The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 17, 2003
Filed:
Sep. 25, 2001
Nissan Motor Co., Ltd., Yokohama, JP;
Abstract
A driver assistance system ( ) assists the driver in controlling the direction of a moving vehicle along a contrived centerline between lane markings by regulating a steering bias applied to a steering system of the vehicle. An electric motor ( ) coupled to the steering mechanism provides a torque input to the steering in response to an estimate of electric current provided by an observer. The observer has a friction term matrix element (a ), which is correlated with friction in the steering mechanism. A controller ( ) is provided, which establishes a desired or ideal frequency function of lateral displacement data ( ), samples lateral displacement to provide a real frequency function of lateral displacement data ( ), compares the real frequency function with the ideal frequency function ( ), and updates or leaves unaltered the friction term (a ) based on the result of comparison.