Method for Providing a Lanekeeping Assistance Based on Modifying Mechanical Sources of Steering Torques

Abstract

A method for providing a lanekeeping assistance for a vehicle includes determining road lane characteristics such as a road lane curvature. A vehicle velocity and a vehicle position with respect to a road lane are also determined. A desired steering angle is determined as a function of at least the road lane characteristics. A lanekeeping torque acting on the steering system of the vehicle in order to keep the vehicle on a desired path is determined as a function of at least the desired steering angle. The lanekeeping torque is generated by modifying at least one mechanical steering torque such as a jacking torque, an aligning torque, an inertia torque and a damping torque.

Dependencies are inferred from the claim text.