US 12,258,014 B2
Vehicular control system with enhanced lane centering
Tejas Murlidhar Varunjikar, Troy, MI (US); Arpit Awathe, Auburn Hills, MI (US); and Subhabrata Ganguli, Northville, MI (US)
Assigned to Magna Electronics Inc., Auburn Hills, MI (US)
Filed by Magna Electronics Inc., Auburn Hills, MI (US)
Filed on Oct. 27, 2022, as Appl. No. 18/050,131.
Claims priority of provisional application 63/263,177, filed on Oct. 28, 2021.
Prior Publication US 2023/0134480 A1, May 4, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 50/06 (2006.01); G06F 30/20 (2020.01)
CPC B60W 30/12 (2013.01) [B60W 50/06 (2013.01); G06F 30/20 (2020.01); B60W 2520/00 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for enhancing a vehicular driving assistance system, the method comprising:
obtaining in-vehicle test data representative of performance of the vehicular driving assistance system of a vehicle during operation of the vehicular driving assistance system;
determining, using the in-vehicle test data, a second order transfer function that models operation of the vehicular driving assistance system, wherein the second order transfer function matches a magnitude response of the in-vehicle test data;
providing a simulation environment, wherein the simulation environment simulates the vehicular driving assistance system using the second order transfer function;
determining, using the simulation environment, a feedforward contribution of the vehicular driving assistance system and a feedback contribution of the vehicular driving assistance system; and
responsive to the feedback contribution being greater than the feedforward contribution, enhancing the vehicular driving assistance system at least in part via increasing the feedforward contribution such that the feedforward contribution is greater than the feedback contribution of the vehicular driving assistance system.