# US 12,005,933 B2 · Methods and systems for a unified driver override for path based automated driving assist under external threat

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- Number: US 12,005,933 B2
- Document ID: US12005933B2
- Status: Granted
- Kind: B2
- Application number: 17/456,988
- Filed: 2021-11-30
- Published: 2023-06-01
- Granted: 2024-06-11
- Earliest claimed: 2021-11-30
- Assignees: GM Global Technology Operations LLC
- Applicants: GM Global Technology Operations LLC
- Inventors: Kin Man Michael Wong; Matthew P Kempeinen; Jimmy Lu; Brian Porto; Reza Zarringhalam
- Web page: https://patentgrep.com/patent/US12005933B2

## CPC

- B60W 60/0055: {only part of driving tasks shifted to occupants}
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/12: Lane keeping
- B60W 50/10: Interpretation of driver requests or demands
- B60W 60/007: {Emergency override (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)}
- B60W 2510/202: Steering torque
- B60W 2520/10: Longitudinal speed
- B60W 2520/12: Lateral speed
- B60W 2530/10: Weight
- B60W 2540/18: Steering angle
- B60W 2552/00: Input parameters relating to infrastructure
- B60W 2552/30: Road curve radius
- B60W 2552/40: Coefficient of friction
- B60W 2552/50: Barriers
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2554/20: Static objects
- B60W 2554/402: Type
- B60W 2554/80: Spatial relation or speed relative to objects
- B60W 2554/803: Relative lateral speed
- B60W 2554/804: Relative longitudinal speed
- B60W 2555/20: Ambient conditions, e.g. wind or rain
- 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 accordance with an exemplary embodiment, methods and systems are provided for controlling steering of an autonomous vehicle. The method includes: operating, by a processor, the autonomous vehicle in a path-based automated driving assist mode; receiving, by the processor, driver input including a driver torque; classifying, by the processor, an operation mode based on a type of the path-based automated driving assist mode; determining, by the processor, an override threshold for overriding the path-based automated driving assist mode on a first lateral side of the autonomous vehicle based on the operation mode; determining, by the processor, a driver override status based on the override torque threshold; and generating, by the processor, control signals to control the steering of the autonomous vehicle based on the driver override status and the driver torque.

## Claims

### Claim 1

A method of controlling steering of an autonomous vehicle, comprising:
operating, by a processor, the autonomous vehicle in a path-based automated driving assist mode;
receiving, by the processor:
driver input data including a driver steering torque direction, and a turn switch direction; and
threat data;
classifying, by the processor, an operation mode based on a type of the path-based automated driving assist mode, the turn switch direction, the driver steering torque direction, and a lateral side location of a threat, indicated by the threat data;
determining, by the processor, an override threshold for overriding the path-based automated driving assist mode for a first lateral side of the autonomous vehicle based on the classified operation mode;
determining, by the processor, a driver override status based on the override threshold; and
generating, by the processor, control signals to control the steering of the autonomous vehicle based on the driver override status and the driver steering torque direction.

### Claim 2 (depends on 1)

The method of claim 1, wherein the path-based automated driving assist mode includes at least one of a lane keep assist mode, a lateral impact avoidance mode, and a hands-on lane centering mode.

### Claim 3 (depends on 1)

The method of claim 1, further comprising, in response to detecting a presence of a safety barrier on lateral sides of the autonomous vehicle, determining a safety barrier override threshold, and wherein the determining the override threshold is further based on the safety barrier override threshold.

### Claim 4 (depends on 3)

The method of claim 3, wherein the determining the safety barrier override threshold is based on a classification of the safety barrier and barrier dynamics between the autonomous vehicle and the safety barrier.

### Claim 5 (depends on 4)

The method of claim 4, wherein the barrier dynamics include a time to impact and a relative velocity between the autonomous vehicle and the safety barrier.

### Claim 6 (depends on 4)

The method of claim 4, wherein the determining the classification of the safety barrier is based on a type of safety barrier and a severity of a barrier intrusion.

### Claim 7 (depends on 1)

The method of claim 1, wherein the determining the override threshold is based on a steady state steering torque associated with a lane curvature, vehicle parameters, and external disturbances.

### Claim 8 (depends on 7)

The method of claim 7, wherein the external disturbances include at least one of a road angle, a road friction, and a crosswind.

### Claim 9 (depends on 7)

The method of claim 7, wherein the vehicle parameters include at least one of a vehicle velocity, a vehicle inertia, and a vehicle mass.

### Claim 10 (depends on 1)

The method of claim 1, wherein the determining the driver override status is further based on a magnitude and direction of controller torque, a magnitude and direction of the driver torque, and a turn switch direction.

### Claim 11

A system for controlling steering of an autonomous vehicle, comprising:
a non-transitory computer readable medium comprising computer instructions configured to perform a process; and
a processor, configured to perform the process, the process comprising:
operating, by the processor, the autonomous vehicle in a path-based automated driving assist mode;
receiving, by the processor:
driver input data including a driver steering torque direction, and a turn switch direction; and
threat data;
classifying, by the processor, an operation mode based on a type of the path-based automated driving assist mode, the turn switch direction, the driver steering torque direction, and a lateral side location of a threat, indicated by the threat data;
determining, by the processor, an override threshold for overriding the path-based automated driving assist mode for a first lateral side of the autonomous vehicle based on the classified operation mode;
determining, by the processor, a driver override status based on the override threshold; and
generating, by the processor, control signals to control the steering of the autonomous vehicle based on the driver override status and the driver steering torque direction.

### Claim 12 (depends on 11)

The system of claim 11, wherein the path-based automated driving assist mode includes at least one of a lane keep assist mode, a lateral impact avoidance mode, and a hands-on lane centering mode.

### Claim 13 (depends on 11)

The system of claim 11, wherein the process further comprises, in response to detecting a presence of a safety barrier on lateral sides of the autonomous vehicle, determining a safety barrier override threshold, and wherein the determining the override threshold is further based on the safety barrier override threshold.

### Claim 14 (depends on 13)

The system of claim 13, wherein the determining the safety barrier override threshold is based on a classification of the safety barrier and barrier dynamics between the autonomous vehicle and the safety barrier.

### Claim 15 (depends on 14)

The system of claim 14, wherein the barrier dynamics include a time to impact and a relative velocity between the autonomous vehicle and the safety barrier.

### Claim 16 (depends on 14)

The system of claim 14, wherein the determining the classification of the safety barrier is based on a type of the safety barrier and a severity of a barrier intrusion.

### Claim 17 (depends on 11)

The system of claim 11, wherein the determining the override threshold is based on a steady state steering torque associated with a lane curvature, vehicle parameters, and external disturbances.

### Claim 18 (depends on 17)

The system of claim 17, wherein the external disturbances include at least one of a road angle, a road friction, and a crosswind.

### Claim 19 (depends on 17)

The system of claim 17, wherein the vehicle parameters include at least one of a vehicle velocity, a vehicle inertia, and a vehicle mass.

### Claim 20 (depends on 11)

The system of claim 11, wherein the determining the driver override status is further based on a magnitude and direction of controller torque, a magnitude and direction of the driver torque, and a turn switch direction.