Detecting and negotiating a climbable obstacle in a vehicle

• US 9,494,093 B2
• Filed: 10/08/2014
• Issued: 11/15/2016
• Est. Priority Date: 10/08/2014
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Crombez, Dale Scott, Gabriel, David Crist, Butcher, Jonathan Andrew
• Primary Examiner(s): Holmes, Justin
• Application Number:
  US14/509,418
• Publication Number:
  US 20160102622A1
• Time in Patent Office: 769 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: F02D 2200/021 Engine temperature
• CPC Class Codes: F02D 2200/701 Information about vehicle position, e.g. from navigation system or GPS signal
• CPC Class Codes: F02D 2200/702 Road conditions
• CPC Class Codes: F02D 2250/26 by applying a torque limit
• CPC Class Codes: F02D 41/0215 in relation with elements of the transmission
• CPC Class Codes: F02D 41/1497 With detection of the mechanical response of the engine
• CPC Class Codes: F02D 41/26 using computer, e.g. microprocessor
• CPC Class Codes: G01L 5/22 for measuring the force applied to control members, e.g. control members of vehicles, triggers

Abstract

Data is collected in a vehicle relating to a potential obstacle. Based at least in part on the collected data, an obstacle is identified. At least one characteristic of the obstacle is determined. At least one torque to be applied in a vehicle powertrain is determined based at least in part on the at least one characteristic of the obstacle.

Claims

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

collect data in a vehicle relating to a potential obstacle;

based at least in part on the collected data, identify an obstacle and determine at least one characteristic of the obstacle;

determine at least one torque to be applied in a vehicle powertrain based at least in part on the at least one characteristic of the obstacle; and

cause the determined torque to be applied in the vehicle powertrain.

2. The system of claim 1, wherein the computing device is further programmed to determine the torque based at least in part on a parameter related to overheating of a component in the vehicle.

3. The system of claim 1, wherein the computing device is further programmed to determine the at least one torque by at least one of delaying a torque requested according to a driver input and modifying a torque requested according to a driver input.

4. The system of claim 1, wherein the at least one torque includes a first torque and a second torque, and further wherein the computer is further programmed to determine the second torque according to a non-linear relationship with the first torque.

5. The system of claim 1, wherein the at least one torque is sufficient to allow the vehicle to climb the obstacle.

6. The system of claim 1, wherein the computer is further programmed to reduce the at least one torque upon determining that the vehicle has completed climbing the obstacle.

7. The system of claim 1, wherein the collected data includes data received from at least one sensor, further wherein the at least one sensor includes at least one of radar, an ultrasonic sensor, an image sensor, and a laser.

8. The system of claim 1, wherein the at least one characteristic of the obstacle includes at least one of a height, a grade, and a surface condition.

9. The system of claim 1, wherein the at least one characteristic of the obstacle includes whether obstacle is climbable;

and further wherein the computer is further programmed to determine the at least one torque based at least in part on the obstacle being unclimbable by the vehicle.

10. The system of claim 2, wherein the component is an electric motor.

11. A method, comprising:

collecting data in a vehicle relating to a potential obstacle;

based at least in part on the collected data, identifying an obstacle and determining at least one characteristic of the obstacle;

determining at least one torque to be applied in a vehicle powertrain based at least in part on the at least one characteristic of the obstacle; and

cause the determined torque to be applied in the vehicle powertrain.

12. The method of claim 11, further comprising determining the torque based at least in part on a parameter related to overheating of a component in the vehicle.

13. The method of claim 11, further comprising determining the at least one torque by at least one of delaying a torque requested according to a driver input and modifying a torque requested according to a driver input.

14. The method of claim 11, wherein the at least one torque includes a first torque and a second torque, the method further comprising determining the second torque according to a non-linear relationship with the first torque.

15. The method of claim 11, wherein the at least one torque is sufficient to allow the vehicle to climb the obstacle.

16. The method of claim 11, further comprising reducing the at least one torque upon determining that the vehicle has completed climbing the obstacle.

17. The method of claim 11, wherein the collected data includes data received from at least one sensor, further wherein the at least one sensor includes at least one of radar, an ultrasonic sensor, an image sensor, and a laser.

18. The method of claim 11, wherein the at least one characteristic of the obstacle includes at least one of a height, a grade, and a surface condition.

19. The method of claim 11, wherein the at least one characteristic of the obstacle includes whether obstacle is climbable;

the method further comprising determining the at least one torque based at least in part on the obstacle being unclimbable by the vehicle.

20. The method of claim 12, wherein the component is an electric motor.