# US 12,179,838 B2 · Control system and method for generating steering overlay signal > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,838 B2 - Document ID: US12179838B2 - Status: Granted - Kind: B2 - Application number: 17/753,587 - Filed: 2020-09-09 - Published: 2022-10-20 - Granted: 2024-12-31 - Earliest claimed: 2019-09-10 - Assignees: Jaguar Land Rover Limited - Applicants: Jaguar Land Rover Limited - Inventors: Denis Fusconi; Robyn Caldwell - Web page: https://patentgrep.com/patent/US12179838B2 ## 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)} - B60W 10/20: including control of steering systems - B60W 30/12: Lane keeping - B62D 15/029: {Steering assistants using warnings or proposing actions to the driver without influencing the steering system} - B60W 2510/202: Steering torque - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2710/202: Steering torque - 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) - 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 A control system for controlling generation of a steering wheel overlay signal to control positioning of a host vehicle is configured to determine a first boundary of a lane of travel and a target lane position for the host vehicle in relation to the first boundary, such as a predetermined distance from the first boundary. A steering wheel overlay signal is generated, the steering wheel overlay signal comprising an intra-lane steering signal for steering the host vehicle toward the target lane position. The control system is configured to remove the steering wheel overlay signal in dependence on a velocity of the host vehicle relative to the first boundary being less than a threshold velocity. Thus, the final alignment of the host vehicle achieves the perception of travelling parallel to the boundary, whilst reducing the total intervention time. ## Claims ### Claim 1 A control system for controlling generation of a steering wheel overlay signal to control positioning of a host vehicle, the control system comprising one or more controller, the control system configured to: determine a first boundary of a lane of travel; determine a target lane position for the host vehicle in relation to the first boundary; generate the steering wheel overlay signal, the steering wheel overlay signal comprising an intra-lane steering signal for steering the host vehicle toward the target lane position; and remove the steering wheel overlay signal in dependence on a lateral velocity of the host vehicle relative to the first boundary dropping to be less than a threshold velocity, wherein the control system is configured to determine the threshold velocity in dependence on a direction of the velocity of the host vehicle relative to the first boundary. ### Claim 2 (depends on 1) The control system as claimed in claim 1, wherein the control system is configured to: control generation of the steering wheel overlay signal to steer the host vehicle to at least a predetermined distance from the first boundary, and remove the steering wheel overlay signal in dependence on the host vehicle being positioned at least the predetermined distance from the first boundary and the velocity of the host vehicle relative to the first boundary being less than the threshold velocity. ### Claim 3 (depends on 1) The control system as claimed in claim 1, wherein the control system is configured to determine the threshold velocity to be a first threshold velocity in dependence on the velocity of the host vehicle being directed towards the first boundary, and determine the threshold velocity to be a second threshold velocity higher than the first threshold velocity in dependence on the velocity of the host vehicle being directed away from the first boundary. ### Claim 4 (depends on 1) The control system as claimed in claim 1, configured to determine a principal axis extending substantially parallel to the determined first boundary and determine the target lane position for the host vehicle in dependence on the principal axis. ### Claim 5 (depends on 4) The control system as claimed in claim 4, wherein the control system is configured to control the generation of the steering wheel overlay signal to substantially align the host vehicle with the principal axis. ### Claim 6 (depends on 1) The control system as claimed in claim 1, wherein the control system is configured to determine a second boundary of the lane of travel opposing the first boundary. ### Claim 7 (depends on 6) The control system as claimed in claim 6, wherein the control system is configured to control generation of the steering wheel overlay signal to steer the host vehicle towards a mid-point between the first and second boundaries. ### Claim 8 (depends on 1) The control system as claimed in claim 1, wherein determining the first boundary of the lane of travel comprises identifying a road marking or a road edge. ### Claim 9 (depends on 1) The control system as claimed in claim 1, wherein the steering wheel overlay signal comprises a lane assist steering overlay for maintaining the host vehicle within the lane of travel. ### Claim 10 (depends on 9) The control system as claimed in claim 9, wherein the steering wheel overlay signal comprises a lane assist steering overlay for maintaining the host vehicle within the lane of travel. ### Claim 11 (depends on 1) A vehicle comprising the control system as claimed in claim 1. ### Claim 12 A computer-implemented method for controlling generation of a steering wheel overlay signal to control positioning of a host vehicle, the method comprising: determining a first boundary of a lane of travel; determining a target lane position for the host vehicle in relation to the first boundary; generating the steering wheel overlay signal, the steering wheel overlay signal comprising an intra-lane steering signal for steering the host vehicle toward the target lane position; determining a threshold velocity in dependence on a direction of a velocity of the host vehicle relative to the first boundary; and removing the steering wheel overlay signal in dependence on a lateral velocity of the host vehicle relative to the first boundary dropping to be less than the threshold velocity. ### Claim 13 (depends on 12) A computer that, when executed, is arranged to perform the method according to claim 12. ### Claim 14 (depends on 12) A non-transitory computer-readable medium having a set of instructions stored therein which, when executed, cause a processor to perform the method according to claim 12.