GB2583898A

GB2583898A - Control system for driver monitoring and steering control

Info

Publication number: GB2583898A
Application number: GB1905412.1A
Authority: GB
Inventors: John King Paul; Fairgrieve Andrew
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2019-04-17
Filing date: 2019-04-17
Publication date: 2020-11-18
Anticipated expiration: 2039-04-17
Also published as: GB2583898B; GB201905412D0

Abstract

A method of operating a steering system of a vehicle using an electronic control means; the steering system configured to control a driving direction of the vehicle; the electronic control means configured to control the steering system based on a determined 42 target path; the method comprising: determining 45 an operation of the steering system based on the driving direction of the vehicle, the target path and on a signal 44 indicative of a state of driver attentiveness , wherein the signal indicative of the state of driver attentiveness is determined by a driver monitoring system; and operating, using the electronic control means, the steering system according to the operation. The signal indicative of a state of driver attentiveness may be from sensors monitoring a direction of gaze of the driver or providing an indication of the driver’s brain activity. Vehicle trajectory data may be compared to the target trajectory to operate the steering to course-correct the vehicle. The level of a torque component applied to the steering system may be determined. Also provided is an electronic control means.

Description

CONTROL SYSTEM FOR DRIVER MONITORING AND STEERING CONTROL

TECHNICAL FIELD

The present disclosure relates to a control system for driver monitoring and steering control and particularly, but not exclusively, to a control system for guiding the motion of a vehicle along a target path. Aspects of the invention relate to an electronic control means, to a control system, to a vehicle, to a method of control and to a computer readable medium comprising computer readable instructions configured to give effect to the method.

BACKGROUND

Modern vehicles commonly feature Advanced Driver Assistance Systems (ADAS) that aim to assist the driver in a variety of driving scenarios. Developments in sensory technologies and the capabilities of processing devices have led to ADAS systems that are able to monitor the vehicle's operation, the vehicle's driving environment and, more recently, the condition of the driver.

Information gathered by these sensory systems can be used to improve the driver's situational awareness, to facilitate automated control of certain vehicle operations and to identify dangerous situations. For example, driver monitoring systems can identify drowsiness and provide alerts to the driver to focus their attention. Similarly, adaptive cruise control systems can provide automated speed control based on operational monitoring of surrounding vehicles. Accordingly, the level of automation with regards to vehicle control and hazard detection, has increased with these systems and there has been an associated reduction in the burden on the driver to control and monitor the vehicle. However, these systems do not intend to provide complete control of the vehicle and reducing the burden on the driver can cause the driver to become distracted and inattentive to the road and the operation of the vehicle.

It is an aim of the present invention to address disadvantages associated with the prior art and to mitigate at least some of the above-mentioned problems.

SUMMARY OF THE INVENTION

According to an aspect of the present invention there is provided a method of operating a steering system of a vehicle using an electronic control means; the steering system configured to control a driving direction of the vehicle; the electronic control means configured to control the steering system based on a target path; the method comprising: determining an operation of the steering system based on the driving direction of the vehicle, the target path and on a signal indicative of a state of driver attentiveness, wherein the signal indicative of the state of driver attentiveness is determined by a driver monitoring system; and operating, using the electronic control means, the steering system according to the operation.

In essence, the invention may act to support a driver's steering inputs when the driver is being attentive and oppose steering inputs when the driver is not being attentive. In this manner, the electronic control means may guide the vehicle along the target path when the driver is distracted or inattentive. The invention may, for example, monitor the attentiveness of the driver to the road ahead of the vehicle. As a result, the invention may provide assistive control over the driving direction of the vehicle which may help to reduce road traffic incidents. Conversely, the method may also act to allow (not oppose) or even aid a driver's attempts to change the driving direction of the vehicle when the electronic control means determines that the driver is paying sufficient attention to the road ahead.

It should be appreciated that the term 'vehicle' may include but is not limited to a land vehicle, watercraft or aircraft. The vehicle may be a transport vehicle for transporting people and/or cargo. The vehicle may be any of a wheeled, tracked, or skied vehicle. The vehicle may be a motor vehicle including but not limited to, a car, a lorry, a motorbike, a van, a bus, a coach.

Further, the 'driving direction' of the vehicle may be considered synonymous with a 'trajectory' of the vehicle.

Accordingly, the target path may, for example, provide a target driving direction that is suitable for comparison to the driving direction of the vehicle. For example, the target driving direction may be provided in the same format as the driving direction of the vehicle, for example as a steering angle relative to a longitudinal axis.

Optionally, determining the operation comprises receiving, at the electronic control means, vehicle trajectory data associated with the driving direction of the vehicle from a vehicle monitoring system; receiving, at the electronic control means, target trajectory data associated with the target path from a path monitoring system; and comparing the vehicle trajectory data to the target trajectory data.

Optionally, the steering system is further configured to receive a steering input from the driver.

Determining the operation of the steering system may, for example, be further based on the steering input from the driver.

Optionally, determining the operation comprises determining a steering input to steer the driving direction of the vehicle towards the target path.

Determining the operation may, for example, comprise determining a torque component to apply to the steering system.

Optionally, determining the operation comprises determining a first torque component based on a first state of driver attentiveness or determining a second torque component based on a second state of driver attentiveness. Advantageously, different torques may be determined depending on the state of driver attentiveness.

For example, a magnitude of the first torque component may be greater than a magnitude of the second torque component. A large torque component may, for example, be applied if the driver is inattentive and the vehicle is directed away from the target path, whilst a lesser torque component may be applied if the driver is in an attentive state and the vehicle is directed away from the target path.

Additionally, a direction of the first torque component may, for example, act towards the target path and a direction of the second torque component may, for example, be based on the driver's steering input. For example, the second torque component may act in the same direction as the driver's steering input.

Advantageously, the magnitude and direction of the torque component may be varied depending on the state of driver attentiveness. Accordingly, the steering control may be varied between human driving control, assistive driving control and automated driving control depending on the state of driver attentiveness. The driver's steering torque may, for example, exceed the second torque component and steer the vehicle during human driving control. The first or second torque component may, for example, assist the driver's steering input and ease the driver's steering effort during assistive steering control. The first torque component may, for example, exceed the driver's steering torque and steer the vehicle in accordance with the target path during automated driving control.

In an embodiment, the signal indicative of the state of driver attentiveness may, for example, be determined by one or more sensors of the driver monitoring system and the one or more sensors may monitor a direction of gaze of a driver and/or provide an indication of the driver's brain activity. Advantageously, the direction of gaze and the brain activity are primary indicators of a driver's state of attentiveness and the parameters can be measured continuously in a passive manner. Consequently, the measurements of driver attentiveness are more responsive and accurate.

Additionally, determining the operation may, for example, comprise determining a correlation between the direction of gaze of the driver and the driving direction of the vehicle.

In a further aspect of the invention there is provided a computer readable medium comprising computer readable instructions configured to give effect to the method as described in a previous aspect of the invention.

In another aspect of the invention there is provided an electronic control means for controlling a steering system of a vehicle based on a target path; the steering system configured to control a driving direction of the vehicle; wherein the electronic control means is configured to: receive a first signal comprising information relating to a driving direction of the vehicle; receive a second signal comprising information relating to the target path; determine a state of driver attentiveness based on a third signal received from a driver monitoring system; determine an operation of the steering system based on the state of driver attentiveness and on the information relating to the driving direction of the vehicle and the target path; and operate the steering system according to the operation.

Optionally, the first signal is received from a vehicle monitoring system; the first signal comprising vehicle trajectory data, associated with the driving direction of the vehicle; the second signal is received from a path monitoring system; the second signal comprising target trajectory data, associated with the target path; and wherein the electronic control means is configured to determine the operation based on a comparison between the vehicle trajectory data and the target trajectory data.

Additionally, the electronic control means may, for example, be further configured to receive information relating to the driver's steering input and to determine the operation of the steering system further based on the steering input.

Optionally, the electronic control means may be configured to operate the steering system to oppose the steering input from the driver in dependence on the state of driver attentiveness.

The operation may, for example, include a steering input. The steering input may, for example, be configured to steer the driving direction of the vehicle towards the target path.

The electronic control means may, for example, be further configured to determine a first operation based on a first state of driver attentiveness or to determine a second operation based on a second state of driver attentiveness.

Additionally, the operation may, for example, include a torque component. For example, a first torque component may be applied to the steering system based on the first state of driver attentiveness or a second torque component may be applied to the steering system based on the second state of driver attentiveness.

Optionally, a magnitude of the first torque component is greater than a magnitude of the second torque component.

Optionally, the first torque component is directed towards the target path and the second torque component is directed in accordance with the driver's steering input. The second torque component may, for example, be directed in the same direction as the driver's steering input.

Optionally, the signal indicative of the state of driver attentiveness may be determined by one or more sensors of the driver monitoring system and the one or more sensors may monitor a direction of gaze of a driver and/or provide an indication of the driver's brain activity.

Additionally, the electronic control means may, for example, be configured to determine a correlation between the direction of gaze of the driver and the driving direction of the vehicle and to determine the operation based on the correlation.

Optionally, the electronic control means may be configured to operate an electro-mechanical device of the steering system.

In a further aspect of the invention, there is provided a control system comprising the electronic control means as described in a previous aspect of the invention.

In another aspect of the invention, there is provided a vehicle comprising the control system as described in a previous aspect of the invention.

Optionally, the steering system may comprise any one or more of a steering wheel, a motorised gearbox, an actuator or a motor.

Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 illustrates an embodiment of a vehicle in accordance with the present invention; Figure 2 illustrates an embodiment of a control system in accordance with the present invention; Figure 3 illustrates an example electronic control means of the control system shown in Figure 2; Figure 4 illustrates an embodiment of a method of operating the control system, shown in Figure 2, in accordance with the present invention; Figure 5 illustrates an example steering mechanism of the vehicle, shown in Figure 1, including an electronic control means, a vehicle monitoring system and a steering system of the control system shown in Figure 2; Figure 6 illustrates an example interior cabin of the vehicle, shown in Figure 1, including a driver monitoring system of the control system shown in Figure 2; Figure 7 illustrates an example ADAS of the vehicle, shown in Figure 1, including a path monitoring system of the control system shown in Figure 2.

DETAILED DESCRIPTION

There is presented a control system 10 for guiding a driving direction of a vehicle 1. An example of the control system 10 is shown in Figure 1.

In essence, the control system 10 is configured to guide the motion of the vehicle along a target path and to dynamically adjust the steering control between human driving control and automated driving control in dependence on the attentiveness of the driver to the trajectory of the vehicle 1. For example, the control system 10 may control the motion of the vehicle 1 along the target path and provide automated steering control when the driver is distracted or not looking at the road ahead of the vehicle 1. However, when the driver is paying attention to the road ahead of the vehicle 1, the control system may allow or assist human driving control, such that the motion of the vehicle 1 is controlled by the driver's steering inputs. In practice, the steering control may, for example, be varied between human driving control and automated driving control by adjusting the amount of steering torque provided by the control system 10.

Figure 2 shows an example of such a control system 10. The control system 10 includes an electronic control means 12 configured to operate a steering system 14 of the vehicle 1.

The steering system 14 is configured to control the driving direction of the vehicle 1. The term 'driving direction' may also be referred to herein as a 'trajectory' of the vehicle 1 or a 'direction of motion' of the vehicle 1.

It should be appreciated that the steering system 14 may take various forms that are capable of controlling the driving direction of the vehicle 1. For example, the steering system 14 may include a drive-by-wire arrangement or a more conventional arrangement with mechanical linkages between a steering wheel and one or more road wheels of the vehicle 1. Such steering systems are known in the art and will not be described in more detail at this stage.

It should also be appreciated that the electronic control means 12 may take various forms including, for example, an electronic control unit (ECU), electronic controller, or other processing unit. The electronic control means 12 is configured to control the steering system 14 based on the target path and may, for example, output one or more operation signals to operate the steering system 14. The target path may, for example, be defined by or comprise any one or more of the following non-exhaustive examples: a current driving direction, a lane of traffic, a plurality of markers on a surface, a GPS route, a computer vision route or a vehicle tracking path. The target path may, for example, be configured to map a driving route along the centre of a roadway or a lane of traffic. The driving route may be mapped to ensure that the vehicle 1 maintains an optimal position with respect to adjacent vehicles and roadway boundaries, such as lane markings. Such positioning may be especially useful if the roadway curves or narrows as the vehicle 1 is navigated to a desired destination.

The steering system 14 may be controllable by the electronic control means 12 as well as the driver. To make this possible, the steering system 14 may include at least one driver input device, such as a steering wheel, and at least one electro-mechanical device, such as a motorised gearbox. The driver input device may be configured to apply steering inputs from the driver and the electro-mechanical device may be configured to apply steering inputs corresponding to one or more operation signals received from the electronic control means 12. The steering system 14 may be configured to combine those steering inputs and to output steering control. For example, the steering inputs may be combined to produce a resultant steering torque that alters the steering angle of one or more road wheels of the vehicle 1. In this manner, the steering system 14 controls the driving direction of the vehicle 1. Further, the electronic control means 12 is configured to operate the steering system 14 in a manner that shares steering control with the driver to facilitate automated steering control, assistive steering control or human steering control.

The electronic control means 12 is also configured to receive one or more input signals that include information relating to the driving direction of the vehicle 1, the target path and the state of driver attentiveness. These input signals enable intelligent operation of the steering system 14. The input signals may, for example, be received from one or more monitoring systems 16 of the vehicle 1. The monitoring systems 16 may, for example, include a vehicle monitoring system 18, a driver monitoring system 20 and a path monitoring system 22, as shown in Figure 2.

The path monitoring system 22 is configured to determine the target path. The vehicle monitoring system 18 is configured to determine the driving direction of the vehicle 1. For example, the vehicle monitoring system 18 may be configured to measure a steering angle of a steering wheel or of one or more road wheels of the vehicle 1.

The driver monitoring system 20 is configured to monitor the driver and to output one or more signals indicative of the state of driver attentiveness. For example, the driver monitoring system 20 may be configured to monitor the attentiveness of the driver to a field of view that is associated with any one or more of the trajectory of the vehicle 1, a change in trajectory of the vehicle 1 or the target path. On that basis, the state of driver attentiveness may be received at the electronic control means 12 in a form which is suitable to infer the relative attentiveness or inattentiveness of the driver. For example, the state of driver attentiveness may be received in an electronic or optical form and comprise information relating to a quantitative or a qualitative measurement of the state of driver attentiveness.

In a more detailed example, the driver monitoring system 20 may determine a direction of gaze of the driver and compare the direction of gaze with a direction associated with the motion of the vehicle 1. For example, the driver monitoring system 20 may include one or more imaging cameras arranged to capture images of the driver's eyes. The driver monitoring system 20 may, for example, be configured to output a corresponding signal, indicative of the state of driver attentiveness, to the electronic control means 12 based on the comparison.

In any case, the state of driver attentiveness is used to gauge the driver's ability to apply competent steering control. Accordingly, the electronic control means 12 is configured to determine an operation of the steering system 14 based on the driving direction of the vehicle 1, the target path and on a signal indicative of the state of driver attentiveness. The operation may be a steering input computed to influence the driving direction of the vehicle 1. For example, the steering input may be computed based on the information received at the electronic control means 12. The electronic control means 12 may, for example, determine a steering torque that affects the steering angle of one or more road wheels of the vehicle 1.

By way of example, whilst the driver is in an inattentive state, the electronic control means 12 may operate the steering system 14 to provide completely automated steering control, directing the vehicle 1 along the target path. For example, the electronic control means 12 may generate a steering torque that exceeds any other steering inputs from the driver or the external environment. If the driver is looking away from the driving direction of the vehicle 1 and the vehicle 1 is steered away from its current trajectory then the electronic control means 12 may operate the steering system 14 to oppose the driver's steering input and maintain the original trajectory. Yet, as the driver returns their gaze to the driving direction of the vehicle 1, the control system 10 may reduce the steering control provided by the electronic control means 12, for example by generating less steering torque. As a result, the driving direction of the vehicle 1 may be controlled by steering inputs from both the driver and the electronic control means 12. Further still, whilst the driver is in an attentive state, the electronic control means 12 may, for example, operate the steering system 14 to allow or assist the driver's steering inputs, even if the steering inputs direct the driving direction of the vehicle 1 away from the target path. For example, the electronic control means 12 may generate a steering torque that may be overcome by the driver's steering inputs or the electronic control means may generate a steering torque in the same direction as the driver's steering inputs.

In summary, intentional steering inputs from the driver may be assisted or allowed, whilst unintentional steering inputs that deviate from the target path may be opposed.

It should be appreciated that the steering control may be varied by operating the steering system to produce different amounts of steering torque.

The ability of the control system 10 to reconfigure steering control based on a driver's state of attentiveness provides enhanced collaboration between automated driving control and human driving control.

The individual elements of the control system 10 that provide these capabilities will now be described in more detail before describing various examples of its operation and providing a specific arrangement of the invention.

Vehicle monitorino system The vehicle monitoring system 18 may include one or more sensors that are configured to monitor the operation of the vehicle 1. The sensors may predominantly be used to determine the driving direction of the vehicle 1.

The sensors may, for example, include any one or more torque sensors, position sensors or accelerometers configured to determine the driving direction of the vehicle 1. One or more of the sensors may, for example, be placed in positions to monitor a steering wheel or one or more road wheels of the vehicle 1. Accordingly, one or more of the sensors may, for example, be configured to measure a steering angle, an angular velocity or an angular acceleration of the steering wheel or of one or more of the road wheels. These measurements may be processed by the vehicle monitoring system 18 to determine the driving direction of the vehicle 1.

The vehicle monitoring system 18 may be further configured to measure steering inputs applied to the steering system 14 from the driver. The steering inputs may be applied to the steering system 14 through a driver input device, such as a steering wheel, and may, for example, include a steering torque and a steering angle. Accordingly, the vehicle monitoring system 18 may, for example, include one or more position sensors or accelerometers configured to determine a steering angle, velocity, or acceleration of the driver input device. Alternatively or additionally, the vehicle monitoring system 18 may also include one or more torque sensors configured to determine a torque component applied to the steering system 14 through the driver input device.

The measurements from one or more of the sensors may be communicated to the electronic control means 12 by one or more electronic signals. The vehicle monitoring system 18 may, for example, be configured to communicate the driving direction of the vehicle 1 to the electronic control means 12 as vehicle trajectory data. For example, the vehicle monitoring system may include an output for transmitting the driving direction of the vehicle1 to an input or receiver of the electronic control means 12. It should be appreciated that the vehicle trajectory data may take different forms in dependence on the specific configuration of the vehicle monitoring system 18. The electronic control means 12 may determine the operations of the steering system 14 at least partially based on the received signals.

Path monitoring system The path monitoring system 22 is configured to determine a target path for the vehicle 1. Such path monitoring systems are known in the art and will not be described in detail at this stage. However, it should be appreciated that the path monitoring system 22 may take various forms including, for example, a GPS system, a lane-keep-assist system, a simultaneous localisation and mapping system, a real-time locating system, a radar system, a LIDAR system or a computer vision system. It should be appreciated that the output data of each of these systems may be used to determine a target path.

Alternatively, the data output from one or more of these systems may be combined to determine the target path.

As discussed previously, the target path may also take various forms and may, for example, be determined based upon the identification of surrounding objects, path boundary features, terrain features or other features suitable for determining a recommended pathway of travel for the vehicle 1. In this manner, the target path may, for example, be determined on a roadway or in an off-road situation.

The target path may, for example, be communicated to the electronic control means 12 as a target driving direction or a target trajectory that guides the vehicle 1 along the target path. The target driving direction may, for example, further include tolerances, setting upper and lower limits of driving direction that satisfy the target path.

The path monitoring system 22 may, for example, be configured to determine target trajectory data, corresponding to the target driving direction, and to output the target trajectory data to the electronic control means 12. For example, the electronic control means 12 may be configured to receive vehicle trajectory data, from the vehicle monitoring system 18, and target trajectory data, from the path monitoring system 22, in comparable forms with corresponding parameters and units of measurements. For example, the vehicle trajectory data and the target trajectory data may each include a steering angle of one or more road wheels measured in degrees relative to a longitudinal axis of the vehicle 1. The comparable data may, for example, enable the electronic control means 12 to determine one or more operations of the steering system 14 to direct the trajectory of the vehicle 1 along the target path.

Driver monitoring system The driver monitoring system 20 is configured to determine the state of attentiveness of the driver to facilitate dynamic adjustment of the steering control between human driving control and automated driving control. The state of driver attentiveness in this context is intended to gauge the ability of the driver to provide competent steering control. Accordingly, the driver monitoring system 20 may be configured to measure the driver's awareness of their surrounding and of the consequences of their steering inputs or the lack of their steering inputs to the steering system 14. Accordingly, the driver monitoring system 20 may measure the state of driver attentiveness using various methods.

For example, the driver monitoring system 20 may be based on the driver's field of view.

In this example, the driver monitoring system 20 may include one or more cameras within the vehicle 1 having a field of vision situated to capture images of the driver's eyes. Accordingly, the driver monitoring system 20 may determine a direction of gaze of the driver based on eye direction data.

The state of driver attentiveness may take a quantitative form. For example, the state of driver attentiveness may depend on a correlation between the direction of gaze of the driver and a forward direction or a driving direction of the vehicle 1.

A high correlation may correspond to an attentive state, since the driver may be looking in the driving direction of the vehicle 1. A low correlation may correspond to an inattentive state, since the driver may be looking away from the driving direction of the vehicle 1.

Alternatively, the state of driver attentiveness may take a qualitative form. For example, one or more parameters may be measured, such as a direction of gaze of the driver and an amount of driver brain activity, and the measurements may be combined according to a predetermined computation, rule or equation to determine an overall state of attentiveness.

It should be appreciated that the electronic control means 12 may be configured to receive at least two different states of driver attentiveness from the driver monitoring system 20. The two different states may include a first state, which is attentive, or a second state, which is inattentive.

The electronic control means 12 may be configured to determine different operations of the steering system 14 in dependence on receiving the first state of driver attentiveness or the second state of driver attentiveness from the driver monitoring system 20. Further, the electronic control means 12 may, for example, be configured to receive any one or more intermediate states of driver attentiveness between a maximum state of driver attentiveness and a minimum state of driver attentiveness from the driver monitoring system 20. The maximum state of driver attentiveness may, for example, correspond to an exact alignment between the driving direction of the vehicle 1 and the direction of gaze of the driver. The minimum state of driver attentiveness may, for example, correspond to an obtuse angle of difference between the driving direction of the vehicle 1 and the direction of gaze of the driver. The electronic control means 12 may be configured to determine corresponding operations of the steering system 14 for each state of driver attentiveness.

Alternatively, the correlation may be compared to one or more threshold values. For example, a first correlation value, below a correlation threshold, may correspond to an inattentive state of the driver and a second correlation value, above a correlation threshold, may correspond to an attentive state of the driver. Additionally or alternatively, the state of driver attentiveness may, for example, depend on a minimum amount of time or frequency that the direction of gaze satisfies a threshold correlation.

Alternatively, or additionally, the driver monitoring system 20 may include a plurality of brain wave sensors configured to detect brain waves through a driver's skin. In this case, the state of driver attentiveness may, for example, depend on a measured amount of brain activity and a comparison to thresholds of brain activity. An inattentive state may be associated with amounts of brain activity below the threshold and an attentive state may be associated with amounts of brain activity above the threshold.

Steering System As described previously, the steering system 14 may take various forms including driveby-wire and conventional steering arrangements that control the driving direction of the vehicle 1. For example, the steering system 14 may be configured to physically alter the steering angle of one or more road wheels of the vehicle 1.

The steering system 14 may include a driver input device for receiving steering inputs from the driver. The steering inputs may include a steering wheel angle and a steering wheel torque. The steering system 14 may further include an electro-mechanical device configured to receive one or more operation signals from the electronic control means 12 and to apply corresponding steering inputs to the steering system 14. The steering input from the electro-mechanical device may combine with the steering input from the driver to control the driving direction of the vehicle 1.

For example, the driver may apply a first torque component to the steering system 14 through the driver input device. The electro-mechanical device may apply a second torque component to the steering system 14 based on the operation signals from the electronic control means 12. The second torque component may be configured to provide passive, partial or complete control of the driving direction of the vehicle 1. Passive control of the driving direction of the vehicle 1 may, for example, correspond to a zero or negligible magnitude of torque. Therefore, the second torque component may also be configured to allow, assist or oppose the first torque component based on the state of driver attentiveness. The first and second torque components may, for example, be combined at the steering system 14 to produce a resultant torque component. The resultant torque component may, for example, control the steering angle of one or more road wheels of the vehicle 1.

It should be appreciated that the electro-mechanical device may take various forms and may, for example, include any one or more of a motor, an actuator or a motorised gearbox. Similarly, the driver input device will take different forms depending on the type of vehicle 1 that the control system 10 is applied to and may, for example, include any one or more of a steering wheel, a steering handle or a steering lever.

Electronic control means The electronic control means 12 may be configured to provide dynamic operation of the steering system 14 based on feedback from the monitoring systems 16. The feedback may, for example, be provided as real-time feedback, near real-time feedback or feedback from memory storage capabilities of the monitoring systems 16.

An embodiment of the electronic control means 12 is shown in Figure 3. The electronic control means 12 may be incorporated into the body of the vehicle 1 or it may be remote from the body of the vehicle 1. It may be any of: integrated with the vehicle 1; removably attachable to the vehicle 1; or portable. The electronic control means 12 may take the form of a computer or other means including, but not limited to, computer chip(s) such as electronic processor units, hardware and/or software.

The electronic control means 12 may comprise an input module 32, a processor 34, a memory storage device 36 and an output module 38, as shown in Figure 3. The input module 32 may be configured to receive signals from the monitoring systems 16. The input signals may be received from the vehicle monitoring system 18, the driver monitoring system 20 and the path monitoring system 22. The input signals may typically take the form of electronic signals but may, optionally, take the form of optical or electromagnetic signals. The processor 34 may be configured to process the received signals and determine an operation of the steering system 14. The memory storage device 36 may be configured to store information received from the monitoring systems 16 and may additionally or alternatively be configured to store vehicle trajectory data and target trajectory data, as described previously. The output module 38 may be configured to output operation signals to operate the steering system 14 in accordance with the determined operation. For example, the output module 38 may be configured to output operation signals that control an electro-mechanical device of the steering system 14 to provide passive, partial or complete control over the driving direction of the vehicle 1. In this manner, a torque component generated by an electro-mechanical device of the steering system 14 may also allow, assist or oppose other torque components applied by the driver's steering inputs or the external environment.

Example of operation

The following examples are provided as examples of the operation of the control system 10.

Figure 4 describes, by way of example, a control method 40 for operating the control system 10 to guide the driving direction of the vehicle 1. Figure 4 includes a series of steps that may be completed during one or more processing iterations by the electronic control means 12.

In step 41, the control system 10 is operational and configured to control the steering system 14 and guide the driving direction of the vehicle 1.

The electronic control means 12 may, for example, be configured to receive inputs from the path monitoring system 22, the vehicle monitoring system 18, and the driver monitoring system 20.

As described previously, the path monitoring system 22 may be configured to monitor a target path. For example, the path monitoring system 22 may be configured to monitor and update a target path that navigates the vehicle 1 along a centreline of a roadway or a lane of a roadway.

The driver monitoring system 20 may be configured to monitor the state of driver attentiveness. For example, the driver monitoring system 20 may be configured to monitor the driver's attentiveness to the trajectory of the vehicle 1 by monitoring the direction of the driver's gaze.

The vehicle monitoring system 18 may be configured to monitor the driving direction of the vehicle 1. For example, the vehicle monitoring system 18 may be configured to monitor the steering angle of one or more road wheels of the vehicle 1, as described previously.

In step 42, the electronic control means 12 receives information relating to the target path. For example, the path monitoring system 22 may determine or update a target path and communicate the target path to the electronic control means 12. The target path may be determined, for example, by operating one or more radar sensors, LI DAR sensors or cameras configured to monitor a field of view ahead of the vehicle and determine a planned route of motion. For example, the path monitoring system 22 may monitor a roadway ahead of the vehicle 1, determine a target path that follows a central line of the roadway and determine the position of the vehicle 1 with respect to the target path. The information may, for example, include target trajectory data which may include a target driving direction. The target driving direction may, for example, correspond to a steering angle of the vehicle 1 that directs the vehicle 1 in accordance with the target path.

In step 43, the electronic control means 12 receives information relating to the driving direction of the vehicle 1. For example, the vehicle monitoring system 18 may determine or update the driving direction of the vehicle 1 and communicate the driving direction to the electronic control means 12. The driving direction of the vehicle 1 may be determined, for example, by operating one or more position sensors of the vehicle monitoring system 18 that monitor a steering angle of one or more road wheels of the vehicle 1. The information may, for example, include vehicle trajectory data which may include the steering angle of one or more of the road wheels. In this manner, the vehicle monitoring system 18 may communicate a driving direction of the vehicle 1, corresponding to the steering angle, to the electronic control means 12.

In step 44, the electronic control means 12 receives information relating to a state of driver attentiveness. For example, the driver monitoring system 20 may determine or update a state of driver attentiveness and communicate the state of driver attentiveness to the electronic control means 12. The state of driver attentiveness may be communicated in the form of a signal, typically an electric signal, which indicates the state of driver attentiveness.

It should be appreciated that the state of driver attentiveness will take different forms in dependence on the specific configuration of the driver monitoring system 20, as described previously. However, the state of driver attentiveness may be provided in a form which is suitable to infer the relative attentiveness or inattentiveness of the driver to the trajectory of the vehicle 1.

For example, the driver monitoring system 20 may determine a direction of gaze of the driver. This may be achieved using one or more imaging cameras arranged to capture images of the driver's eyes, for example. The driver monitoring system 20 may be configured to compare the direction of gaze with a direction associated with the motion of the vehicle 1. For example, the driver monitoring system 20 may be configured to determine a quantitative correlation, such as a correlation coefficient, between the direction of gaze and the driving direction of the vehicle 1. At the end of step 44, the driver monitoring system 20 may, for example, output a signal to the electronic control means 12 that includes the correlation coefficient. The electronic control means 12 may be configured to determine the state of driver attentiveness or update the state of driver attentiveness based on the received signal. For example, the electronic control means 12 may compare the correlation coefficient to a rule, look-up table or threshold value to determine the state of driver attentiveness.

In step 45, the electronic control means 12 is configured to determine an operation of the steering system 14. The operation may be configured to guide the driving direction of the vehicle 1 in accordance with the target path.

For example, the electronic control means 12 may determine an operation of the steering system 14 based on the information received in steps 42, 43 and 44. More specifically, the electronic control means 12 may determine an operation of the steering system 14 based on the driving direction of the vehicle 1, the target path and on the signal indicative of the state of driver attentiveness.

This is described in more detail by way of the following example in which the operation includes generating a torque component, having a magnitude and a direction, which acts as a steering input to control the driving direction of the vehicle 1. The torque component may, for example, be generated by one or more electro-mechanical devices of the steering system 14 in response to receiving an operation signal from the electronic control means 12.

For example, the electronic control means 12 may determine a direction and a magnitude of a torque component that directs the driving direction of the vehicle 1 towards the target path.

The direction may, for example, be determined by comparing the driving direction of the vehicle 1 to the target driving direction. However, the magnitude of the torque component may, for example, depend on the state of driver attentiveness.

For example, the magnitude may be proportional to the state of driver attentiveness. The magnitude may, for example, vary between a minimum torque value, when the driver is most attentive, and a maximum torque value, when the driver is least attentive. The minimum and maximum torque values may, for example, be predetermined torque values. For example, the maximum torque value may be predetermined based on an acceleration limit or a torque limit of the electro-mechanical device. The minimum torque value may, for example, be set to zero or a negligible magnitude. Accordingly, the electronic control means 12 may determine a first operation in dependence on receiving a first state of driver attentiveness or a second operation in dependence on receiving a second state of driver attentiveness.

In step 45, the electronic control means 12 may, for example, have received a signal indicating that the driver is in a first state, which is inattentive. In this case, the electronic control means 12 may be configured to assume that the driver is unable to provide competent steering control over the driving direction of the vehicle 1.

Accordingly, the electronic control means 12 may determine a first torque component that acts towards the target path and is sufficient to adjust the driving direction of the vehicle 1 towards the target path. The first torque component may, for example, be determined to control the driving direction of the vehicle 1 in strict accordance with the target path because of the relatively inattentive state of the driver. For example, the electronic control means 12 may be configured to operate the steering system 14 with minimal error tolerance between the driving direction of the vehicle 1 and the target driving direction. The magnitude of the torque component may, for example, also be determined to oppose any steering inputs from the driver or from the external environment. For example, the electronic control means 12 may determine a magnitude of the torque component that matches or exceeds the magnitude of the other steering inputs.

However, in another scenario, the electronic control means 12 may, for example, have received a different signal, in step 44, that indicates that that the driver is in a second state, which is attentive. In this case, the electronic control means 12 may be configured to assume that the driver is able to provide competent steering control over the driving direction of the vehicle 1.

For that reason, the electronic control means 12 may determine a second torque component instead of the first torque component. The second torque component may, for example, act in the same direction as the first torque component with a reduced magnitude. The second torque component may, for example, be determined to control the driving direction of the vehicle 1 in loose accordance with the target path. For example, the electronic control means 12 may be configured to operate the steering system 14 with a much larger error tolerance between the driving direction of the vehicle 1 and the target driving direction. The magnitude of the second torque component may, for example, be determined such that steering inputs from the driver or the external environment are able to overcome the torque and direct the driving direction of the vehicle 1 away from the target path.

In essence, the electronic control means 12 may determine operations of the steering system 14 such that the steering torque applied to one or more of the road wheels is relatively gentle or harsh depending on driver attentiveness. Moreover, it should be appreciated that the magnitude and/or the direction of the torque component may vary with the state of driver attentiveness.

In step 46, the electronic control means 12 operates the steering system 14 as determined in step 45. For example, the electronic control means 12 may be configured to output an operation signal to the steering system 14 which corresponds to the determined operation. The operation signal may, for example, take the form of an electronic signal. The steering system 14 may be configured to receive the operation signal and to operate the steering system 14 as the electronic control means 12 intended. For example, an electro-mechanical device of the steering system 14 may receive the operation signal and generate a corresponding torque component at the steering system 14. This may, for example, adjust the driving direction of the vehicle 1 towards the target path. For example, the steering angle of one or more road wheels may be moved towards the target driving direction.

The operation of the steering system 14 by the electronic control means 12 completes the processing iteration. Thereafter, the electronic control means 12 may be configured to continue to receive feedback measurements from the various monitoring systems 16.

In this manner, the operations of the steering system 14 may be updated in subsequent iterations of the control method 40.

In this manner, the control system 10 provides steering control for the vehicle 1 and guides the driving direction based on the target path and the state of driver attentiveness. 15 For the sake of clarity, it should be appreciated that the control method 40 is merely provided by way of example only and is not intended to limit the control method 40 and/or the control system 10. As such, it is understood that any of the steps may be altered, reordered, added, removed or performed sequentially and/or in parallel with any other steps. For example, the control method 40 may proceed through steps 42 to 44, in any order or simultaneously to provide the electronic control means 12 with information relating to the driving direction of the vehicle 1, the target path and the state of driver attentiveness in step 45.

In a further example of operation, the control system 10 may be configured to guide the vehicle 1 along a target path but allow deviations from the target path when the driver is in an attentive state.

In this configuration, the control method 40 may proceed, as described above, through steps 41 to 44. In step 45, the electronic control means 12 may be configured to determine an operation of the steering system 14 based on the information received in steps 42, 43 and 44.

If the electronic control means 12 receives a signal that indicates that the driver is in an inattentive state, then the electronic control means 12 may operate the steering system 14 as described previously. For example, the electronic control means 12 may compare the target driving direction to the driving direction of the vehicle 1 and determine a corresponding steering input that steers the vehicle 1 towards the target driving direction.

However, if the electronic control means 12 receives a signal that indicates that the driver is in an attentive state, then the electronic control means 12 may be configured to determine an operation of the steering system 14 that allows the driver's steering inputs.

The driver's steering inputs may, for example, be unopposed even if they act to steer the driving direction of the vehicle 1 away from the target path. For example, the electronic control means 12 may receive a signal indicating that the driver is in an attentive state and determine that human driving control is suitable. Hence, the electronic control means 12 may determine a torque component with a magnitude of zero whilst the driver remains in the attentive state. In this manner, the electronic control means 12 may operate the steering system 14 to allow the driver's steering inputs to control the driving direction of the vehicle 1.

In another example of operation, the control system 10 may be configured to guide the vehicle 1 along a target path but provide steering assistance to the driver's steering inputs when the driver is in a sufficiently attentive state.

In this configuration, the control method 40 may proceed substantially as described in Figure 4. However, in step 43, the electronic control means 12 may also receive information relating to the driver's steering inputs. The driver's steering inputs may, for example, be determined by operating one or more position sensors or torque sensors of the vehicle monitoring system 18, as described previously. The information may, for example, be included in the vehicle trajectory data. Accordingly, the vehicle monitoring system 18 may communicate vehicle trajectory data that includes a driving direction of the vehicle 1, a steering angle of the steering wheel and a steering torque applied by the driver to the electronic control means 12.

In step 45, the electronic control means 12 may be configured to determine an operation of the steering system 14 based on the information received in steps 42, 43 and 44.

If the electronic control means 12 receives a signal that indicates that the driver is in an inattentive state, then the electronic control means 12 may determine an operation of the steering system 14 by comparing the target driving direction to the driving direction of the vehicle 1 and accounting for the state of driver attentiveness and the driver's steering inputs. The determined operation may be configured to steer the vehicle 1 towards the target driving direction.

The electronic control means 12 may, for example, determine the direction of the torque component by comparing the driving direction of the vehicle 1 to the target driving direction. However, the magnitude of the torque component may depend on the state of driver attentiveness and the driver's steering inputs. Therefore, the electronic control means 12 may, for example, determine a magnitude of the torque component that is greater than the driver's steering torque in order to produce a resultant torque that steers the vehicle 1 towards the target driving direction.

However, if the electronic control means 12 receives a signal that indicates that the driver is in an attentive state, then the electronic control means 12 may be configured to determine an operation of the steering system 14 that allows or assists the driver's steering inputs. The driver's steering inputs may be assisted, for example, even if they act to steer the driving direction of the vehicle 1 away from the target path. To determine the operation of the steering system 14, the electronic control means 12 may, for example, determine a direction of the torque component that acts in the same direction as the driver's steering torque. The electronic control means 12 may also determine a magnitude of the torque component based on the state of driver attentiveness and the magnitude of the driver's steering torque. This may, for example, ease the steering burden on the driver. The torque component may, for example, be determined by a torque control system as used in a conventional power-assisted steering system.

In this manner, a driver in an attentive state may, for example, wish to complete an overtaking manoeuvre by deliberately steering the vehicle 1 away from a target driving lane and accelerating past a slower vehicle. In this situation, the electronic control means 12 is configured to determine an operation that reduces the driver effort. Accordingly, the electronic control means 12 may determine a torque component that reinforces the torque from the driver's steering input. As a result, the driver does not feel as though they are 'fighting' the control system 10 and the control system 10 may act in an equivalent manner to a power assisted steering system.

When the vehicle 1 is steered away from the target path, for example into an adjacent lane, the control system 10 may be configured to determine a new target path in step 42 of a subsequent iteration. For example, the path monitoring system 22 may determine a new target path along the new driving lane.

Apparatus components (general) In principle, the control system 10 may be formed using various monitoring systems 16, electronic control means 12 and steering systems 14 that control the driving direction of the vehicle 1, as will be appreciated by the person skilled in the art.

Accordingly, an example embodiment of the control system 10 is illustrated in Figures 5 to 7 to provide a specific combination of the devices that may be combined to execute the control method 40 described in Figure 4.

To briefly introduce these Figures; Figure 5 illustrates an example embodiment of the steering system 14 of the vehicle 1 and further includes an example embodiment of the electronic control means 12 and an example embodiment of the vehicle monitoring system 18; Figure 6 illustrates an example embodiment of the driver monitoring system 20; and Figure 7 illustrates an example embodiment of the path monitoring system 22.

In Figure 5, the steering system 14 takes the form of a conventional steering arrangement and includes a driver input device in the form of a steering wheel 51 and an electro-mechanical device in the form of a motorised gearbox 52. The steering wheel 51 is mechanically coupled to the motorised gearbox 52 and the motorised gearbox 52 is mechanically coupled to a first end of a steering column 53. A second end of the steering column 53 connects to a pinion 54. The pinion 54 is configured to change the steering angle of the vehicle's wheels (not shown) and control the driving direction of the vehicle 1.

Hence, the steering system 14 is configured to receive driver steering inputs through the steering wheel 51 as well as electronically controlled steering inputs from the motorised gearbox 52. The steering inputs from the motorised gearbox 52 are controlled by the operation of the electronic control means 12. The resultant torque is transferred to the pinion 54 and dictates the steering angle of the road wheels.

The vehicle monitoring system 18 includes a torque sensor 55 and a position sensor 56.

The torque sensor 55 is configured to determine the steering torque applied by the driver. The position sensor 56 is configured to measure the steering angle of the pinion 54. The steering angle of the pinion 54 directly corresponds to the steering angles of the road wheels. The steering angles of the road wheels may accurately define the trajectory of the vehicle 1. The position sensor 56 may, for example, take the form of a hall sensor configured to measure an angle of rotation of the pinion 54. In this example, both the torque sensor 55 and the position sensor 56 are configured to communicate these measurements to the electronic control means 12.

In other embodiments, the vehicle monitoring system 18 may include one or more additional torque sensors or position sensors configured to measure the torque or steering angles of the pinion 54, the steering wheel 51, the steering column 53 or of one or more of the road wheels. For example, in some circumstances it may be preferable to have sensors monitoring the torque/steering angle of the road wheels directly.

Additionally, measurements from the various sensors of the vehicle monitoring system 18 may be processed by the electronic control means 12 to determine suitable operations of the steering system 14.

In Figures, the electronic control means 12 is illustrated in the form of an ECU 57. The ECU 57 controls the operation of the steering system 14 by operating the motorised gearbox 52. In this manner, the ECU 57 and the motorised gearbox 52 operate in a similar manner to an ePAS system. The ECU 57 is configured to receive feedback from the monitoring systems 16 and to determine suitable operations of the steering system 14. The motorised gearbox 52 is mechanically coupled to the other components of the steering system 14 and configured to control the driving direction of the vehicle 1.

In Figure 6, the driver monitoring system 20 includes a plurality of CCD cameras 60 mounted within an interior cabin space 62 of the vehicle 1 and having a field of vision situated to capture images of the driver's eyes. In this example, the state of driver attentiveness is determined, in a quantitative form, as a measurement of the correlation between the direction of gaze of the driver and the driving direction of the vehicle 1. Accordingly, the CCD cameras capture images of the driver's eyes and the driver monitoring system 20 outputs a corresponding signal with eye direction data. The electronic control means 12 receives the signal and determines the state of driver attentiveness by determining the correlation between the eye direction data and the vehicle trajectory data.

In Figure 7, the path monitoring system 22 takes the form of a lane-keep-assist system and includes radar antennas 70, cameras 71 and a GPS system 72 configured to determine the target path. The target path consists of maintaining a position of the vehicle 1 within a lane of traffic 74 and the radar antennas 70 and cameras 71 are configured to detect marks 76 on the road surface that define the lane of traffic 74. The target driving direction is determined such that it directs the vehicle 1 along the lane of traffic 74 These systems may be combined to form an example of the control system 10 as illustrated in Figure 2.

Control system The example embodiment of the control system 10, as illustrated in Figures 5 to 7, is operated in accordance with the control method 40 illustrated in Figure 4. The following description is provided, by way of example, to briefly describe the application of the control method 40, of Figure 4, to the control system 10, of Figures 5 to 7.

In accordance with step 41, the control system 10 may be activated, for example, by a user's interaction with a HMI device of the vehicle 1. Consequently, the control system is configured to control the steering system 14 and guide the driving direction of the vehicle 1.

In accordance with step 42, the control system 10 uses the radar antennas 70 and optionally the one or more cameras 71 to determine the target path for the vehicle 1.

The target path is verified by using the GPS system 72. The target path information is communicated to the electronic control means 12 as target trajectory data. As a result, the electronic control means 12 receives a target driving direction that directs the vehicle 1 along the lane of traffic 74.

In step 43, the position sensor 56 measures the steering angle of the pinion 54 and determines the driving direction of the vehicle 1. The torque sensor 55 also measures the driver's torque inputs steering torque applied through the steering wheel 51. The driving direction of the vehicle 1 and the driver's steering torque are communicated to the ECU 57 as vehicle trajectory data.

In accordance with step 44, the CCD cameras 60 capture images of the driver's eyes and determine the state of driver attentiveness. For example, the state of driver attentiveness may be quantified as a measurement of the correlation between the driver's direction of gaze and the driving direction of the vehicle 1. The driver monitoring system 22 outputs the state of driver attentiveness to the ECU 57 in form of a signal.

In accordance with step 45, the ECU 57 receives the target trajectory data, the vehicle trajectory data and the signal indicative of the state of driver attentiveness. Accordingly, the ECU 52 determines an operation of the steering system 14 based on the torque measured by the torque sensor 18; the difference between the steering angle of the road wheels and the target driving direction; and the state of driver attentiveness.

If the driver's gaze is directed away from the approximate driving direction of the vehicle 1 then, in step 46, the ECU 57 produces an operation, through the motorised gearbox 52, that overcomes the driver's steering input and the resultant toque at the pinion 54 steers the vehicle 1 towards the target driving direction. Therefore, in accordance with step 45, the driving direction of the vehicle 1 is redirected towards the target path.

However, if the driver's gaze is directed in the approximate driving direction of the vehicle 1 then, in step 46, the ECU 57 produces an operation, through the motorised gearbox 52, that assists the driver's steering torque and reduces the driver's efforts to steer the vehicle 1 away from the target path.

In this manner, the control system 10 guides the motion of the vehicle 1 along the target path and dynamically adjusts the steering control between human driving control and automated driving control in dependence on the state of driver attentiveness.

Further Examples

As described previously, the steering system 14 may include a driver-by-wire arrangement. A drive-by-wire arrangement of the steering system 14 may, for example, include a driver input device in the form of a steering wheel and one or more electro-mechanical devices in the form of actuators configured to apply a turning moment to corresponding road wheels of the vehicle 1. In this case, a torque sensor at the steering wheel may be configured to measure the torque component from the driver's steering inputs and transmit the measured torque to the electronic control means 12. The electronic control means 12 may determine an operation of the one or more actuators based on the driver's steering inputs, the driving direction of the vehicle 1, the target path and the signal indicative of the state of driver attentiveness. The electronic control means 12 may output an operation signal to each actuator which may, for example, cause the actuator to apply a turning moment to the connected road wheels and control the driving direction of the vehicle 1.

Many modifications may be made to the above examples without departing from the scope of the present invention as defined in the accompanying claims.

Claims

CLAIMS1. A method of operating a steering system of a vehicle using an electronic control means; the steering system configured to control a driving direction of the vehicle; the electronic control means configured to control the steering system based on a target path; the method comprising: determining an operation of the steering system based on the driving direction of the vehicle, the target path and on a signal indicative of a state of driver attentiveness, wherein the signal indicative of the state of driver attentiveness is determined by a driver monitoring system; and operating, using the electronic control means, the steering system according to the operation.
The method as claimed in Claim 1, wherein determining the operation comprises receiving, at the electronic control means, vehicle trajectory data associated with the driving direction of the vehicle from a vehicle monitoring system; receiving, at the electronic control means, target trajectory data associated with the target path from a path monitoring system; and comparing the vehicle trajectory data to the target trajectory data.
The method as claimed in Claim 1 or Claim 2, wherein the steering system is further configured to receive a steering input from the driver.
The method as claimed in Claim 3, wherein determining the operation of the steering system is further based on the steering input from the driver.
The method as claimed in any preceding claim, wherein determining the operation comprises determining a steering input to steer the driving direction of the vehicle towards the target path.
The method as claimed in any preceding claim, wherein determining the operation comprises determining a torque component to apply to the steering system. 2. 3. 4. 5. 6.
7. The method as claimed in Claim 6, wherein determining the operation comprises determining a first torque component based on a first state of driver attentiveness or determining a second torque component based on a second state of driver attentiveness.
8. The method as claimed in Claim 7, wherein a magnitude of the first torque component is greater than a magnitude of the second torque component.
9. The method as claimed in Claim 7 or Claim 8, when dependent on Claim 4, wherein a direction of the first torque component acts towards the target path and a direction of the second torque component is based on the driver's steering input.
10. The method as claimed in any preceding claim, wherein the signal indicative of the state of driver attentiveness is determined by one or more sensors of the driver monitoring system and the one or more sensors monitor a direction of gaze of a driver and/or provide an indication of the driver's brain activity.
11. The method as claimed in Claim 10, wherein determining the operation comprises determining a correlation between the direction of gaze of the driver and the driving direction of the vehicle.
12. A computer readable medium comprising computer readable instructions configured to give effect to the method as claimed in any preceding claim. 25 13. An electronic control means for controlling a steering system of a vehicle based on a target path; the steering system configured to control a driving direction of the vehicle; wherein the electronic control means is configured to: receive a first signal comprising information relating to a driving direction of the vehicle; receive a second signal comprising information relating to the target path; 14. 15. 16. 17. 18. 19.determine a state of driver attentiveness based on a third signal received from a driver monitoring system; determine an operation of the steering system based on the state of driver attentiveness and on the information relating to the driving direction of the vehicle and the target path; and operate the steering system according to the operation.The electronic control means as claimed in Claim 13, wherein the first signal is received from a vehicle monitoring system; the first signal comprising vehicle trajectory data, associated with the driving direction of the vehicle; the second signal is received from a path monitoring system; the second signal comprising target trajectory data, associated with the target path; and wherein the electronic control means is configured to determine the operation based on a comparison between the vehicle trajectory data and the target trajectory data.The electronic control means as claimed in Claim 13 of Claim 14, wherein the steering system is further configured to receive a steering input from the driver.The electronic control means as claimed in Claim 15, wherein the electronic control means is further configured to receive information relating to the driver's steering input and to determine the operation of the steering system further based on the steering input.The electronic control means as claimed in any of Claims 16, configured to operate the steering system to oppose the steering input from the driver in dependence on the state of driver attentiveness.The electronic control means as claimed in any of Claims 13 to 17, wherein the operation includes a steering input and the steering input is configured to steer the driving direction of the vehicle towards the target path.The electronic control means as claimed in any of Claims 13 to 18, further configured to determine a first operation based on a first state of driver attentiveness or to determine a second operation based on a second state of driver attentiveness.20. The electronic control means as claimed in Claim 19, wherein the operation includes a torque component, wherein a first torque component is applied to the steering system based on the first state of driver attentiveness or a second torque component is applied to the steering system based on the second state of driver attentiveness. 21. 22. 23. 24. 25. 26.The electronic control means as claimed in Claim 20, wherein a magnitude of the first torque component is greater than a magnitude of the second torque component.The electronic control means as claimed in Claim 20, when dependent on Claim 16, wherein the first torque component is directed towards the target path and the second torque component is directed in accordance with the driver's steering input.The electronic control means as claimed in any of Claims 13 to 22, wherein the signal indicative of the state of driver attentiveness is determined by one or more sensors of the driver monitoring system and the one or more sensors monitor a direction of gaze of a driver and/or provide an indication of the driver's brain activity.The electronic control means as claimed in Claim 23, configured to determine a correlation between the direction of gaze of the driver and the driving direction of the vehicle and to determine the operation based on the correlation.The electronic control means as claimed in any of Claims 13 to 24, wherein the electronic control means is configured to operate an electro-mechanical device of the steering system.A control system comprising the electronic control means as claimed in any one of Claims 13 to 25.27. A vehicle comprising the control system as claimed in Claim 26.28. A vehicle comprising the control system as claimed in Claim 26, wherein the steering system comprises any one or more of a steering wheel, a motorised gearbox, an actuator or a motor.