Method and apparatus for vision based lateral acceleration prediction

1. An apparatus comprising:

a sensor for detecting a first vehicle speed;

a camera operative to capture an image;

a processor operative to

detect a lane marker in response to the image,

predict an expected bank angle in response to the image,

calculate a road curvature in response to a deviation between a straight line vehicle path and the lane marker at a plurality of locations,

determine a first predicted lateral acceleration in response to a highest magnitude of the road curvature, the expected bank angle, a vehicle acceleration, and the first vehicle speed,

determine a second vehicle speed in response to the first predicted lateral acceleration exceeding a threshold value and a prior vehicle speed determined in response to an observed control level during a prior driver automated driving assistance system (ADAS) disengagement while navigating a similar curve condition, wherein the second vehicle speed results in a second predicted lateral acceleration being less than the threshold value, and to generate a control signal indicative of the second vehicle speed; and

a vehicle controller operative to reduce a vehicle velocity to the second vehicle speed in response to the control signal.

2. The apparatus of claim 1 wherein the sensor comprises a global positioning system.

3. The apparatus of claim 1 wherein the camera comprises a forward mounted camera affixed to a vehicle.

4. The apparatus of claim 1 wherein the road curvature is determined in response to a deviation of an edge of a road surface from a current vehicle path.

5. The apparatus of claim 1 wherein the vehicle controller is operative to reduce a throttle output in response to the control signal.

6. The apparatus of claim 1 wherein the prior driver ADAS disengagement includes at least one of a brake application and an acceleration event.

7. The apparatus of claim 1 wherein the prior driver ADAS disengagement includes a previous driver input during a prior ADAS operation.

8. The apparatus of claim 1 wherein the prior driver ADAS disengagement includes a driver braking control input during a prior ADAS operation.

9. A method comprising:

controlling, via instructions provided by a processor, a vehicle at a first speed and a first direction;

capturing, via a camera, an image of a front field of view from the vehicle;

determining, via the processor, a location of a lane marker in response to the image;

predicting, via the processor, a maximum road curvature in response to a deviation between a straight line vehicle path and the lane marker at a plurality of locations;

predicting, via the processor, an expected bank angle in response to the image;

predicting, via the processor, a first lateral acceleration in response to the maximum road curvature, the expected bank angle, a vehicle acceleration, the first direction and the first speed;

determining, via the processor, a second speed in response to the first lateral acceleration exceeding a threshold acceleration and a prior vehicle speed determined in response to an observed control level while navigating a similar curve condition during a prior driver ADAS disengagement; and

controlling the vehicle, via the processor, at a second speed.

10. The method of claim 9 further comprising applying a friction brake in response to controlling the vehicle at the second speed.

11. The method of claim 9 further comprising reducing a throttle setting in response to controlling the vehicle at the second speed.

12. The method of claim 9 further comprising predicting a curve within a current vehicle path in response to a location and a map data wherein the image is captured in response to a prediction of the curve.

13. The method of claim 9 wherein the method is performed by an automated driver-assistance system.

14. An apparatus for controlling a vehicle comprising:

a camera for capturing an image of a field of view;

a sensor for measuring a first speed of the vehicle;

a processor for detecting a lane marker in response to the image, for predicting an expected bank angle in response to the image, for detecting a lateral deviation of the lane marker from a direction of travel of the vehicle, for predicting, a maximum lateral deviation in response to the lateral deviation at a plurality of locations, for predicting a lateral acceleration in response to the maximum lateral deviation, the expected bank angle, a vehicle acceleration and the first speed of the vehicle; and

a vehicle controller for reducing a vehicle speed to a second speed in response to the lateral acceleration exceeding a threshold and a prior vehicle speed determined in response to an observed control level while navigating a similar curve condition during a prior driver ADAS disengagement, wherein the second speed is less than the first speed; and

a vehicle controller operative to control the vehicle at the second vehicle speed.

15. The apparatus for controlling a vehicle of claim 14 wherein the vehicle controller is operative to apply a friction braking force to reduce the vehicle speed.

16. The apparatus for controlling a vehicle of claim 14 wherein the vehicle controller is operative to reduce a throttle setting to reduce the vehicle speed.

17. The apparatus for controlling a vehicle of claim 14 wherein the vehicle controller is operative to engage an engine brake mechanism to reduce the vehicle speed.

18. The apparatus for controlling a vehicle of claim 14 wherein the sensor comprises a global positioning system.

19. The apparatus for controlling a vehicle of claim 14 wherein the sensor comprises a wheel speed indicator.

20. The apparatus for controlling a vehicle of claim 14 further comprising a global positioning system configured for determining a location and a map data and wherein the image is captured in response to the processor predicting a curve within a current vehicle path in response to the location and the map data.