# US 8,788,136 B2 · Method and device for lane keeping assistance regulation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,788,136 B2 - Document ID: US8788136B2 - Status: Granted - Kind: B2 - Application number: 13/654,046 - Filed: 2012-10-17 - Published: 2013-04-18 - Granted: 2014-07-22 - Earliest claimed: 2011-10-17 - Assignees: Robert Bosch GmbH - Applicants: Tobias Rentschler; Florian Hauler - Inventors: Tobias Rentschler; Florian Hauler - Web page: https://patentgrep.com/patent/US8788136B2 ## CPC - B60W 30/12: Lane keeping - 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: 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 - 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 In a lane keeping assistance method for a vehicle which is traveling in a lane, it is checked whether an activation criterion for an automatic driving dynamics intervention is satisfied, and in response to the satisfaction of the activation criterion, control signals are output for the driving dynamics intervention. A remaining travel time to crossing or reaching a lateral lane line is ascertained and compared to a threshold value as the activation criterion. During the automatic driving dynamics intervention, a deactivation criterion for ending the automatic driving dynamics intervention is checked, the deactivation criterion including a comparison of a vehicle alignment to a lane direction. ## Claims ### Claim 1 An automated lane keeping assistance method for a vehicle traveling in a lane of a roadway, comprising: checking by a controller whether an activation criterion for an automatic driving dynamics intervention is satisfied; and outputting control signals for the automatic driving dynamics intervention, in the case the activation criterion is satisfied; wherein, as the activation criterion, a remaining travel time for one of crossing or reaching a lateral lane line of the traveled lane is ascertained and compared to a threshold value, and wherein during the automatic driving dynamics intervention, a deactivation criterion for ending the automatic driving dynamics intervention is checked, the deactivation criterion including a comparison of a vehicle alignment to a lane direction. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein the deactivation criterion includes ascertainment of whether a parallelism of the vehicle alignment and the lane direction has been one of reached or crossed. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein an angle of intersection between the vehicle alignment and the lane direction is ascertained, and wherein the deactivation criterion includes checking whether a sign change of the angle of intersection is occurring. ### Claim 4 (depends on 2) The method as recited in claim 2, wherein the deactivation criterion is formed exclusively by the comparison of the vehicle alignment to the lane direction. ### Claim 5 (depends on 2) The method as recited in claim 2, wherein the deactivation criterion includes at least one additional sub-criterion. ### Claim 6 (depends on 5) The method as recited in claim 5, wherein the at least one additional sub-criterion includes ascertainment of whether a transverse distance from a lane line of the traveled lane exceeds a minimum distance. ### Claim 7 (depends on 2) The method as recited in claim 2, wherein one of: (i) in the case the traveled lane is identified as having a width too wide for a single lane, and at least an additional third line within the traveled lane is not detected, ascertaining a position of a virtual third line within the traveled lane based on camera signals; or (ii) in the case navigation data indicate the traveled lane includes multi-lanes, and at least an additional third line within the traveled lane is not detected, ascertaining a position of a virtual third line within the traveled lane based on camera signals. ### Claim 8 A control device for lane keeping assistance regulation, comprising: an input interface for receiving driving dynamics signals; a checking unit for checking whether an activation criterion for an automatic driving dynamics intervention is satisfied; and an output interface for outputting control signals for the automatic driving dynamics intervention, in the case the activation criterion is satisfied; wherein, as the activation criterion, a remaining travel time for one of crossing or reaching a lateral lane line of the traveled lane is ascertained and compared to a threshold value, and wherein during the automatic driving dynamics intervention, a deactivation criterion for ending the automatic driving dynamics intervention is checked, the deactivation criterion including a comparison of a vehicle alignment to a lane direction.