Context aware adaptive feedback in a steer-by-wire system

A method of providing a haptic vehicle steering feedback system comprising:

• detecting, by a sensor suite, a plurality of objects proximate to a host vehicle;
• generating an object map localized on the host vehicle in response to the plurality of objects proximate to a host vehicle;
• detecting, by a vehicle sensor, a vehicle speed and a vehicle lateral acceleration;
• detecting, by a steering system rotational sensor, a driver applied torque to a steering wheel;
• estimating, by an automated driving assistance system (ADAS) processor, a driver performance in response to the vehicle speed, the vehicle lateral acceleration and the driver applied torque;
• determining, by the ADAS processor, an ADAS torque weight factor in response to the object map, an ADAS feature behavior, and the driver performance;
• applying, by a feedback motor, a weighted feedback torque to the steering wheel in response to the driver applied torque and the ADAS torque weight factor wherein the weighted feedback torque is asymmetrically applied to provide an increased resistance for steering inputs from a driver directed toward a detected object in the object map and decreased resistance for steering inputs from the driver directed away from the detected object to provide situational awareness to the driver;
• determining, by the ADAS processor, a transition rate between an automated driving emulator torque and a manual driving emulator torque in response to the driver performance and the object map and the ADAS feature behavior;
• and
• disengaging, by the ADAS processor, an ADAS algorithm in response to the driver applied torque exceeding a disengagement threshold.

A vehicle control system comprising:

• a vehicle sensor suite, including at least one of a LiDAR, a radar and a camera, and an inertial measurement unit for detection a vehicle speed, a vehicle acceleration and for generating an object map of a plurality of objects proximate a host vehicle;
• a rotational torque sensor for detecting a driver applied torque to a steering wheel;
• an automated driving assistance system (ADAS) processor for estimating a driver performance in response to the driver applied torque, the vehicle speed, the vehicle acceleration and the object map, and for determining a driving context in response to the driver performance and the object map and for generating an ADAS torque weight factor in response to the driving context, wherein the ADAS system is further configured to determine a transition rate between an automated driving emulator torque and a manual driving emulator torque in response to the driver performance and the object map and the ADAS feature behavior and wherein the ADAS system is disengaged in response to the driver applied torque exceeding a disengagement threshold;
• a feedback motor for applying a weighted feedback torque to the steering wheel in response to the driver applied torque and the ADAS torque weight factor wherein the weighted feedback torque is asymmetrically applied to provide an increased resistance for steering inputs from a driver directed toward a detected object in the object map and decreased resistance for steering inputs from the driver directed away from the detected object to provide situational awareness to the driver.