{
  "$type": "site.standard.document",
  "description": "The present invention relates to a method for controlling vehicle lane holding for a vehicle with an electric power assisted steering by means of a steering system () with a steering assistance actuator and one or more controllable vehicle state actuators comprising measurement of at least one…",
  "path": "/patents/1289522",
  "publishedAt": "2021-05-06T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/12",
    "SENTIENT IP AB"
  ],
  "textContent": "The present invention relates to a method for controlling vehicle lane holding for a vehicle with an electric power assisted steering by means of a steering system () with a steering assistance actuator and one or more controllable vehicle state actuators comprising measurement of at least one vehicle position input signal with using an on-board vision system for determination of a relative vehicle lane position in the form of a lateral lane position, a heading angle and a lane curvature, transformation of the relative vehicle lane position to a target yaw and/or lateral vehicle state, measuring at least one steering input signal, determination from said one or more measured steering input signals a torque value applied by the driver via a steering wheel (), transformation of said torque value to a relative to the afore-mentioned target yaw and/or lateral vehicle state a driver target relative yaw and/or lateral vehicle state, adding said target yaw and/or lateral vehicle state and said driver target relative yaw and/or lateral vehicle state together, and using the resulting yaw and/or lateral vehicle state as a reference signal to one or more controllers for the mentioned control of the one or more vehicle state actuators.",
  "title": "METHOD AND SYSTEM FOR CONTROLLING VEHICLE LANE HOLDING"
}