Methods and systems for steering-based oscillatory vehicle braking

• US 9,783,172 B2
• Filed: 01/06/2016
• Issued: 10/10/2017
• Est. Priority Date: 09/27/2013
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Lombrozo, Peter Craig
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US14/988,968
• Publication Number:
  US 20160114770A1
• Time in Patent Office: 643 Days
• 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, that a primary braking system cannot reduce a speed of a vehicle within at least one of a predetermined time period and a predetermined braking distance; and

providing, by the computing device, instructions to a control system of the vehicle to turn a pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially a 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.

2. The method of claim 1, further comprising:

decoupling a steering wheel of the vehicle from the pair of wheels, such that the steering wheel does not rotate in response to the pair of wheels being turned in an oscillatory manner.

3. The method of claim 1, further comprising:

receiving, by the computing device, a signal from a traffic signal that alerts the vehicle of the speed of the vehicle; and

based on the signal, determining, by the computing device, that the primary braking system cannot reduce the speed of the vehicle within at least one of the predetermined time period and the predetermined braking distance.

4. The method of claim 1, further comprising:

detecting, by the computing device, a traffic sign that alerts the vehicle to reduce the speed of the vehicle within at least one of a predetermined time period and a predetermined braking distance.

5. The method of claim 1, further comprising:

providing instructions to turn a 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 a second 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.

6. The method of claim 5, further comprising:

providing program instructions to first turn the pair of wheels and the second pair of wheels in a first direction that is away from parallel to the direction of travel of the vehicle.

7. The method of claim 5, further comprising:

providing program instructions to first turn the pair of wheels in a first direction and the second pair of wheels in a second direction that is different than the first direction.

8. The method of claim 5, 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 asynchronously oscillate between given directions about the direction of travel of the vehicle.

9. The method of claim 5, further comprising:

providing program instructions to turn the pair of wheels such that a first wheel of the pair of wheels on a first side of the vehicle points inwards toward the direction of travel at an angle away from parallel to the direction of travel of the vehicle; and

providing program instructions to turn the second pair of wheels such that first wheel of the second pair of wheels on the first side of the vehicle points outwards away from the direction of travel of the vehicle at an angle away from parallel to the direction of travel of the vehicle.

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 that a primary braking system cannot reduce a speed of a vehicle within at least one of a predetermined time period and a predetermined braking distance; and

providing instructions to a control system of the vehicle to turn a pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially a 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.

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

decoupling a steering wheel of the vehicle from the pair of wheels, such that the steering wheel does not rotate in response to the pair of wheels being turned in an oscillatory manner.

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

receiving a signal from a traffic signal that alerts the vehicle of the speed of the vehicle; and

based on the signal, determining that the primary braking system cannot reduce the speed of the vehicle within at least one of the predetermined time period and the predetermined braking distance.

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

detecting a traffic sign that alerts the vehicle to reduce the speed of the vehicle within at least one of a predetermined time period and a predetermined braking distance.

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

providing instructions to turn a 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 a second 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. The system of claim 14, 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 asynchronously oscillate between given directions about the direction of travel of the vehicle.

16. 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 that a primary braking system cannot reduce a speed of a vehicle within at least one of a predetermined time period and a predetermined braking distance; and

providing instructions to a control system of the vehicle to turn a pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially a 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.

17. The non-transitory computer-readable medium of claim 16, wherein the functions further comprise:

decoupling a steering wheel of the vehicle from the pair of wheels, such that the steering wheel does not rotate in response to the pair of wheels being turned in an oscillatory manner.

18. The non-transitory computer-readable medium of claim 16, wherein the functions further comprise:

receiving a signal from a traffic signal that alerts the vehicle of the speed of the vehicle; and

based on the signal, determining that the primary braking system cannot reduce the speed of the vehicle within at least one of the predetermined time period and the predetermined braking distance.

19. The non-transitory computer-readable medium of claim 16, wherein the functions further comprise:

detecting a traffic sign that alerts the vehicle to reduce the speed of the vehicle within at least one of a predetermined time period and a predetermined braking distance.

20. The non-transitory computer-readable medium of claim 16, wherein the functions further comprise:

providing instructions to turn a 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 a second 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.