# US 2019/0054950 A1 · Enhanced vehicle steering > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0054950 A1 - Document ID: US20190054950A1 - Status: Published application - Kind: A1 - Application number: 15/679,251 - Filed: 2017-08-17 - Published: 2019-02-21 - Earliest claimed: 2017-08-17 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Mohamad Wajih Issam Farhat; Domenic Miccinilli; Jens Christiansen; Nathaniel Abram Rolfes - Web page: https://patentgrep.com/patent/US20190054950A1 ## CPC - B62D 1/286: {Systems for interrupting non-mechanical steering due to driver intervention} - B60W 30/00: Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units - B60W 50/10: Interpretation of driver requests or demands - B62D 6/10: characterised by means for sensing {or determining} torque - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B60W 2520/10: Longitudinal speed - B60W 2540/18: Steering angle - 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) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A manual steering torque input is measured. A manual steering mode of a vehicle is actuated when the manual steering torque input is below a first torque threshold and above a second torque threshold for longer than a time threshold that is based on a vehicle speed. ## Claims ### Claim 1 A system, comprising a computer including a processor and a memory, the memory including instructions executable by the processor to: measure a manual steering torque input; select a time threshold based on a vehicle speed; and actuate a manual steering mode of a vehicle when the manual steering torque input is below a first torque threshold and above a second torque threshold for longer than the time threshold. ### Claim 2 (depends on 1) The system of claim 1, wherein the instructions further include instructions to actuate the manual steering mode when the manual steering torque input is above the first torque threshold. ### Claim 3 (depends on 2) The system of claim 2, wherein the instructions further include instructions to remain in the manual steering mode until the vehicle is deactivated. ### Claim 4 (depends on 1) The system of claim 1, wherein the instructions further include instructions to actuate an autonomous steering mode upon receiving user input. ### Claim 5 (depends on 1) The system of claim 1, wherein the instructions further include instructions to actuate an autonomous steering mode upon operating in the manual steering mode for longer than a second time threshold. ### Claim 6 (depends on 5) The system of claim 5, wherein the instructions further include instructions to determine a second vehicle speed and to determine the second time threshold based on the second vehicle speed. ### Claim 7 (depends on 1) The system of claim 1, wherein the instructions further include instructions to determine a second manual steering torque input in the manual steering mode and to actuate an autonomous steering mode when the second manual steering torque input is below the second torque threshold for longer than a second time threshold. ### Claim 8 (depends on 1) The system of claim 1, wherein the instructions further include instructions to determine a second manual steering torque input in the manual steering mode and to actuate an autonomous steering mode when the second manual steering torque input is below a third torque threshold for longer than a second time threshold. ### Claim 9 (depends on 1) The system of claim 1, wherein the instructions further include instructions to determine at least one of the first torque threshold and the second torque threshold based on the vehicle speed. ### Claim 10 (depends on 1) The system of claim 1, wherein the instructions further include instructions to identify the manual steering torque input based on user input to a steering wheel. ### Claim 11 A method, comprising: measuring a manual steering torque input; selecting a time threshold based on a vehicle speed; and actuating a manual steering mode of a vehicle when the manual steering torque input is below a first torque threshold and above a second torque threshold for longer than the time threshold. ### Claim 12 (depends on 11) The method of claim 11, further comprising actuating the manual steering mode when the manual steering torque input is above the first torque threshold. ### Claim 13 (depends on 12) The method of claim 12, further comprising remaining in the manual steering mode until the vehicle is deactivated. ### Claim 14 (depends on 11) The method of claim 11, further comprising actuating an autonomous steering mode upon receiving user input. ### Claim 15 (depends on 11) The method of claim 11, further comprising actuating an autonomous steering mode upon operating in the manual steering mode for longer than a second time threshold. ### Claim 16 (depends on 15) The method of claim 15, further comprising determining a second vehicle speed and determining the second time threshold based on the second vehicle speed. ### Claim 17 (depends on 11) The method of claim 11, further comprising determining a second manual steering torque input in the manual steering mode and actuating an autonomous steering mode when the second manual steering torque input is below the second torque threshold for longer than a second time threshold. ### Claim 18 (depends on 11) The method of claim 11, further comprising determining a second manual steering torque input in the manual steering mode and actuating an autonomous steering mode when the second manual steering torque input is below a third torque threshold for longer than a second time threshold. ### Claim 19 (depends on 11) The method of claim 11, further comprising determining at least one of the first torque threshold and the second torque threshold based on the vehicle speed. ### Claim 20 (depends on 11) The method of claim 11, further comprising identifying the manual steering torque input based on user input to a steering wheel.