold during no execution of the automatic cruise control task.

### Claim 2 (depends on 1)

The cruise assist system according to claim 1, wherein the first physical quantity has frequency components, and
wherein, when using the first physical quantity, the input detector is configured to:
extract, from the first physical quantity, specific frequency components of the first physical quantity, the specific frequency components being within a predetermined frequency range;
amplify the specific frequency components of the first physical quantity while reducing other frequency components of the first physical quantity to thereby extract the specific frequency components of the first physical quantity, the other frequency components being outside the predetermined frequency range; and
detect the extracted specific frequency components of the first physical quantity as the occupant's physical input.

### Claim 3 (depends on 2)

The cruise assist system according to claim 2, wherein the predetermined frequency range is set as an occupant-inputtable frequency range, the occupant-inputtable frequency range representing frequency components of the first physical quantity generatable by the occupant's operation of the steering wheel.

### Claim 4 (depends on 1)

The cruise assist system according to claim 1, wherein the holding determiner further comprises, when the first physical quantity is used by the input detector, a determine configured to:
perform a comparison of the occupant's physical input with a predetermined threshold; and
determine whether the occupant is holding the steering wheel in accordance with a result of the comparison.

### Claim 5 (depends on 1)

The cruise assist system according to claim 1, wherein, when using the second physical quantities, the input detector is configured to:
perform system identification of an input-output system between two selected second physical quantities from the second physical quantities to thereby estimate the input-output system as the relationship, one of the two selected second physical quantities being input to the input-output system as an input physical quantity, the other of the two selected second physical quantities being output from the input-output system as an output physical quantity; and
detect the occupant's physical input based on the estimated input-output system.

### Claim 6 (depends on 5)

The cruise assist system according to claim 5, wherein, when using the second physical quantities, the input detector is configured to:
perform the system identification of the input-output system using a selected one of system identification algorithms, each system identification algorithms including at least one parameter; and
change, based on environmental information that has a potential to impact on the input-output system, at least one of:
one of the system identification algorithms that has been selected to another one of the system identification algorithms; and
a value of the at least one parameter used by the selected one of the system identification algorithms to another value.

### Claim 7 (depends on 6)

The cruise assist system according to claim 6, wherein the environmental information includes at least one of:
information indicative of a curvature of a road on which the vehicle is travelling;
information indicative of a degree of irregularities of the road;
information indicative of a gradient of the road;
information indicative of a friction coefficient of a surface of the road; and
information indicative of at least one of obstacles located around the vehicle.

### Claim 8 (depends on 5)

The cruise assist system according to claim 5, wherein:
the input-output system is estimated by the input detector as a frequency response; and
the input detector comprises a determiner configured to:
perform a comparison of the frequency response with a predetermined threshold; and
determine whether the occupant's physical input being applied to the steering wheel in accordance with a result of the comparison.

### Claim 9 (depends on 8)

The cruise assist system according to claim 8, wherein the holding determiner further comprises a second determine configured to:
determine that the occupant is holding the steering wheel upon it being determined that the occupant's physical input is being applied to the steering wheel; and
determine that the occupant is not holding the steering wheel upon it being determined that no occupant's physical input is being applied to the steering wheel.

### Claim 10 (depends on 1)

The cruise assist system according to claim 1, wherein:
the first physical quantity includes at least one of a measurement value measured by a sensor and depending on rotational movement of the steering shaft, and a calculation value calculated by the measurement value; and
the second physical quantities include at least one of a measurement value measured by a sensor and depending on rotational movement of the steering shaft, a calculation value calculated by the measurement value, and a target value for a controlled variable used by the automatic cruise control task.

### Claim 11 (depends on 1)

The cruise assist system according to claim 1, further comprising:
a warning device configured to provide, to the occupant, warning information indicative of urging the occupant to hold the steering wheel upon it being determined that the occupant is not holding the steering wheel.

### Claim 12 (depends on 1)

The cruise assist system according to claim 1, further comprising:
a cancelling unit configured to cancel execution of the automatic cruise control task upon it being determined that the occupant is not holding the steering wheel.

### Claim 13 (depends on 1)

The cruise assist system according to claim 1, wherein
the second physical quantities include two second physical quantities, one of the two second physical quantities being an input physical quantity being input to the steering shaft, the other of the two second physical quantities being an output physical quantity representing a rotational output of the steering shaft caused by the input physical quantity being input to the steering shaft.

### Claim 14

A cruise assist method for a vehicle configured to automatically control a turning angle of the vehicle in an automatic control mode and including a steering wheel and a steering shaft coupled to the steering wheel, the cruise assist method comprising:
detecting an occupant's physical input to the steering shaft via the occupant's operation of the steering wheel based on at least one of a first physical quantity and second physical quantity, each of the first and second physical quantities defining rotational movement of the steering shaft, the first physical quantity comprising the occupant's physical input and a disturbance input to the steering shaft, the disturbance input being different from the occupant's physical input, a rotational movement of the steering shaft being caused due to an occurrence of the first physical quantity, and the second physical quantities having a relationship therebetween, the relationship being changed due to a rotational movement of the steering shaft that is caused by the occupant's physical input; and
determining whether the occupant is holding the steering wheel in accordance with the occupant's physical input,
wherein
detecting the occupant's physical input to the steering shaft based on the first physical quantity includes reducing the disturbance input from the first physical quantity to obtain a remaining physical quantity as the occupant's physical input,
detecting the occupant's physical input to the steering shaft based on the second physical quantities includes detecting the occupant's physical input based on the relationship between the second physical quantities,
detecting the occupant's physical input to the steering shaft based on the first physical quantity includes:
performing a comparison of the occupant's physical input with a predetermined threshold; and
determining whether the occupant is holding the steering wheel in accordance with a result of the comparison, and
a value of the predetermined threshold during execution of automatic control the turning angle of the vehicle in the automatic control mode being set to be larger than a value of the predetermined threshold during no execution of the automatic control the turning angle of the vehicle in the automatic control mode.

### Claim 15 (depends on 14)

The cruise assist method according to claim 14, wherein the first physical quantity has frequency components, and
when using the first physical quantity, detecting the occupant's physical input to the steering shaft further comprises:
extracting, from the first physical quantity, specific frequency components of the first physical quantity, the specific frequency components being within a predetermined frequency range;
amplifying the specific frequency components of the first physical quantity while reducing other frequency components of the first physical quantity to thereby extract the specific frequency components of the first physical quantity, the other frequency components being outside the predetermined frequency range; and
detecting the extracted specific frequency components of the first physical quantity as the occupant's physical input.

### Claim 16 (depends on 15)

The cruise assist method according to claim 15, wherein the predetermined frequency range is set as an occupant-inputtable frequency range, the occupant-inputtable frequency range representing frequency components of the first physical quantity generatable by the occupant's operation of the steering wheel.

### Claim 17 (depends on 14)

The cruise assist method according to claim 14,
wherein detecting the occupant's physical input to the steering shaft based on the first physical quantity further comprises:
performing a comparison of the occupant's physical input with a predetermined threshold; and
determining whether the occupant is holding the steering wheel in accordance with a result of the comparison.

### Claim 18 (depends on 14)

The cruise assist method according to claim 14,
wherein detecting the occupant's physical input to the steering shaft based on the second physical quantities further comprises:
performing system identification of an input-output system between selected two second physical quantities from the second physical quantities to thereby estimate the input-output system as the relationship, one of the selected two second physical quantities being input to the input-output system as an input physical quantity, the other of the selected two second physical quantities being output from the input-output system as an output physical quantity; and
detecting the occupant's physical input based on the estimated input-output system.

### Claim 19 (depends on 18)

The cruise assist method according to claim 18,
wherein detecting the occupant's physical input to the steering shaft based on the second physical quantities further comprises:
performing the system identification of the input-output system using a selected one of system identification algorithms, each system identification algorithms including at least one parameter; and
changing, based on environmental information that has a potential to impact on the input-output system, at least one of:
one of the system identification algorithms that has been selected to another one of the system identification algorithms; and
a value of the at least one parameter used by the selected one of the system identification algorithms to another value.

### Claim 20 (depends on 19)

The cruise assist method according to claim 19, wherein the environmental information includes at least one of:
information indicative of a curvature of a road on which the vehicle is travelling;
information indicative of a degree of irregularities of the road;
information indicative of a gradient of the road;
information indicative of a friction coefficient of a surface of the road; and
information indicative of at least one of obstacles located around the vehicle.

### Claim 21 (depends on 18)

The cruise assist method according to claim 18, wherein detecting the occupant's physical input to the steering shaft further comprises:
estimating the input-output system as a frequency response;
performing a comparison of the frequency response with a predetermined threshold; and
determining whether the occupant's physical input being applied to the steering wheel in accordance with a result of the comparison.

### Claim 22 (depends on 21)

The cruise assist method according to claim 21, wherein determining whether the occupant is holding the steering wheel further comprises:
determining that the occupant is holding the steering wheel upon it being determined that the occupant's physical input is being applied to the steering wheel; and
determining that the occupant is not holding the steering wheel upon it being determined that no occupant's physical input is being applied to the steering wheel.

### Claim 23 (depends on 14)

The cruise assist method according to claim 14, wherein:
the first physical quantity includes at least one of a measurement value measured by a sensor and depending on rotational movement of the steering shaft, and a calculation value calculated by the measurement value; and
the second physical quantities include at least one of a measurement value measured by a sensor and depending on rotational movement of the steering shaft, a calculation value calculated by the measurement value, and a target value for a controlled variable used by the automatic control mode.

### Claim 24 (depends on 14)

The cruise assist method according to claim 14, further comprising:
providing, to the occupant, warning information indicative of urging the occupant to hold the steering wheel upon it being determined that the occupant is not holding the steering wheel.

### Claim 25 (depends on 14)

The cruise assist method according to claim 14, further comprising:
cancelling execution of the automatic control mode upon it being determined that the occupant is not holding the steering wheel.

### Claim 26 (depends on 1)

The cruise assist system according to claim 1, wherein:
the holding determiner is configured to determine whether the occupant is holding the steering wheel in accordance with the occupant's physical input to the steering shaft via the occupant's operation of the steering wheel while the turning angle controller is executing the automatic cruise control task in the automatic control mode.

### Claim 27 (depends on 1)

The cruise assist system according to claim 1, wherein:
the turning angle controller is configured to execute, in an assist control mode, an assist control task that controls the turning angle of the vehicle in accordance with the occupant's operation of the steering wheel while not executing the automatic cruise control task in the automatic control mode.

### Claim 28 (depends on 27)

The cruise assist system according to claim 27, wherein:
the holding determiner is configured to determine whether the occupant is holding the steering wheel in accordance with the occupant's physical input to the steering shaft via the occupant's operation of the steering wheel while the turning angle controller is executing the assist control task in the assist control mode.