# US 2008/0189012 A1 · Steering system with lane keeping integration > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2008/0189012 A1 - Document ID: US20080189012A1 - Status: Published application - Kind: A1 - Application number: 12/020,102 - Filed: 2008-01-25 - Published: 2008-08-07 - Earliest claimed: 2004-06-10 - Assignees: Delphi Technologies, Inc. - Inventors: Timothy W. Kaufmann - Web page: https://patentgrep.com/patent/US20080189012A1 ## CPC - B62D 1/286: {Systems for interrupting non-mechanical steering due to driver intervention} - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B62D 15/029: {Steering assistants using warnings or proposing actions to the driver without influencing the steering system} - B60T 2201/08: Lane monitoring; Lane Keeping Systems - B60T 2201/082: using alarm actuation - B60T 2201/087: using active steering actuation - 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) - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES ## Abstract A system for steering a vehicle including: an actuator disposed in a vehicle to apply torque to a steerable wheel; a driver input device receptive to driver commands for directing the vehicle; and a sensor for determining an intent of a driver and generating a signal indicative thereof. The system also includes: a lane keeping system for detecting a location of the vehicle relative to a lane marker and generating a lane position signal indicative thereof; a controller in operable communication with the actuator, the driver input device, the first sensor, and the lane keeping system. The controller provides a command to the actuator responsive to the intent of the driver, the lane position, and a desired lane position. The controller executes a lane keeping algorithm consisting of a single control loop based on at least one of the lane position and the lane position deviation. ## Claims ### Claim 1 A method for steering a vehicle comprising: receiving a keep out distance; receiving vehicle width value; receiving a vehicle center to left lane marker distance; adding the vehicle center to left lane marker distance to the keep out distance and the vehicle width value; receiving a vehicle center to right lane marker distance; subtracting the keep out distance and the vehicle width value from the vehicle center to right lane marker distance resulting in a right value; enabling a left warning responsive to determining that the left value is greater than zero and a left lane marker signal is available; and enabling a right warning responsive to determining that the right value is less than zero and a right lane marker signal is available. ### Claim 2 (depends on 1) The method of claim 1, wherein the vehicle width value equals one-half of the vehicle width. ### Claim 3 (depends on 1) The method of claim 1, wherein the method further comprises: receiving a lane width value; receiving a vehicle speed value; and defining a keep out distance as a function of the lane width value and the vehicle speed value. ### Claim 4 (depends on 1) The method of claim 1, wherein the method further comprises: receiving a lane width value; receiving a vehicle speed value; defining a keep out percentage as a function of the lane width value and the vehicle speed value; and defining a keep out distance as a product of the keep out percentage and the lane width value. ### Claim 5 (depends on 1) The method of claim 1, wherein the method further comprises: sending a torque warning signal comprising the left value responsive to enabling the left warning; and sending a torque warning signal comprising the right value responsive to enabling the right warning. ### Claim 6 (depends on 5) The method of claim 5, wherein the method further comprises effecting a torque force on a hand wheel responsive to receiving the torque warning signal. ### Claim 7 (depends on 1) The method of claim 1, wherein the left warning and the right warning are audio warnings. ### Claim 8 (depends on 1) The method of claim 1, wherein the left warning and the right warning are visual warnings. ### Claim 9 (depends on 1) The method of claim 1, wherein the left warning and the right warning are vibration warnings. ### Claim 10 A steering system for a vehicle comprising: a sensor operative to detect a left lane marker and a right lane marker; a processor operative to: determine a keep out distance; receiving a vehicle width value; receive a vehicle center to left lane marker distance; add the vehicle center to left lane marker distance to the keep out distance and the vehicle width value; receive a vehicle center to right lane marker distance; subtract the keep out distance and the vehicle width value from the vehicle center to right lane marker distance resulting in a right value; enable a left warning responsive to determining that the left value is greater than zero and a left lane marker signal is available; and enable a right warning responsive to determining that the right value is less than zero and a right lane marker signal is available. one-half vehicle width value ### Claim 11 (depends on 10) The system of claim 10, wherein the vehicle width value equals one-half of the vehicle width. ### Claim 12 (depends on 10) The system of claim 10, wherein the processor is further operative to: receive a lane width value; receive a vehicle speed value; and define the keep out distance as a function of the lane width value and the vehicle speed value. ### Claim 13 (depends on 10) The system of claim 10, wherein the processor is further operative to: receive a lane width value; receive a vehicle speed value; define a keep out percentage as a function of the lane width value and the vehicle speed value; and define the keep out distance as a product of the keep out percentage and the lane width value. ### Claim 14 (depends on 10) The system of claim 10, wherein the processor is further operative to: send a torque warning signal comprising the left value responsive to enabling the left warning; and send a torque warning signal comprising the right value responsive to enabling the right warning. ### Claim 15 (depends on 14) The system of claim 14, wherein the system further comprises: a motor operative to effect a torque force on a hand wheel responsive to receiving the torque warning signal from the processor. ### Claim 16 (depends on 10) The system of claim 10, wherein the left warning and the right warning are audio warnings. ### Claim 17 (depends on 10) The system of claim 10, wherein the left warning and the right warning are visual warnings. ### Claim 18 (depends on 10) The system of claim 10, wherein the left warning and the right warning are vibration warnings.