| CPC B60W 30/18163 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/18159 (2020.02); B60W 50/14 (2013.01); B60W 2420/403 (2013.01); B60W 2552/05 (2020.02); B60W 2552/10 (2020.02); B60W 2710/20 (2013.01); B60W 2720/10 (2013.01); B60W 2720/12 (2013.01)] | 20 Claims |
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1. A method for automated control of a vehicle comprising:
automatically navigating a vehicle within a current lane of travel with a driving assistance system;
predetermining a steering maneuver during the automatic navigation with the driving assistance system;
prior to performing the predetermined steering maneuver, biasing the vehicle within the current lane of travel with an offset from a center of the current lane of travel using the driving assistance system, the offset in a direction of the predetermined steering maneuver;
performing the predetermined steering maneuver with the driving assistance system; and
stopping the vehicle within the current lane of travel with the offset prior to performing the predetermined steering maneuver with the driving assistance system,
wherein the vehicle defines a centerline in a direction of travel,
wherein the current lane of travel includes a left boundary and a right boundary, and
wherein when the vehicle is biased with the offset (i) the centerline of the vehicle is spaced apart from the center of the current lane of travel, and (ii) no portion of the vehicle is located outside of the left boundary and the right boundary.
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