Driving-based lane offset control for lane centering

1. A method for providing adaptive lane centering in an autonomous or semi-autonomous vehicle driving system, said method comprising:

a controller for:

activating a lane centering control;

detecting a driver steering override during the lane centering control;

monitoring a lane centering offset when a driver override condition is detected;

determining if the lane centering offset represents a driver bias; and

determining if the driver override condition has ended prior to determining if the offset is a driver bias by detecting if the lane centering variation is smaller than a predetermined threshold for a predetermined time; and

adjusting the lane centering offset to compensate for the driver bias.

2. The method according to claim 1 wherein determining if the lane centering offset represents a driver bias includes determining if the lane centering offset is constant for a predetermined period of time.

3. The method according claim 1 further including activating the lane centering control in response to a request from the driver.

4. The method according to claim 1 further including relinquishing steering control to the driver if a driver override condition is detected.

5. The method according to claim 1 further including engaging the lane centering control with the driver bias offset.

6. The method according to claim 1 further including retrieving an initial lane offset prior to activating the lane centering control.

7. A system for providing vehicle steering control in an autonomous or semi-autonomous vehicle driving system, said system including non-transitory computer-readable storage medium with an executable program stored thereon, wherein the program instructs a controller to:

activate a lane centering control;

detect a driver steering override of the lane centering control;

monitor a lane centering offset when a driver override condition is detected;

determine if the lane centering offset represents a driver bias;

determine if the driver override condition has ended prior to determining if the offset is a driver bias by detecting if the lane centering variation is smaller than a predetermined threshold for a period of time; and

adjust the lane centering offset to compensate for the driver bias.

8. The system according to claim 7 wherein the driver steering override is detected using a steering angle sensor and a torque sensor.

9. The system according to claim 7 wherein determining if the lane centering offset represents a driver bias includes determining if the lane centering offset is constant for a predetermined period of time.

10. The system according claim 7 wherein the lane centering control is activated in response to a request from the driver.

11. The system according to claim 7 further including relinquishing steering control to the driver if a driver override condition is detected.

12. The system according to claim 7 the lane centering control is re-activated with the driver bias offset.

13. The system according to claim 7 further including retrieving an initial lane offset prior to activating the lane centering control.

14. A system for providing vehicle steering control in an autonomous or semi-autonomous vehicle driving system, said system comprising:

a controller programmed to provide:

means for activating a lane centering control;

means for detecting a driver steering override of the lane centering control system;

means for monitoring a lane centering offset when a driver override condition is detected;

means for determining if the lane centering offset represents a driver bias;

means for determining if the driver override condition has ended prior to determining if the offset is a driver bias by detecting if the lane centering variation is smaller than a predetermined threshold for a period of time; and

means for adjusting the lane centering offset to compensate for the driver bias.

15. The system according to claim 14 further including a means for determining if the lane centering offset is constant for a predetermined period of time.