Patent ID: 9688308
Date: 2017-06-27
CPC Classifications: B60W,B60Y,B62D

Claim:
1. A method for determining whether a vehicle steering torque exceeds a predetermined maximum steering torque limit in advance while a vehicle is being controlled by a lane keeping system, said method comprising: obtaining lane information concerning a lane that the vehicle is traveling in at a predetermined number of sample times in the future; generating a desired path for the vehicle to maintain the vehicle in the lane; obtaining vehicle motion information required to maintain the vehicle on the desired path at each of the sample times; determining steering angles for the vehicle that are necessary for the vehicle to track the desired path at each of the sample times based on the desired path and the vehicle motion information; determining the vehicle steering torque required to steer the vehicle for each of the steering angles; determining whether any of the steering torques exceeds the predetermined maximum steering torque limit; and issuing an alert if any of the steering torques does exceed the predetermined maximum steering torque limit prior to the lane keeping system being required to command that torque to steer the vehicle.