# US 2017/0282973 A1 · Method and system of assisting a driver of a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0282973 A1 - Document ID: US20170282973A1 - Status: Published application - Kind: A1 - Application number: 15/329,888 - Filed: 2014-09-26 - Published: 2017-10-05 - Earliest claimed: 2014-09-26 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan North America, Inc.; Nissan Motor Co., Ltd. - Inventors: Yoshiro TAKAMATSU; Yuji TAKADA; Yoshinori KUSAYANAGI; Norimasa KISHI - Web page: https://patentgrep.com/patent/US20170282973A1 ## CPC - B62D 15/0265: {Automatic obstacle avoidance by steering} - 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} - 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 method of assisting a driver of a vehicle in driving a road, the method includes obtaining a feature of a road using a sensor, selecting, via a controller, a parameter based on the feature of the road, determining, via a controller, whether the vehicle is approaching a boundary of the road, and providing a feedback operation to assist the driver in avoiding the boundary of the road, the feedback operation based on the selected parameter. ## Claims ### Claim 1 A method of assisting a driver of a vehicle in driving a road, the method comprising: obtaining a feature of a road using a sensor; selecting, via a controller, a parameter from among a plurality of stored parameters based on a correspondence between the feature of the road and a predetermined stored feature; determining, via a controller, whether the vehicle is approaching a boundary of the road; and providing a feedback operation to assist the driver in avoiding the boundary of the road, the feedback operation based on the selected parameter. ### Claim 2 (depends on 1) The method of claim 1, wherein the feature is a curvature of the road. ### Claim 3 (depends on 1) The method of claim 1, wherein the feature is a gradient of the road. ### Claim 4 (depends on 1) The method of claim 1, wherein the feature is a width of the road. ### Claim 5 (depends on 1) The method of claim 1, wherein the feature is a presence of an object in the road. ### Claim 6 (depends on 1) The method of claim 1, wherein the predetermined stored feature is one of a plurality of stored features in the plurality of parameters, and the selecting the parameter further comprises comparing the feature of the road to the plurality of stored features and selecting the parameter when the feature of the road corresponds to the predetermined stored feature. ### Claim 7 (depends on 6) The method of claim 6, wherein each of the plurality of stored features is are weighted. ### Claim 8 (depends on 6) The method of claim 6, wherein correspondence between the predetermined stored feature of the plurality of stored features is based on static obstacle positions along the road. ### Claim 9 (depends on 6) The method of claim 6, wherein correspondence between the predetermined stored feature of the plurality of stored features is determined by calculating a relative position of a static obstacle in the road. ### Claim 10 (depends on 1) The method of claim 1, further comprising updating the parameter based on the feature of the road, and selecting the updated parameter before traveling a second road. ### Claim 11 (depends on 1) The method of claim 1, wherein the parameter includes values that are related to a particular segment of the road. ### Claim 12 (depends on 11) The method of claim 11, wherein the values related to the particular segment of the road are latitude and longitude of the particular segment of the road. ### Claim 13 (depends on 1) The method of claim 1, wherein the parameter includes a distance threshold, and the providing a feedback operation includes applying a feedback force when a distance of the vehicle to the road boundary is less than the distance threshold. ### Claim 14 (depends on 1) The method of claim 1, wherein the providing the feedback operation includes providing haptic feedback to a portion of an interior of the vehicle located proximate to the driver. ### Claim 15 (depends on 1) The method of claim 1, wherein the providing the feedback operation includes applying torque on a portion of a steering system of the vehicle to cause movement of the vehicle away from the boundary. ### Claim 16 (depends on 1) The method of claim 1, wherein the boundary is at least one of a wall and a curb proximal to the road. ### Claim 17 (depends on 1) The method of claim 1, wherein the boundary is a lane marker on the road.