US 12,005,933 B2
Methods and systems for a unified driver override for path based automated driving assist under external threat
Kin Man Michael Wong, Thornhill (CA); Matthew P Kempeinen, Howell, MI (US); Jimmy Lu, Markham (CA); Brian Porto, Wixom, MI (US); and Reza Zarringhalam, Whitby (CA)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Nov. 30, 2021, as Appl. No. 17/456,988.
Prior Publication US 2023/0166773 A1, Jun. 1, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 30/12 (2020.01); B60W 50/10 (2012.01)
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
OG exemplary drawing
 
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.