# US 2019/0377339 A1 · Driver assist > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0377339 A1 - Document ID: US20190377339A1 - Status: Published application - Kind: A1 - Application number: 16/001,109 - Filed: 2018-06-06 - Published: 2019-12-12 - Earliest claimed: 2018-06-06 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Nitendra Nath; Ryan Danko; Aaron L. Mills - Web page: https://patentgrep.com/patent/US20190377339A1 ## CPC - B60W 30/12: Lane keeping - B60W 30/182: Selecting between different operative modes, e.g. comfort and performance modes - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 40/105: Speed - B60W 40/109: Lateral acceleration - B60W 40/112: Roll movement - G05D 1/0219: {ensuring the processing of the whole working surface} - B60W 40/02: related to ambient conditions - B60W 2510/30: Auxiliary equipments - B60W 2520/06: Direction of travel - B60W 2520/10: Longitudinal speed - B60W 2520/125: Lateral acceleration - B60W 2520/18: Roll - B60W 2555/20: Ambient conditions, e.g. wind or rain - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A computing system can determine a probability of precipitation based on Bayesian inference conditioned on probabilities associated with vehicle wiper status, vehicle jerk, vehicle sway, and vehicle lateral offset. The computing system can disable a vehicle lane assist system based on the probability of precipitation and operate a vehicle with the disabled vehicle lane assist system. ## Claims ### Claim 1 A method, comprising: determining a probability of precipitation based on Bayesian inference conditioned on probabilities associated with vehicle wiper status, vehicle jerk, vehicle sway, and vehicle lateral offset; and disabling a vehicle lane assist system based on the probability of precipitation. ### Claim 2 (depends on 1) The method of claim 1, further comprising determining vehicle wiper status, vehicle jerk, vehicle sway, and vehicle lateral offset based on vehicle sensor data. ### Claim 3 (depends on 2) The method of claim 2, wherein vehicle sensor data includes path offset coefficients, path polynomial coefficients, vehicle speed, vehicle lateral acceleration, and path polynomial confidence. ### Claim 4 (depends on 3) The method of claim 3, wherein vehicle wiper status includes wiper off, wiper interval, wiper low and wiper high. ### Claim 5 (depends on 3) The method of claim 3, wherein vehicle lateral jerk is determined based on a constant velocity model-based Kalman Filter applied to vehicle lateral acceleration. ### Claim 6 (depends on 3) The method of claim 3, wherein vehicle sway is determined based on harmonic analysis of vehicle lateral jerk. ### Claim 7 (depends on 3) The method of claim 3, wherein vehicle lateral offset is based on determining a polynomial function based on path polynomial coefficients and vehicle speed. ### Claim 8 (depends on 3) The method of claim 3, further comprising re-enabling the vehicle lane assist system based on an empirically determined time period, the probability of precipitation, and the path polynomial confidence. ### Claim 9 (depends on 8) The method of claim 8, further comprising determining path polynomial confidence by determining a number of times the path polynomial is below an empirically determined threshold in an empirically determined time period. ### Claim 10 A system, comprising a processor; and a memory, the memory including instructions to be executed by the processor to: determine a probability of precipitation based on Bayesian inference conditioned on probabilities associated with vehicle wiper status, vehicle jerk, vehicle sway, and vehicle lateral offset; and disabling a vehicle lane assist system based on the probability of precipitation. ### Claim 11 (depends on 10) The system of claim 10, further comprising determining vehicle wiper status, vehicle jerk, vehicle sway, and vehicle lateral offset based on vehicle sensor data. ### Claim 12 (depends on 11) The system of claim 11, wherein vehicle sensor data includes path offset coefficients, path polynomial coefficients, vehicle speed, vehicle lateral acceleration, and path polynomial confidence. ### Claim 13 (depends on 12) The system of claim 12, wherein vehicle wiper status includes wiper off, wiper interval, wiper low and wiper high. ### Claim 14 (depends on 12) The system of claim 12, wherein vehicle lateral jerk is determined based on a constant velocity model-based Kalman Filter applied to vehicle lateral acceleration. ### Claim 15 (depends on 12) The system of claim 12, wherein vehicle sway is determined based on harmonic analysis of vehicle lateral jerk. ### Claim 16 (depends on 12) The system of claim 12, wherein vehicle bad lateral offset is based on determining a polynomial function based on path polynomial coefficients and vehicle speed. ### Claim 17 (depends on 12) The system of claim 12, further comprising re-enabling the vehicle lane assist system based on an empirically determined time period, the probability of precipitation, and the path polynomial confidence. ### Claim 18 (depends on 17) The system of claim 17, further comprising determining path polynomial confidence by determining a number of times the path polynomial is below an empirically determined threshold in an empirically determined time period. ### Claim 19 A system, comprising: means for controlling vehicle steering, braking and powertrain; computer means for: determining a probability of precipitation based on Bayesian inference conditioned on probabilities associated with vehicle wiper status, vehicle jerk, vehicle sway, and vehicle lateral offset; and disabling a vehicle lane assist system based on the probability of precipitation; and operating a vehicle with the disabled vehicle lane assist system based on the means for controlling vehicle steering, braking and powertrain. ### Claim 20 (depends on 19) The system of claim 19, further comprising determining vehicle wiper status, vehicle jerk, vehicle sway, and vehicle lateral offset based on vehicle sensor data.