US 12,172,673 B2
System and method for providing friction circle feedback for vehicle safety
Manuel Ludwig Kuehner, Mountain View, CA (US); and Jaime Camhi, San Jose, CA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on Jan. 18, 2022, as Appl. No. 17/578,233.
Prior Publication US 2023/0227070 A1, Jul. 20, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/18 (2012.01)
CPC B60W 60/0015 (2020.02) [B60W 30/18109 (2013.01); B60W 2510/20 (2013.01); B60W 2552/40 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more sensors receiving vehicle data;
a vehicle controller, wherein the vehicle controller:
determines a friction circle for a vehicle based on an analysis of the vehicle data;
dynamically analyzes a current movement of the vehicle based on the friction circle; and
in response to a determination that the current movement of the vehicle has met a threshold of the friction circle, provides haptic cues to a driver of the vehicle for a determined dynamic interaction between lateral control input of the vehicle and longitudinal control input of the vehicle to maintain operation of the vehicle within the friction circle, wherein the haptic cues for the driver of the vehicle enable additional input to be applied to the lateral control input of the vehicle to compensate for a longitudinal movement of the vehicle in the determined dynamic interaction and additional input to be applied to the longitudinal control input of the vehicle to compensate for a lateral movement of the vehicle in the determined dynamic interaction.