# US 12,110,015 B2 · Vehicular driving assistance system with lateral motion control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,015 B2 - Document ID: US12110015B2 - Status: Granted - Kind: B2 - Application number: 17/662,465 - Filed: 2022-05-09 - Published: 2022-11-17 - Granted: 2024-10-08 - Earliest claimed: 2021-05-11 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics Inc. - Inventors: Tejas Murlidhar Varunjikar; Pushpendra Kushwaha; Arpit Awathe - Web page: https://patentgrep.com/patent/US12110015B2 ## CPC - B60W 30/12: Lane keeping - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B60W 10/20: including control of steering systems - B60W 40/06: Road conditions - B60W 40/105: Speed - B60W 50/00: Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} - B62D 15/021: {Determination of steering angle} - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - B60W 2050/0012: {Feedforward or open loop systems} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2520/14: Yaw - B60W 2520/18: Roll - B60W 2540/18: Steering angle - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2710/207: Steering angle of wheels - 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 - 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) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A vehicular driving assistance system includes a camera viewing exterior of a vehicle and capturing image data. The system, via processing captured image data as the vehicle travels along a current traffic lane, determines a current lateral position of the vehicle within the current traffic lane and determines a target lateral position of the vehicle within the current traffic lane. The system determines a steering command to guide the vehicle from the current lateral position to the target lateral position and determines a steering angle offset required to maintain the target lateral position within the current traffic lane and stores the determined steering angle offset in nonvolatile memory. After storing the determined steering angle offset and when the vehicle is traveling during a subsequent trip, the system determines a second target lateral position of the vehicle within the current traffic lane and applies the stored steering angle offset. ## Claims ### Claim 1 A vehicular driving assistance system, the vehicular driving assistance system comprising: a camera disposed at a vehicle equipped with the vehicular driving assistance system and viewing exterior of the vehicle, the camera capturing image data; wherein the camera comprises a CMOS imaging array, and wherein the CMOS imaging array comprises at least one million photosensors arranged in rows and columns; an electronic control unit (ECU) comprising electronic circuitry and associated software; wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the camera; wherein the vehicular driving assistance system, via processing at the ECU of image data captured by the camera as the vehicle travels along a first traffic lane of a road, determines a first target lateral position of the vehicle within the first traffic lane; wherein the vehicular driving assistance system, responsive to determining the first target lateral position for the vehicle within the first traffic lane, determines a first steering command to position the vehicle at the first target lateral position within the first traffic lane as the vehicle travels along the first traffic lane; wherein the vehicular driving assistance system, after beginning execution of the first steering command to maneuver the vehicle toward the first target lateral position, determines a steering angle offset that comprises an amount of error of the first steering command; wherein the vehicular driving assistance system stores the determined steering angle offset in nonvolatile memory disposed at the vehicle; wherein the vehicular driving assistance system, after storing the determined steering angle offset and when the vehicle is traveling along a second traffic lane, determines a second target lateral position for the vehicle within the second traffic lane; wherein the vehicular driving assistance system, responsive to determining the second target lateral position for the vehicle within the second traffic lane, determines a second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane; and wherein the vehicular driving assistance system, responsive to determining the second target lateral position of the vehicle within the second traffic lane, applies the stored determined steering angle offset to the second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane. ### Claim 2 (depends on 1) The vehicular driving assistance system of claim 1, wherein the first traffic lane is different from the second traffic lane. ### Claim 3 (depends on 1) The vehicular driving assistance system of claim 1, wherein the second traffic lane is the same traffic lane as the first traffic lane, and wherein the vehicle travels along the second traffic lane during a subsequent trip after travelling along the first traffic lane. ### Claim 4 (depends on 1) The vehicular driving assistance system of claim 1, wherein the vehicular driving assistance system determines the steering angle offset when a current speed of the vehicle exceeds a threshold speed. ### Claim 5 (depends on 1) The vehicular driving assistance system of claim 1, wherein the vehicular driving assistance system determines the steering angle offset when a current yaw rate of the vehicle is below a threshold yaw rate. ### Claim 6 (depends on 1) The vehicular driving assistance system of claim 1, wherein the vehicular driving assistance system determines the steering angle offset when a current roll angle of the vehicle is below a threshold roll angle. ### Claim 7 (depends on 1) The vehicular driving assistance system of claim 1, wherein the vehicular driving assistance system determines the steering angle offset when the vehicular driving assistance system has been enabled for a threshold period of time. ### Claim 8 (depends on 1) The vehicular driving assistance system of claim 1, wherein the vehicular driving assistance system determines the steering angle offset based on a difference between a desired steering curvature of the vehicle and an actual steering curvature of the vehicle. ### Claim 9 (depends on 1) The vehicular driving assistance system of claim 1, wherein the vehicular driving assistance system maintains the first target lateral position of the vehicle within the first traffic lane using a feedforward control system. ### Claim 10 (depends on 1) The vehicular driving assistance system of claim 1, wherein, after applying the stored determined steering angle offset to maintain the second target lateral position of the vehicle within the second traffic lane, the vehicular driving assistance system determines an updated steering angle offset and stores the updated steering angle offset in the nonvolatile memory. ### Claim 11 (depends on 1) The vehicular driving assistance system of claim 1, wherein the vehicular driving assistance system, when determining the steering angle offset required to maintain the first target lateral position within the first traffic lane, filters differences between a desired steering curvature of the vehicle and an actual steering curvature of the vehicle that exceed a threshold value. ### Claim 12 (depends on 1) The vehicular driving assistance system of claim 1, wherein the steering angle offset represents a bias in steering of the vehicle from asymmetric tire alignment or steering column bias. ### Claim 13 (depends on 1) The vehicular driving assistance system of claim 1, wherein the vehicular driving assistance system determines the steering angle offset after completing execution of the first steering command. ### Claim 14 A vehicular driving assistance system, the vehicular driving assistance system comprising: a camera disposed at a vehicle equipped with the vehicular driving assistance system and viewing exterior of the vehicle, the camera capturing image data; wherein the camera comprises a CMOS imaging array, and wherein the CMOS imaging array comprises at least one million photosensors arranged in rows and columns; an electronic control unit (ECU) comprising electronic circuitry and associated software; wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the camera; wherein the vehicular driving assistance system, via processing at the ECU of image data captured by the camera as the vehicle travels along a first traffic lane of a road, determines a first target lateral position of the vehicle within the first traffic lane; wherein the vehicular driving assistance system, responsive to determining the first target lateral position for the vehicle within the first traffic lane, determines a first steering command to position the vehicle at the first target lateral position within the first traffic lane as the vehicle travels along the first traffic lane; wherein the vehicular driving assistance system, before completing execution of the first steering command to maneuver the vehicle toward the first target lateral position, determines a steering angle offset that comprises an amount of error of the first steering command; wherein the vehicular driving assistance system stores the determined steering angle offset in nonvolatile memory disposed at the vehicle; wherein the vehicular driving assistance system, after storing the determined steering angle offset and when the vehicle is traveling along a second traffic lane during a subsequent trip, determines a second target lateral position for the vehicle within the second traffic lane; wherein the vehicular driving assistance system, responsive to determining the second target lateral position for the vehicle within the second traffic lane, determines a second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane; and wherein the vehicular driving assistance system, responsive to determining the second target lateral position of the vehicle within the second traffic lane, applies the stored determined steering angle offset to the second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane. ### Claim 15 (depends on 14) The vehicular driving assistance system of claim 14, wherein the first traffic lane is different from the second traffic lane. ### Claim 16 (depends on 14) The vehicular driving assistance system of claim 14, wherein the second traffic lane is the same traffic lane as the first traffic lane, and wherein the vehicle travels along the second traffic lane during the subsequent trip after travelling along the first traffic lane. ### Claim 17 (depends on 14) The vehicular driving assistance system of claim 14, wherein the vehicular driving assistance system determines the steering angle offset based on a difference between a desired steering curvature of the vehicle and an actual steering curvature of the vehicle. ### Claim 18 (depends on 14) The vehicular driving assistance system of claim 14, wherein the vehicular driving assistance system maintains the first target lateral position of the vehicle within the first traffic lane using a feedforward control system. ### Claim 19 A vehicular driving assistance system, the vehicular driving assistance system comprising: a camera disposed at a vehicle equipped with the vehicular driving assistance system and viewing exterior of the vehicle, the camera capturing image data; wherein the camera comprises a CMOS imaging array, and wherein the CMOS imaging array comprises at least one million photosensors arranged in rows and columns; an electronic control unit (ECU) comprising electronic circuitry and associated software; wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the camera; wherein the vehicular driving assistance system, via processing at the ECU of image data captured by the camera as the vehicle travels along a first traffic lane of a road, determines a first target lateral position of the vehicle within the first traffic lane; wherein the vehicular driving assistance system, responsive to determining the first target lateral position for the vehicle within the first traffic lane, determines a first steering command to position the vehicle at the first target lateral position within the first traffic lane as the vehicle travels along the first traffic lane; wherein the vehicular driving assistance system, after beginning execution of the first steering command to maneuver the vehicle toward the first target lateral position and when (i) a current speed of the vehicle exceeds a threshold speed and (ii) a current yaw rate of the vehicle is below a threshold yaw rate, determines a steering angle offset that comprises an amount of error of the first steering command; wherein the vehicular driving assistance system stores the determined steering angle offset in nonvolatile memory disposed at the vehicle; wherein the vehicular driving assistance system, after storing the determined steering angle offset and when the vehicle is traveling along a second traffic lane, determines a second target lateral position for the vehicle within the second traffic lane; wherein the vehicular driving assistance system, responsive to determining the second target lateral position for the vehicle within the second traffic lane, determines a second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane; and wherein the vehicular driving assistance system, responsive to determining the second target lateral position of the vehicle within the second traffic lane, applies the stored determined steering angle offset to the second steering command to position the vehicle at the second target lateral position within the second traffic lane as the vehicle travels along the second traffic lane. ### Claim 20 (depends on 19) The vehicular driving assistance system of claim 19, wherein, after applying the stored determined steering angle offset to maintain the second target lateral position of the vehicle within the second traffic lane, the vehicular driving assistance system determines an updated steering angle offset and stores the updated steering angle offset in the nonvolatile memory. ### Claim 21 (depends on 19) The vehicular driving assistance system of claim 19, wherein the vehicular driving assistance system, when determining the steering angle offset required to maintain the first target lateral position within the first traffic lane, filters differences between a desired steering curvature of the vehicle and an actual steering curvature of the vehicle that exceed a threshold value. ### Claim 22 (depends on 19) The vehicular driving assistance system of claim 19, wherein the steering angle offset represents a bias in steering of the vehicle from asymmetric tire alignment or steering column bias.