Operating method and system for supporting lane keeping of a vehicle

An operating method for supporting lane keeping of a vehicle equipped with a steering device, comprising

• providing vehicle related information;
• providing environment related information;
• combining vehicle and environment related information;
• predicting a future trajectory of the vehicle based on vehicle and environment related information;
• estimating a desired lateral lane position of the vehicle and/or a guiding force;
• comparing the future trajectory and-the-desired lateral lane position;
• providing a guiding force to the steering device;
• and when guiding force is provided,
• a) defining an amount of the guiding force depending on a hierarchically ordered set describing, a predetermined driving behavior of the vehicle,
• b) adapting the amount of guiding force depending on the direction in which the vehicle is intended to move, and
• c) activating one or more actuators for supplying the adapted amount of guiding force to the steering device,
• wherein with a trailer attached to the vehicle, the desired lateral position for the vehicle following a curved trajectory along, a bend is estimated dependent on the desired lateral position of the trailer.

An operating method for supporting lane keeping of a vehicle equipped with a steering device, comprising

• providing vehicle related information;
• providing environment related information;
• combining vehicle and environment related information;
• predicting a future trajectory of the vehicle based on vehicle and environment related information;
• estimating a desired lateral lane position of the vehicle and/or a guiding force;
• comparing the future trajectory and-the-desired lateral lane position;
• providing a adding force to the steering device;
• and when guiding force is provided,
• a) defining an amount of the guiding force depending, on a hierarchically ordered set describing a predetermined driving behavior of the vehicle,
• b) adapting the amount of guiding force depending on the direction in which the vehicle is intended to move, and
• c) activating one or more actuators for supplying;
• the adapted amount of guiding force to the steering device,
• wherein guiding force is provided depending on a classification of the road.

An operating method for supporting, lane keeping of a vehicle equipped with a steering device, comprising

• providing vehicle related information;
• providing environment related information;
• combining vehicle and environment related information;
• predicting a future trajectory of the vehicle based on vehicle and environment related information;
• estimating a desired lateral lane position of the vehicle and/or a guiding force;
• comparing the future trajectory and-the-desired lateral lane position;
• providing a guiding force to the steering device;
• and when guiding force is provided,
• a) defining an amount of the guiding force depending on a hierarchically ordered set describing a predetermined driving behavior of the vehicle,
• b) adapting the amount of guiding force depending on the direction in which the vehicle is intended to move, and
• c) activating one or more actuators for supplying the adapted amount of guiding force to the steering device,
• wherein in case of a lane departure when travelling along a bend in lateral direction towards the road centre, a guiding force is determined according to traffic conditions.

An operating method for supporting lane keeping of a vehicle equipped with a steering device, comprising

• providing vehicle related information;
• providing environment related information;
• combining vehicle and environment related information;
• predicting a future trajectory of the vehicle based on vehicle and environment related information;
• estimating a desired lateral lane position of the vehicle and/or a guiding force;
• comparing the future trajectory and-the-desired lateral lane position;
• providing a guiding force to the steering device;
• and when guiding force is provided,
• a) defining an amount of the guiding force depending on a hierarchically ordered set describing a predetermined driving behavior of the vehicle,
• b) adapting die amount of guiding, force depending on the direction in which the vehicle is intended to move, and
• c) activating one or more actuators for supplying the adapted amount of guiding force to the steering device,
• wherein a lane departure warning and/or a guiding force is enabled when the predicted time to a lane departure is less than a variable threshold.

A lane keeping system of a vehicle equipped with a steering device, comprising

• a support unit comprising a data fusion module for producing environment related information,
• a trajectory predictor module for predicting a future trajectory of the vehicle,
• an estimator module for estimating a desired lateral lane position of the vehicle and/or a guiding force, and
• a decision system module for detecting whether a force is exerted on the steering device by a driver and, if the force is exerted on the steering device by the driver, deciding if a guiding force should be provided and, if to be provided, for defining an amount of such guiding force depending on a hierarchically ordered set describing a predetermined driving behavior of the vehicle, and adapting the amount of guiding force depending on the direction in which the vehicle is intended to move, and activating one or more actuators for supplying the adapted amount of guiding force to the steering device, with one or more inputs for sensor data for the data fusion module, an input for vehicle related data and one or more outputs for an output of guiding force demand and/or warning signal.

A non-transitory computer readable medium comprising a software code adapted to perform a method or for use in a method for supporting lane keeping of a vehicle equipped with as steering device, comprising

• providing vehicle related information;
• providing environment related information;
• combining vehicle and environment related information;
• predicting a future trajectory of the vehicle based on vehicle and environment related information;
• estimating a desired lateral lane position of the vehicle and/or a guiding force;
• comparing the future trajectory and-the-desired lateral lane position;
• detecting whether a force is exerted on the steering device by a driver;
• if the force is exerted on the steering device by the driver, providing a guiding force to the steering device;
• and
• when guiding force is provided,
• a) defining an amount of the guiding force depending on a hierarchically ordered set describing a predetermined driving behavior of the vehicle,
• b) adapting the amount of guiding force depending on the direction in which the vehicle is intended to move, and
• c) activating one or more actuators for supplying the adapted amount of guiding force to the steering device.

A computer programmed with software code for use in a method for supporting keeping of a vehicle equipped with a steering device, comprising

• providing vehicle related information;
• providing environment related information;
• combining vehicle and environment related information;
• predicting a future trajectory of the vehicle based on vehicle and environment related information;
• estimating a desired lateral lane position of the vehicle and/or a guiding force;
• comparing the future trajectory and-the-desired lateral lane position;
• detecting whether a force is exerted on the steering device by a driver;
• if the force is exerted on the steering device by the driver, providing a guiding force to the steering device;
• and
• when guiding force is provide,
• a) defining an amount of the guiding force depending on a hierarchically ordered set describing a predetermined driving behavior of the vehicle,
• b) adapting the amount of guiding force depending on the direction in which the vehicle is intended to move, and
• c) activating one or more actuators for supplying the adapted amount of guiding force to the steering device.

A non-transitory computer readable medium comprising a computer program product, the computer readable program product comprising a program code for use in a method comprising at least the steps of

• combining vehicle and environment related information;
• predicting a future trajectory of the vehicle based on vehicle and environment related information;
• estimating a desired lateral lane position and/or a guiding force;
• comparing the future trajectory and the desired lateral lane position;
• detecting whether a force is exerted on the steering device by a driver;
• if the force is exerted on the steering device by the driver, providing a guiding force to the steering device;
• and
• when guiding force is to be provided,
• a) defining an amount of the guiding force depending-on a hierarchically ordered set describing a predetermined driving behavior of the vehicle;
• b) adapting the amount of guiding force depending on the direction in which the vehicle is intended to move.