Method and apparatus for the closed-loop and/or open-loop control of a lateral guidance of a vehicle with the aid of a lane-keeping assist, and lane-keeping assist
A method for the closed-loop and/or open-loop control of a lateral guidance of a vehicle with the aid of a lane-keeping assist. In the process, a detection signal is read in which represents hands-off and/or hands-on driving of the vehicle. If the detection signal represents the hands-off driving, then a closed-loop control signal is provided for controlling the lateral guidance in closed loop. On the other hand, if the detection signal represents the hands-on driving, then an open-loop control signal is provided for controlling the lateral guidance in open loop.
1. A method comprising:
obtaining from a sensor of a vehicle a signal that indicates whether there is a hands-off driving of the vehicle or a hands-on driving of the vehicle; and
based on the obtained signal, controlling a steering of the vehicle;
wherein:
the controlling is performed by executing an algorithm that defines that the controlling of the steering is a closed-loop control of the steering when the detection signal indicates presence of the hands-off driving and that the controlling of the steering is an open-loop control of the steering when the detection signal indicates presence of the hands-on driving;
the closed-loop control iteratively comparing an actual value of a distance of the vehicle from a center of the vehicle's lane or a boundary of the vehicle's lane to a target value of the distance and controlling the steering to reduce a difference, determined by the comparison, between the actual value and the target value, with the iterations being performed until the difference is reduced to zero; and
the open-loop control includes applying a steering torque at a level set based on a distance of the vehicle from the center or boundary of the vehicle's lane, such that the greater the distance, the greater the applied steering torque.
2. The method as recited in claim 1 , wherein the detection signal is a function of (1) a sensed holding force exerted by at least one hand on a steering wheel of the vehicle and (2) at least one of a predetermined debounce time and a predetermined threshold value for the holding force.
3. The method as recited in claim 1 , wherein a manner in which the open-loop control is performed varies depending on which of a plurality of control profiles is selected.
4. The method as recited in claim 3 , wherein the control profile represents a characteristic of a steering torque for the steering assistance as a function of a lateral position of the vehicle in a traffic lane.
5. The method as recited in claim 4 , wherein the steering torque within a predetermined distance to a center of the traffic lane is equal to zero.
6. The method as recited in claim 3 , wherein the plurality of control profiles differ with respect to a size of a dead zone measured from the center of the vehicle's lane in which the steering torque output of the open-loop control is not performed.
7. A non-transitory machine-readable storage medium on which is stored program code that is executable by a computer and that, when executed by the computer, causes the computer to perform a method, the method comprising:
obtaining from a sensor of a vehicle a signal that indicates whether there is a hands-off driving of the vehicle or a hands-on driving of the vehicle; and
based on the obtained signal, controlling a steering of the vehicle;
wherein:
the controlling is performed by executing an algorithm that defines that the controlling of the steering is a closed-loop control of the steering when the detection signal indicates presence of the hands-off driving and that the controlling of the steering is an open-loop control of the steering when the detection signal indicates presence of the hands-on driving;
the closed-loop control iteratively comparing an actual value of a distance of the vehicle from a center of the vehicle's lane or a boundary of the vehicle's lane to a target value of the distance and controlling the steering to reduce a difference, determined by the comparison, between the actual value and the target value, with the iterations being performed until the difference is reduced to zero; and
the open-loop control includes applying a steering torque at a level set based on a distance of the vehicle from the center or boundary of the vehicle's lane, such that the greater the distance, the greater the applied steering torque.
8. A system of a vehicle, the system comprising:
a sensor; and
a processor;
wherein the sensor is configured to:
obtain from the sensor a signal that indicates whether there is a hands-off driving of the vehicle or a hands-on driving of the vehicle;
when the signal indicates presence of the hands-off driving, control a steering of the vehicle by executing a closed-loop control in which the processor iteratively compares an actual value of a distance of the vehicle from a center of the vehicle's lane or a boundary of the vehicle's lane to a target value of the distance and controls the steering to reduce a difference, determined by the comparison, between the actual value and the target value, with the iterations being performed until the difference is reduced to zero; and
when the signal indicates presence of the hands-on driving, control the steering of the vehicle by executing an open-loop control in which the processor triggers application of a steering torque at a level set based on a distance of the vehicle from the center or boundary of the vehicle's lane, such that the greater the distance, the greater the applied steering torque.