# US 12,759,624 B2 · Context aware adaptive feedback in a steer-by-wire system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,624 B2 - Document ID: US12759624B2 - Status: Granted - Kind: B2 - Application number: 18/929,696 - Filed: 2024-10-29 - Published: 2026-04-30 - Granted: 2026-10-13 - Earliest claimed: 2024-10-29 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Parisa Mahvelatishamsabadi; Ben MacCallum; Kin Man Michael Wong; Reza Zarringhalam; Puneet Bagga - Web page: https://patentgrep.com/patent/US12759624B2 ## CPC - B62D 6/008: {Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications} - B62D 5/006: {power actuated} - B62D 15/0265: {Automatic obstacle avoidance by steering} - 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) ## Abstract A haptic vehicle steering feedback system including a sensor for detecting a plurality of objects proximate to a host vehicle and for generating an object map localized on the host vehicle, a vehicle sensor for detecting a vehicle speed and a vehicle lateral acceleration, a rotational torque sensor for detecting a driver applied torque to a steering wheel, an ADAS system for estimating a driver performance in response to the vehicle speed, the vehicle lateral acceleration and the driver applied torque, and for determining an ADAS torque weight factor in response to the object map, an ADAS feature behavior, and the driver performance, 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. ## Claims ### Claim 1 A haptic vehicle steering feedback system comprising: a sensor for detecting a plurality of objects proximate to a host vehicle and for generating an object map localized on the host vehicle; a vehicle sensor for detecting a vehicle speed and a vehicle lateral acceleration; a rotational torque sensor for detecting a driver applied torque to a steering wheel; an automated driving assistance system (ADAS) system for estimating a driver performance in response to the vehicle speed, the vehicle lateral acceleration and the driver applied torque, and for determining an ADAS torque weight factor in response to the object map, an ADAS feature behavior, and the driver performance 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 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. ### Claim 2 (depends on 1) The haptic vehicle steering feedback system of claim 1, wherein there is an increase in the weighted feedback torque in response to the driver applied torque being applied in a steering direction towards a proximate one of the plurality of objects. ### Claim 3 (depends on 1) The haptic vehicle steering feedback system of claim 1, wherein there is a reduction in the weighted feedback torque in response to the driver applied torque being applied in a steering direction away from a proximate one of the plurality of objects. ### Claim 4 (depends on 1) The haptic vehicle steering feedback system of claim 1, wherein the weighted feedback torque is asymmetrical with respect to a steering direction. ### Claim 5 (depends on 1) The haptic vehicle steering feedback system of claim 1, wherein the ADAS torque weight factor is further determined to provide an artificial road surface feedback in an absence of a hardware linkage in a steer by wire system. ### Claim 6 (depends on 1) The haptic vehicle steering feedback system of claim 1, wherein an increase in the weighted feedback torque is indicative of a potential driving hazard. ### Claim 7 (depends on 1) The haptic vehicle steering feedback system of claim 1, wherein the ADAS torque weight factor is further determined in response to a road friction, a road curvature, and an environmental factor. ### Claim 8 (depends on 1) The haptic vehicle steering feedback system of claim 1, wherein ADAS system configured to estimate a driving context in response to the object map, the driver performance, and the vehicle acceleration and wherein the weighted feedback torque is determined in response to the driving context. ### Claim 9 (depends on 1) The haptic vehicle steering feedback system of claim 1, wherein the weighted feedback torque is weighted inversely proportional to a lateral distance between a host vehicle and a proximate vehicle in a steering direction. ### Claim 10 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. ### Claim 11 (depends on 10) The method of providing the haptic vehicle steering feedback system of claim 10, further including controlling a road wheel angle by a steer by wire steering system in response to the driver applied torque and the ADAS torque weight factor. ### Claim 12 (depends on 10) The method of providing the haptic vehicle steering feedback system of claim 10, wherein the weighted feedback torque is weighted inversely proportional to a lateral distance between a host vehicle and a proximate vehicle in a steering direction. ### Claim 13 (depends on 10) The method of providing the haptic vehicle steering feedback system of claim 10, wherein the ADAS torque weight factor is further determined to provide an artificial road surface feedback in an absence of a hardware linkage in a steer by wire system. ### Claim 14 (depends on 10) The method of providing the haptic vehicle steering feedback system of claim 10, wherein the driver performance is determined in response to a driver attentiveness level, a vehicle operating mode and a driver hands off detection. ### Claim 15 (depends on 10) The method of providing the haptic vehicle steering feedback system of claim 10, wherein the driver performance is determined in response to a vehicle trailering mode, a look ahead road curvature and a look ahead visibility distance. ### Claim 16 (depends on 10) The method of providing the haptic vehicle steering feedback system of claim 10, wherein the ADAS torque weight factor is further determined in response to a vehicle position tracking error, a heading tracking error and a control availability. ### Claim 17 (depends on 10) The method of providing the haptic vehicle steering feedback system of claim 10, wherein the ADAS torque weight factor is inversely proportional to a lateral distance to a proximate object, a relative velocity of the proximate object and a size of the proximate object. ### Claim 18 (depends on 10) The method of providing the haptic vehicle steering feedback system of claim 10, wherein the ADAS torque weight factor is determined in response to a front object detection probability, a distance to an oncoming object and a presence of a construction zone. ### Claim 19 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. ### Claim 20 (depends on 19) The vehicle control system of claim 19, wherein the weighted feedback torque is greater for a steering direction towards a proximate one of the plurality of objects and is less for a steering direction away from the proximate one of the plurality of objects.