# US 11,897,561 B2 · Driving system with automated lateral guidance which can be deactivated by a steering intervention, and method for deactivating automated lateral guidance > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,561 B2 - Document ID: US11897561B2 - Status: Granted - Kind: B2 - Application number: 17/256,100 - Filed: 2019-06-24 - Published: 2021-09-02 - Granted: 2024-02-13 - Earliest claimed: 2018-06-25 - Assignees: Bayerische Motoren Werke Aktiengesellschaft - Applicants: Bayerische Motoren Werke Aktiengesellschaft - Inventors: Hermann Kuenzner - Web page: https://patentgrep.com/patent/US11897561B2 ## CPC - B62D 1/286: {Systems for interrupting non-mechanical steering due to driver intervention} - B62D 6/08: responsive only to {driver} input torque - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B62D 15/0285: {Parking performed automatically} - 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) ## Abstract A driving system for automated driving includes at least automated lateral guidance for a motor vehicle. The system is configured to determine whether one or more indications of a current or imminent manual steering intervention are present, which do not take place inadvertently and are intentional by a driver. Starting from a driving state with activated automated lateral guidance, the driving system deactivates the automated lateral guidance in response to the manual steering intervention. To deactivate the lateral guidance, a necessary steering torque operating counter to the activated lateral guidance is applied by the driver via the steering wheel within the scope of the manual steering intervention. When the at least one indication of the steering intervention intended by the driver is found to be present, the steering torque necessary to deactivate the lateral guidance is lower than when the indication of an intended steering intervention is not present. ## Claims ### Claim 1 A driving system for automated driving with at least automated lateral guidance for a motor vehicle with a steering wheel comprising: an electronic control unit configured to: deactivate the automated lateral guidance as a reaction to a manual steering intervention starting from a driving state with activated automated lateral guidance; and during a driving state with deactivated automated lateral guidance: determine a virtual vehicle guiding by automated lateral guidance, determine a deviation variable which is characteristic of a deviation of manual vehicle driving with respect to the virtual vehicle guiding determined by the automated lateral guidance, determine the deviation variable is less than or equal to a second deviation threshold value, and activate the automated lateral guidance again based on the determination. ### Claim 2 (depends on 1) The driving system according to claim 1, wherein the electronic control unit is further configured to: determine a driver-side steering wheel contact based on an output of a steering wheel sensor, and distinguish between a first steering wheel contact mode and a second steering wheel contact mode, wherein the first steering wheel contact mode corresponds to the presence of an indication that a manual steering intervention is intended by the driver, and the second steering wheel contact mode corresponds to the presence of an indication that a manual steering intervention is inadvertent by the driver. ### Claim 3 (depends on 2) The driving system according to claim 2, wherein the electronic control unit is further configured to: determine a two-handed contact of the steering wheel as the first steering wheel contact mode, wherein the two-handed contact includes a contact on a left-hand and right-hand sides of a rim of the steering wheel. ### Claim 4 (depends on 2) The driving system according to claim 2, wherein the electronic control unit is further configured to: determine a contact of the steering wheel on the front and rear sides of a rim of the steering wheel as the first steering wheel contact mode. ### Claim 5 (depends on 1) The driving system according to claim 1, wherein the electronic control unit is further configured to: determine that a variable corresponding to a driver-side manual steering intervention is greater than or equal to a threshold value, based on the determination, deactivate the automated lateral guidance, and reduce the threshold value in response to determining the presence of an indication for the manual steering intervention intended by the driver. ### Claim 6 (depends on 5) The driving system according to claim 5, wherein the electronic control unit is further configured to: determine that a variable corresponding to a steering torque applied by the driver, which is linked to the driver-side manual steering intervention, is greater than or equal to a threshold torque, based on the determination, deactivate the automated lateral guidance, and reduce the threshold torque in response to determining the presence of the indication for the manual steering intervention intended by the driver. ### Claim 7 (depends on 5) The driving system according to claim 5, wherein the electronic control unit is further configured to: determine a deviation variable corresponding to the driver-side manual steering intervention, wherein the deviation variable is characteristic of a deviation configured based on the manual steering intervention by the driver with respect to vehicle driving without steering intervention, determine the deviation variable is greater than or equal to a first deviation threshold value, deactivate the automated lateral guidance based on the determination, and reduce the first deviation threshold value in response to determining the presence of the indication for the manual steering intervention intended by the driver. ### Claim 8 (depends on 1) The driving system according to claim 1, wherein the electronic control unit is further configured to: activate the automated lateral guidance again when it is determined that the deviation is less than or equal to the second deviation threshold value for a minimum time duration. ### Claim 9 A driving system for automated driving with at least automated lateral guidance for a motor vehicle with a steering wheel comprising: an electronic control unit configured to: deactivate the automated lateral guidance as a reaction to a manual steering intervention starting from a driving state with activated automated lateral guidance; and in the driving state with deactivated automated lateral guidance: determine a virtual vehicle guiding by automated lateral guidance, determine a deviation variable which is characteristic of a deviation of manual vehicle driving with respect to the virtual vehicle guiding determined by the automated lateral guidance, and in case of the determination that there is no longer any driver-side steering wheel contact: activate the automated lateral guidance again if the deviation variable is less than or equal to a third deviation threshold value. ### Claim 10 A method for deactivating automated lateral guidance of a driving system for automated driving for a motor vehicle with a steering wheel comprising: starting from a driving state with activated automated lateral guidance, deactivating the automated lateral guidance in response to manual steering intervention; and during a driving state with deactivated automated lateral guidance: determining a virtual vehicle guiding by automated lateral guidance, determining a deviation variable which is characteristic of a deviation of manual vehicle driving with respect to the virtual vehicle guiding determined by the automated lateral guidance, determining the deviation variable is less than or equal to a second deviation threshold value, and activating the automated lateral guidance again based on the determination. ### Claim 11 (depends on 10) A non-transitory computer-readable medium comprising instructions operable, when executed by one or more computing systems, to execute the method of claim 10. ### Claim 12 (depends on 1) The driving system according to claim 1, wherein the deviation variable is a deviation between a driving trajectory of the manual vehicle driving and a driving trajectory of the virtual vehicle guiding. ### Claim 13 (depends on 1) The driving system according to claim 1, further comprising: a first sensor of the steering wheel; and a second sensor of the steering wheel, wherein the first and second sensors are disposed at different positions of a rim of the steering wheel to differentiate between contact of a first and second hand of a driver. ### Claim 14 (depends on 9) The driving system according to claim 9, wherein the electronic control unit is further configured to: determine a driver-side steering wheel contact based on an output of a steering wheel sensor, and distinguish between a first steering wheel contact mode and a second steering wheel contact mode, wherein the first steering wheel contact mode corresponds to the presence of an indication that a manual steering intervention is intended by the driver, and the second steering wheel contact mode corresponds to the presence of an indication that a manual steering intervention is inadvertent by the driver. ### Claim 15 (depends on 14) The driving system according to claim 14, wherein the electronic control unit is further configured to: determine a two-handed contact of the steering wheel as the first steering wheel contact mode, wherein the two-handed contact includes a contact on a left-hand and right-hand sides of a rim of the steering wheel. ### Claim 16 (depends on 14) The driving system according to claim 14, wherein the electronic control unit is further configured to: determine a contact of the steering wheel on the front and rear sides of a rim of the steering wheel as the first steering wheel contact mode. ### Claim 17 (depends on 9) The driving system according to claim 9, wherein the electronic control unit is further configured to: determine that a variable corresponding to a driver-side manual steering intervention is greater than or equal to a threshold value, based on the determination, deactivate the automated lateral guidance, and reduce the threshold value in response to determining the presence of an indication for the manual steering intervention intended by the driver. ### Claim 18 (depends on 17) The driving system according to claim 17, wherein the electronic control unit is further configured to: determine that a variable corresponding to a steering torque applied by the driver, which is linked to the driver-side manual steering intervention, is greater than or equal to a threshold torque, based on the determination, deactivate the automated lateral guidance, and reduce the threshold torque in response to determining the presence of the indication for the manual steering intervention intended by the driver. ### Claim 19 (depends on 9) The driving system according to claim 9, wherein the electronic control unit is further configured to: activate the automated lateral guidance again when it is determined that the deviation is less than or equal to the third deviation threshold value for a minimum time duration. ### Claim 20 (depends on 9) The driving system according to claim 9, wherein the electronic control unit is further configured to: in a driving state with deactivated automated lateral guidance: determine that there is no longer any driver-side steering wheel contact, and activate the automated lateral guidance again in response.