Methods and systems for steering-based oscillatory vehicle braking

• US 9,260,092 B1
• Filed: 09/27/2013
• Issued: 02/16/2016
• Est. Priority Date: 09/27/2013
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Lombrozo, Peter Craig
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US14/039,349
• Time in Patent Office: 872 Days
• Field of Search: 701/41, 701/83, 701/45, 701/75, 701/78
• US Class Current: 1/1
• CPC Class Codes: B60T 2210/30 Environment conditions or position therewithin
• CPC Class Codes: B60T 2270/402 Back-up
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 8/17 Using electrical or electronic regulation means to control braking detecting or indicating faulty operation B60T8/885
• CPC Class Codes: B60T 8/885 using electrical circuitry
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B62D 1/00 Steering controls, i.e. means for initiating a change of direction of the vehicle
• CPC Class Codes: B62D 15/02 Steering position indicators ; Steering position determination; Steering aids
• CPC Class Codes: B62D 5/00 Power-assisted or power-driven steering for non-deflectable wheels B62D11/00; fluid-pressure servomotors in general F15B
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
• CPC Class Codes: B62D 9/007 Emergency systems using the steering system for braking

Abstract

Methods and systems for steering-based oscillatory braking are described herein. A method may involve making a determination, by a computing device, to reduce a speed of a vehicle. The vehicle may include a pair of wheels. The method may further involve providing instructions to turn the pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially the same direction and turning of the pair of wheels oscillates each wheel of the pair of wheels between given directions about a direction of travel of the vehicle so as to reduce the speed of the vehicle.

Claims

1. A method comprising:

making a determination, by a computing device, to reduce a speed of a vehicle, wherein the vehicle includes a pair of wheels; and

providing, by the computing device, instructions to a control system of the vehicle to cause a decoupling of a steering wheel of the vehicle from the pair of wheels of the vehicle and to turn the pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially the same direction and turning of the pair of wheels oscillates each wheel of the pair of wheels between given directions about a direction of travel of the vehicle so as to reduce the speed of the vehicle, wherein decoupling the steering wheel prevents rotation of the steering wheel when the pair of wheels oscillate.

2. The method of claim 1, further comprising:

making a determination, by the computing device, that a primary braking system of the vehicle has failed, wherein making a determination to reduce a speed of a vehicle is based at least in part on failure of the primary braking system.

3. The method of claim 1, wherein rotation of a steering wheel of the vehicle is independent of turning of the pair of wheels in an oscillatory manner.

4. The method of claim 1, wherein providing instructions to turn a pair of wheels of the vehicle comprises:

determining one or more parameters including the speed of the vehicle, a speed of one or more wheels of the vehicle, a mass of the vehicle, the direction of travel of the vehicle, a desired direction of travel of the vehicle, a steering angle of the vehicle, an operational status of one or more deceleration systems, a deceleration contribution of a particular deceleration system of the one or more deceleration systems, and a desired braking distance of the vehicle;

determining an angle away from parallel to the direction of travel of the vehicle at which to turn the pair of wheels based at least in part on the one or more parameters; and

providing instructions to turn the pair of wheels at the angle.

5. The method of claim 1, wherein providing instructions to turn a pair of wheels of the vehicle comprises:

determining one or more parameters including the speed of the vehicle, a speed of one or more wheels of the vehicle, a mass of the vehicle, the direction of travel of the vehicle, a desired direction of travel of the vehicle, a steering angle of the vehicle, an operational status of one or more deceleration systems, a deceleration contribution of a particular deceleration system of the one or more deceleration systems, and a desired braking distance of the vehicle;

determining a frequency of oscillation of the pair of wheels based at least in part on the one or more parameters; and

providing instructions to turn the pair of wheels at the frequency of oscillation.

6. The method of claim 1, wherein the vehicle includes a second pair of wheels, and the method further comprises:

providing instructions to turn the second pair of wheels of the vehicle in a second oscillatory manner, such that each wheel of the second pair of wheels is turned in substantially the same direction and turning of the second pair of wheels oscillates each wheel of the second pair of wheels between given directions about the direction of travel of the vehicle so as to reduce the speed of the vehicle.

7. The method of claim 6, wherein providing instructions to turn the pair of wheels and providing instructions to turn the second pair of wheels causes the pair of wheels and the second pair of wheels to synchronously oscillate between given directions about the direction of travel of the vehicle.

8. The method of claim 6, wherein providing instructions to turn the second pair of wheels of the vehicle comprises:

determining one or more parameters including the speed of the vehicle, a speed of one or more wheels of the vehicle, a mass of the vehicle, the direction of travel of the vehicle, a desired direction of travel of the vehicle, a steering angle of the vehicle, an operational status of one or more deceleration systems, a deceleration contribution of a particular deceleration system of the one or more deceleration systems, and a desired braking distance of the vehicle;

determining a second angle away from parallel to the direction of travel of the vehicle at which to turn the second pair of wheels based at least in part on the one or more parameters; and

providing instructions to turn the second pair of wheels at the second angle.

9. The method of claim 6, wherein providing instructions to turn the second pair of wheels of the vehicle comprises:

determining one or more parameters including the speed of the vehicle, a speed of one or more wheels of the vehicle, a mass of the vehicle, the direction of travel of the vehicle, a desired direction of travel of the vehicle, a steering angle of the vehicle, an operational status of one or more deceleration systems, a deceleration contribution of a particular deceleration system of the one or more deceleration systems, and a desired braking distance of the vehicle;

determining a second frequency of oscillation of the second pair of wheels based at least in part on the one or more parameters; and

providing instructions to turn the pair of wheels at the second frequency of oscillation.

10. A system comprising:

at least one processor; and

a memory having stored thereon instructions that, upon execution by the at least one processor, cause the system to perform functions comprising;

making a determination to reduce a speed of a vehicle, wherein the vehicle includes a pair of wheels; and

providing instructions to a control system of the vehicle to cause a decoupling of a steering wheel of the vehicle and to turn the pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially the same direction and turning of the pair of wheels oscillates each wheel of the pair of wheels between given directions about a direction of travel of the vehicle so as to reduce the speed of the vehicle, wherein decoupling the steering wheel prevents rotation of the steering wheel when the pair of wheels oscillate.

11. The system of claim 10, wherein the functions further comprise:

making a determination that a primary braking system of the vehicle has failed, wherein making a determination to reduce a speed of a vehicle is based at least in part on failure of the primary braking system.

12. The system of claim 10, wherein providing instructions to turn a pair of wheels of the vehicle comprises:

determining one or more parameters including the speed of the vehicle, a speed of one or more wheels of the vehicle, a mass of the vehicle, the direction of travel of the vehicle, a desired direction of travel of the vehicle, a steering angle of the vehicle, an operational status of one or more deceleration systems, a deceleration contribution of a particular deceleration system of the one or more deceleration systems, and a desired braking distance of the vehicle;

determining an angle away from parallel to the direction of travel of the vehicle at which to turn the pair of wheels based at least in part on the one or more parameters; and

providing instructions to turn the pair of wheels at the angle.

13. The system of claim 10, wherein providing instructions to turn a pair of wheels of the vehicle comprises:

determining one or more parameters including the speed of the vehicle, a speed of one or more wheels of the vehicle, a mass of the vehicle, the direction of travel of the vehicle, a desired direction of travel of the vehicle, a steering angle of the vehicle, an operational status of one or more deceleration systems, a deceleration contribution of a particular deceleration system of the one or more deceleration systems, and a desired braking distance of the vehicle;

determining a frequency of oscillation of the pair of wheels based at least in part on the one or more parameters; and

providing instructions to turn the pair of wheels at the frequency of oscillation.

14. The system of claim 10, wherein the vehicle includes a second pair of wheels, and the functions further comprise:

providing instructions to turn the second pair of wheels of the vehicle, such that each wheel of the second pair of wheels is turned in substantially the same direction and turning of the second pair of wheels oscillates each wheel of the second pair of wheels between given directions about the direction of travel of the vehicle so as to reduce the speed of the vehicle.

15. A non-transitory computer-readable medium having stored thereon instructions that, upon execution by a computing device, cause the computing device to perform functions comprising:

making a determination to reduce a speed of a vehicle, wherein the vehicle includes a pair of wheels; and

providing instructions to a control system of the vehicle to cause a decoupling of a steering wheel of the vehicle from the pair of wheels of the vehicle and to turn the pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially the same direction and turning of the pair of wheels oscillates each wheel of the pair of wheels between given directions about a direction of travel of the vehicle so as to reduce the speed of the vehicle, wherein decoupling the steering wheel prevents rotation of the steering wheel when the pair of wheels oscillate.

16. The non-transitory computer-readable medium of claim 15, wherein providing instructions to turn a pair of wheels of the vehicle comprises:

determining one or more parameters including the speed of the vehicle, a speed of one or more wheels of the vehicle, a mass of the vehicle, the direction of travel of the vehicle, a desired direction of travel of the vehicle, a steering angle of the vehicle, an operational status of one or more deceleration systems, a deceleration contribution of a particular deceleration system of the one or more deceleration systems, and a desired braking distance of the vehicle;

determining an angle away from parallel to the direction of travel of the vehicle at which to turn the pair of wheels based at least in part on the one or more parameters; and

providing instructions to turn the pair of wheels at the angle.

17. The non-transitory computer-readable medium claim of 15, wherein providing instructions to turn a pair of wheels of the vehicle comprises:

determining one or more parameters including the speed of the vehicle, a speed of one or more wheels of the vehicle, a mass of the vehicle, the direction of travel of the vehicle, a desired direction of travel of the vehicle, a steering angle of the vehicle, an operational status of one or more deceleration systems, a deceleration contribution of a particular deceleration system of the one or more deceleration systems, and a desired braking distance of the vehicle;

determining a frequency of oscillation of the pair of wheels based at least in part on the one or more parameters; and

providing instructions to turn the pair of wheels at the frequency of oscillation.