Methods and systems for controlling a vehicle having a lane support system
AssigneeZenseact AB
InventorsClaes Olsson, Andreas Ekenberg, Henrik Eriksson
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Abstract
A computer-implemented method and related aspects for controlling a vehicle having a Lane Support System (LSS) are disclosed. The LSS is configured to automatically intervene by controlling a steering of the vehicle in order to change a heading direction of the vehicle when the vehicle approaches a lane boundary of a lane of travel so that the vehicle does not traverse the lane boundary. The method includes monitoring interventions performed by the LSS, and reducing a speed of the vehicle in response to a fulfilment of a criterion dependent on a number of interventions performed by the LSS exceeding a threshold value within a defined time period.
Claims12
A computer-implemented method for controlling a vehicle having a Lane Support System (LSS) configured to automatically intervene by controlling a steering of the vehicle in order to change a heading direction of the vehicle when the vehicle approaches a lane boundary of a lane of travel so that the vehicle does not traverse the lane boundary, the method comprising:
- monitoring interventions performed by the LSS;
- monitoring a state of a driver of the vehicle, the state of the driver comprising a driver-in-the-loop state and a driver-out-of-the-loop state;
- in response to a fulfilment of a criterion dependent on a number of interventions performed by the LSS exceeding a threshold value within a defined time period:
- reducing a speed of the vehicle,
- wherein the criterion comprises:
- that a number of interventions performed by the LSS, while the driver-out-of-the-loop state is detected, exceeds a first threshold (M) within a first time period (T3), wherein the first time period (T3) immediately follows an exceedance of a second threshold (N) of a number of interventions performed by the LSS, while the driver-in-the-loop state is detected, within a second time period (T4),
- that a number of interventions performed by the LSS, while the driver-in-the-loop state is detected, exceeds a third threshold (P) within a third time period (T5), wherein the third time period (T5) immediately follows an exceedance of a fourth threshold (Q) of a number of interventions performed by the LSS, while the driver-out-of-the-loop state is detected, within a fourth time period (T6), or
- that a weighted risk score exceeds a fifth threshold (R), wherein the weighted risk score is determined based on a number of interventions performed by the LSS, while the driver-out-of-the-loop state is detected, and a number of interventions performed by the LSS, while the driver-in-the-loop state is detected, during a fifth time period (T7).
An apparatus for controlling a vehicle having a Lane Support System (LSS) configured to automatically intervene by controlling a steering of the vehicle in order to change a heading direction of the vehicle when the vehicle approaches a lane boundary of a lane of travel so that the vehicle does not traverse the lane boundary, the apparatus comprising control circuitry in communicative connection with the LSS, the control circuitry being configured to:
- monitor interventions performed by the LSS;
- monitor a state of a driver of the vehicle, the state of the driver comprising a driver-in-the-loop state and a driver-out-of-the-loop state;
- in response to a fulfilment of a criterion dependent on a number of interventions performed by the LSS exceeding a threshold value within a defined time period:
- reduce a speed of the vehicle,
- wherein the criterion comprises:
- that a number of interventions performed by the LSS, while the driver-out-of-the-loop state is detected, exceeds a first threshold (M) within a first time period (T3), wherein the first time period (T3) immediately follows an exceedance of a second threshold (N) of a number of interventions performed by the LSS, while the driver-in-the-loop state is detected, within a second time period (T4),
- that a number of interventions performed by the LSS, while the driver-in-the-loop state is detected, exceeds a third threshold (P) within a third time period (T5), wherein the third time period (T5) immediately follows an exceedance of a fourth threshold (Q) of a number of interventions performed by the LSS, while the driver-out-of-the-loop state is detected, within a fourth time period (T6), or
- that a weighted risk score exceeds a fifth threshold (R), wherein the weighted risk score is determined based on a number of interventions performed by the LSS, while the driver-out-of-the-loop state is detected, and a number of interventions performed by the LSS, while the driver-in-the-loop state is detected, during a fifth time period (T7).
Dependencies are inferred from the claim text.