Deceleration determination of a vehicle

• US 10,108,197 B2
• Filed: 12/08/2015
• Issued: 10/23/2018
• Est. Priority Date: 12/08/2015
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lauffer, Scott J., Joyce, John P., Pallett, Tobias John, Brown, Andrew, Elwart, Shane, Williams, Wayne
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): Malhotra, Sanjeev
• Application Number:
  US14/962,259
• Publication Number:
  US 20170160745A1
• Time in Patent Office: 1,050 Days
• Field of Search: 701 22, 701 51, 701 54, 340453, 340454, 340944, 323211, 434 65, 303 3, 12333919
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/408 Traffic behavior, e.g. swarm
• CPC Class Codes: B60W 2556/45 External transmission of data to or from the vehicle
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B60W 30/18127 Regenerative braking
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: B60W 60/0016 of the vehicle or its occupants
• CPC Class Codes: B62D 15/00 Steering not otherwise provided for
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0285 using signals transmitted via a public communication network, e.g. GSM network
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/09626 where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
• CPC Class Codes: G08G 1/096725 : where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096783 : where the origin of the information is a roadside individual element
• CPC Class Codes: G08G 1/096791 : where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/161 : Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/163 : involving continuous checking
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A current state of a vehicle can be identified. At least a minimum acceleration capability of the vehicle is determined. A desired acceleration profile to follow is determined based at least in part on the minimum acceleration capability. An acceleration of the vehicle is controlled based at least in part on the desired acceleration profile.

Claims

1. A system, comprising a computer having a processor and a memory, the memory storing instructions executable by the processor such that the computer is programmed to:

identify a current state of a vehicle;

plot a maximum brake torque that can be applied in the vehicle over a period of time based on data continually received from at least one of a vehicle component and a vehicle system;

determine a desired acceleration profile to follow based at least in part on the maximum brake torque plot; and

control an acceleration of the vehicle based at least in part on the desired acceleration profile.

2. The system of claim 1, wherein the current state of the vehicle includes at least one of an internal vehicle state and an environmental condition.

3. The system of claim 1, wherein the computer is further programmed to determine the current state of the vehicle from at least a componentry status, a controller area network (CAN) bus status, a power supply level, a current vehicle speed and a tire saturation.

4. The system of claim 1, wherein the maximum brake torque plot is determined from at least one of a brake pad status, a hydraulic pressure status, a size of the vehicle, a mass of the vehicle, a vehicle payload, a towed object mass, a road grade value, a road surface mu, a split friction mu, a brake pad mu, a pitch angle of the vehicle, a load distribution and a hydraulic brake pressure distribution.

5. The system of claim 1, wherein the computer is further programmed to detect a brake system fault.

6. The system of claim 5, wherein the brake system fault is at least one of a brake hydraulic circuit failure, a worn brake pad, and a deviation of brake pad friction.

7. The system of claim 1, wherein the computer is further programmed to determine the desired acceleration profile to follow from at least one of a map stored in the memory, a desired route to follow, a communication from a second vehicle, a communication from an external road infrastructure system, and an obstacle detection sensor.

8. The system of claim 7, wherein the obstacle detection sensor includes at least one of a LIDAR sensor, a SONAR sensor and an optical range determination system.

9. A method, comprising:

identifying a current state of a vehicle;

plotting a maximum brake torque that can be applied in the vehicle over a period of time based on data continually received from at least one of a vehicle component and a vehicle system;

determining a desired acceleration profile to follow based at least in part on the maximum brake torque plot; and

controlling an acceleration of the vehicle based at least in part on the desired acceleration profile.

10. The method of claim 9, wherein the current state of the vehicle includes at least one of an internal vehicle state and an environmental condition.

11. The method of claim 9, further comprising determining the current state of the vehicle from at least a componentry status, a controller area network (CAN) bus status, a power supply level, a current vehicle speed and a tire saturation.

12. The method of claim 9, wherein the maximum brake torque plot is determined from at least one of a brake pad status, a hydraulic pressure status, a size of the vehicle, a mass of the vehicle, a vehicle payload, a towed object mass, a road grade value, a road surface mu, a split friction mu, a brake pad mu, a pitch angle of the vehicle, a load distribution and a hydraulic brake pressure distribution.

13. The method of claim 9, further comprising detecting a brake system fault.

14. The method of claim 13, wherein the brake system fault is at least one of a brake hydraulic circuit failure, a worn brake pad, and a deviation of brake pad friction.

15. The method of claim 9, further comprising determining the desired acceleration profile to follow from at least one of a map stored in the memory, a desired route to follow, a communication from a second vehicle, a communication from an external road infrastructure system, and an obstacle detection sensor.

16. The method of claim 15, wherein the obstacle detection sensor includes at least one of a LIDAR sensor, a SONAR sensor and an optical range determination system.