CPC B60W 60/0055 (2020.02) [B60W 30/09 (2013.01); B60W 30/12 (2013.01); B60W 50/10 (2013.01); B60W 60/007 (2020.02); B60W 2510/202 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2530/10 (2013.01); B60W 2540/18 (2013.01); B60W 2552/30 (2020.02); B60W 2552/40 (2020.02); B60W 2552/50 (2020.02); B60W 2554/803 (2020.02); B60W 2554/804 (2020.02); B60W 2555/20 (2020.02)] | 20 Claims |
1. A method of controlling steering of an autonomous vehicle, comprising:
operating, by a processor, the autonomous vehicle in a path-based automated driving assist mode;
receiving, by the processor:
driver input data including a driver steering torque direction, and a turn switch direction; and
threat data;
classifying, by the processor, an operation mode based on a type of the path-based automated driving assist mode, the turn switch direction, the driver steering torque direction, and a lateral side location of a threat, indicated by the threat data;
determining, by the processor, an override threshold for overriding the path-based automated driving assist mode for a first lateral side of the autonomous vehicle based on the classified operation mode;
determining, by the processor, a driver override status based on the override threshold; and
generating, by the processor, control signals to control the steering of the autonomous vehicle based on the driver override status and the driver steering torque direction.
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