Traction based systems and methods

• US 10,173,674 B2
• Filed: 06/15/2016
• Issued: 01/08/2019
• Est. Priority Date: 06/15/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Bidner, David Karl, Clark, Timothy Joseph
• Primary Examiner(s): Bendidi, Rachid
• Application Number:
  US15/183,355
• Publication Number:
  US 20170361839A1
• Time in Patent Office: 937 Days
• CPC Class Codes: B60Q 1/46 for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
• CPC Class Codes: B60W 2530/20 Tyre data
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 40/068 Road friction coefficient

Abstract

A first vehicle includes: steering, brakes, memory, sensors, and processor(s) configured to: determine, with the sensors: the first vehicle'"'"'s acceleration, a second vehicle'"'"'s acceleration; compute a theoretical collision velocity (TCV) between the first vehicle and the second vehicle based on the accelerations; apply a function or generate a command based on the TCV and a selected coefficient of kinetic friction (COF).

Claims

1. A first vehicle comprising:

sensors; and

processor(s) configured to;

determine, via the sensors;

frictions of a road at which the first vehicle traversed; and

a trailing vehicle'"'"'s location and acceleration;

calculate an adjusted trailing vehicle'"'"'s acceleration when the second vehicle is at a predetermined distance from a portion of the road with a predetermined friction;

compute a theoretical collision velocity (TCV) based on the adjusted trailing vehicle'"'"'s acceleration;

generate a command based on the TCV and a selected coefficient of kinetic friction (COF); and

wherein the generated command automatically causes the first vehicle to preemptively flash brake lights at a frequency associated with the generated command.

2. The first vehicle of claim 1, wherein the processor(s) are configured to:

select the COF from a stored group of COFs.

3. The first vehicle of claim 2, wherein the processor(s) are configured to:

build the group of COFs from COFs of road existing between the first vehicle and the trailing vehicle.

4. The first vehicle of claim 1, wherein the processor(s) are configured to:

determine the first vehicle'"'"'s acceleration;

assign a first adjusted acceleration to the first vehicle; and

compute the TCV based on the first adjusted acceleration.

5. The first vehicle of claim 4, wherein the processor(s) are configured to:

assign the first adjusted acceleration to the first vehicle only when the first vehicle'"'"'s acceleration is less than zero.

6. The first vehicle of claim 4, wherein the processor(s) are configured to:

assign the first adjusted acceleration to the first vehicle based on determining that the first vehicle'"'"'s acceleration is less than zero.

7. The first vehicle of claim 4, wherein the processor(s) are configured to:

assign the first adjusted acceleration to the first vehicle only when the first adjusted acceleration is less than the first vehicle'"'"'s acceleration.

8. The first vehicle of claim 1, wherein the processor(s) are configured to:

assign the adjusted trailing vehicle'"'"'s acceleration to the trailing vehicle only when the trailing vehicle'"'"'s acceleration is less than zero.

9. The first vehicle of claim 1, wherein the processor(s) are configured to:

assign the adjusted trailing vehicle'"'"'s acceleration to the trailing vehicle based on determining that the trailing vehicle'"'"'s acceleration is less than zero.

10. The first vehicle of claim 1, wherein the processor(s) are configured to:

assign the adjusted trailing vehicle'"'"'s acceleration to the trailing vehicle only when the adjusted trailing vehicle'"'"'s acceleration is greater than the second trailing vehicle'"'"'s acceleration.

11. The first vehicle of claim 1, wherein the generated command automatically causes the first vehicle to transmit an inter-vehicle communication at the frequency associated with the generated command.

12. A vehicle comprising:

sensors; and

processor(s) configured to;

determine, frictions of a road at which the vehicle traversed; and

a trailing vehicle'"'"'s acceleration;

calculate an adjusted trailing vehicle'"'"'s acceleration when the trailing vehicle is approaching a portion of the road with a predetermined friction;

compute a theoretical collision velocity (TCV) based on the adjusted trailing vehicle'"'"'s acceleration; and

flash brake lights at a frequency based on the TCV and a selected coefficient of kinetic friction.

13. The vehicle of claim 12, wherein the processor(s) are configured to:

determine, via the sensors, the vehicle'"'"'s acceleration;

assign a first adjusted acceleration to the vehicle; and

compute the TCV based on the first adjusted acceleration.

14. The vehicle of claim 13, wherein the processor(s) are configured to:

assign the first adjusted acceleration to the vehicle only when the vehicle'"'"'s acceleration is less than zero.

15. The vehicle of claim 13, wherein the processor(s) are configured to:

assign the first adjusted acceleration to the vehicle based on determining that the vehicle'"'"'s acceleration is less than zero.

16. A method of controlling a first vehicle comprising:

determining, via sensors and processor(s);

frictions of a road at which the first vehicle traversed;

a trailing vehicle'"'"'s location and acceleration;

calculating, via the processor(s), an adjusted trailing vehicle'"'"'s acceleration when the trailing vehicle is at a predetermined distance from a portion of the road with a predetermined friction;

computing, via the processor(s) a theoretical collision velocity (TCV) based on the adjusted trailing vehicle'"'"'s acceleration;

generating, via the processor(s), a command based on the TCV and a selected coefficient of kinetic friction (COF); and

wherein the generated command automatically causes the first vehicle to preemptively flash brake lights at a frequency associated with the generated command.

17. The method of claim 16, further comprising:

assigning, via the processor(s), the adjusted trailing vehicle'"'"'s acceleration to the trailing vehicle only when the trailing vehicle'"'"'s acceleration is less than zero.