US 11,938,941 B2
Mode selection according to system conditions
Yu Yan, Pittsburgh, PA (US)
Assigned to Denso International America, Inc., Southfield, MI (US); and DENSO Corporation, Kariya (JP)
Filed by Denso International America, Inc., Southfield, MI (US); and Denso Corporation, Kariya (JP)
Filed on Mar. 5, 2021, as Appl. No. 17/193,498.
Claims priority of provisional application 62/706,644, filed on Aug. 31, 2020.
Prior Publication US 2022/0063623 A1, Mar. 3, 2022
Int. Cl. B60W 30/182 (2020.01); B60W 30/12 (2020.01); B60W 40/072 (2012.01)
CPC B60W 30/182 (2013.01) [B60W 30/12 (2013.01); B60W 40/072 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A control system, comprising:
one or more processors; and
a memory communicably coupled to the one or more processors and storing:
a selection module including instructions that, when executed by the one or more processors cause the one or more processors to:
in response to acquiring sensor data about a surrounding environment of a vehicle, determine a driving context of the vehicle in relation to aspects of a roadway on which the vehicle is traveling, wherein the driving context includes indicators about whether the vehicle is driving on a highway, in an urban area, on a road with a curvature that satisfies a curve threshold, and whether a lane keeping function of the vehicle is active;
select an active controller for generating control inputs to the vehicle according to the driving context by selecting between a proportional, integral, derivative (PID) controller and a machine learning (ML) controller,
wherein the selection module includes instructions to select the active controller including instructions to determine whether the driving context indicates that the vehicle is driving on a highway and with a lane-keeping function active that satisfies a lane threshold, the lane threshold indicating whether two or more nearby vehicles are present and whether other assistance systems of the vehicle are not operating, and
wherein the selection module includes instructions to select the ML controller when the driving context indicates the lane-keeping function satisfies the lane threshold for a complex driving scenario; and
control the vehicle using the active controller.