Systems and methods of adaptive regenerative braking and collision avoidance for electrically powered vehicles

• US 9,969,270 B2
• Filed: 12/10/2015
• Issued: 05/15/2018
• Est. Priority Date: 12/10/2014
• Status: Active Grant

• Current Assignee: Gogoro Inc.
• Original Assignee: Gogoro Inc.
• Inventors: Luke, Hok-Sum Horace, Taylor, Matthew Whiting
• Primary Examiner(s): Jos, Basil T.
• Application Number:
  US14/965,562
• Publication Number:
  US 20160167519A1
• Time in Patent Office: 887 Days
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 15/2045 for optimising the use of energy
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/14 Acceleration
• CPC Class Codes: B60L 2240/24 Steering angle
• CPC Class Codes: B60L 2240/26 Vehicle weight
• CPC Class Codes: B60L 2240/36 Temperature of vehicle components or parts
• CPC Class Codes: B60L 2240/545 Temperature
• CPC Class Codes: B60L 2240/547 Voltage
• CPC Class Codes: B60L 2240/549 Current
• CPC Class Codes: B60L 2240/62 Vehicle position
• CPC Class Codes: B60L 2240/642 Slope of road
• CPC Class Codes: B60L 2240/645 Type of road
• CPC Class Codes: B60L 2240/647 Surface situation of road, e.g. type of paving
• CPC Class Codes: B60L 2240/662 Temperature
• CPC Class Codes: B60L 2240/667 Precipitation
• CPC Class Codes: B60L 2240/68 Traffic data
• CPC Class Codes: B60L 2240/80 Time limits
• CPC Class Codes: B60L 2250/10 by alarm
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 2260/32 : Auto pilot mode
• CPC Class Codes: B60L 2260/50 : by future state prediction
• CPC Class Codes: B60L 3/0015 : Prevention of collisions
• CPC Class Codes: B60L 58/12 : responding to state of charge [SoC]
• CPC Class Codes: B60L 7/18 : Controlling the braking effect B60L7/12, B60L7/14, B60L7/16 take precedence
• CPC Class Codes: B60L 7/26 : Controlling the braking effect
• CPC Class Codes: B60W 10/184 : with wheel brakes
• CPC Class Codes: B60W 10/20 : including control of steering systems
• CPC Class Codes: B60W 10/26 : for electrical energy, e.g. batteries or capacitors
• CPC Class Codes: B60W 20/14 : in conjunction with braking regeneration
• CPC Class Codes: B60W 2050/0094 : of control units
• CPC Class Codes: B60W 2510/244 : Charge state
• CPC Class Codes: B60W 2510/246 : Temperature
• CPC Class Codes: B60W 2554/00 : Input parameters relating to objects
• CPC Class Codes: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

Electrically powered vehicles may be equipped with both mechanical braking systems and regenerative braking systems. Regenerative braking systems improve vehicle efficiency by returning a portion of the energy lost in deceleration to the battery of the electrically powered vehicle. An electrically powered vehicle controller that provides collision avoidance functionality can maximize the energy returned to the battery of the electrically powered vehicle by maximizing the use of regenerative braking for collision avoidance. A first braking mode can include only regenerative braking for objects greater than the minimum regenerative stopping distance. A second braking mode can include composite braking using both mechanical and regenerative braking. The electrically powered vehicle controller determines the maximum regenerative braking level at least based on data provided by battery charge level or battery state sensors.

Claims

1. A collision avoidance system for use with an electrically powered vehicle, the collision avoidance system comprising:

a number of sensors, each of the number of sensors which, in operation, provide signals to a vehicle controller;

at least one controller, communicably coupled to the number of sensors, that, in operation, receives signals from each of the number of sensors;

a nontransitory storage medium that includes controller-executable instructions, that when executed by the at least one controller, cause the at least one controller to;

determine a value representative of a minimum regenerative stopping distance achievable using only a regenerative braking system;

determine a value representative of a minimum composite stopping distance achievable using a combination of a mechanical braking system and the regenerative braking system;

determine a value representative of an obstruction threshold distance that is equal to or greater than the determined minimum regenerative stopping distance;

responsive to receipt of a signal that includes data indicative of at least one object in a travel path of the electrically powered vehicle or the imminent entry of the at least one object into the travel path of the electrically powered vehicle from one or more of the number of sensors, determine a distance to the at least one object;

responsive to a determination that the distance to the at least one object is less than the determined obstruction threshold distance and greater than the determined minimum regenerative stopping distance, autonomously enter a first braking mode in which the electrically powered vehicle is slowed at a first rate of deceleration using only the regenerative braking system.

2. The collision avoidance system of claim 1 wherein the instructions further cause the at least one controller to:

prior to autonomous entry of the electrically powered vehicle into the first braking mode, generate a first human-perceptible output indicative of the first braking mode.

3. The collision avoidance system of claim 1 wherein the controller determines the minimum regenerative stopping distance and the minimum composite stopping distance based, at least hi part, on data supplied by one or more sensors or systems external to the electrically powered vehicle.

4. The collision avoidance system of claim 1 wherein the instructions further cause the at least one controller to:

responsive to a determination that the distance to the at least one object is less than the determined minimum regenerative stopping distance, autonomously determine a level of regenerative braking to apply and autonomously determine a level of mechanical braking to apply that stops the electrically powered vehicle prior to contact with the at least one object and maximizes the level of regenerative braking; and

autonomously enter a second braking mode in which the electrically powered vehicle slows at a second rate of deceleration that is greater than the first rate of deceleration by applying the regenerative braking system at the determined level of regenerative braking and applying the mechanical braking system at the determined level of mechanical braking.

5. The collision avoidance system of claim 4 wherein the instructions further cause the at least one controller to:

prior to autonomous entry of the electrically powered vehicle into the second braking mode, provide a second human-perceptible output indicative of the second braking mode.

6. The collision avoidance system of claim 4 wherein the instructions further cause the at least one controller to:

responsive to a determination that the distance to the at least one object is less than the determined minimum composite stopping distance, autonomously adjust a vehicular horn systems.

7. The collision avoidance system of claim 1 wherein the number of sensors include an object detection sensor, an available battery charge sensor, and at least one of:

a battery state sensor;

a battery temperature sensor;

a battery current sensor;

a mechanical braking system sensor;

an ambient environmental condition sensor;

a road condition sensor;

a load sensor;

one or more accelerometers;

a steering position sensor;

a load distribution sensor;

or a suspension travel sensor.

8. The collision avoidance system of claim 1 wherein the number of sensors include an object detection sensor and an available battery charge sensor;

and

wherein the controller determines the minimum regenerative stopping distance and the minimum composite stopping distance based, at least in part, on the battery charge level.

9. The collision avoidance system of claim 1 wherein the instructions that cause the at least one controller to determine a value representative of a minimum regenerative stopping distance achievable using only the regenerative braking system, cause the at least one controller to:

determine a value representative of a minimum regenerative stopping distance achievable using the regenerative braking system on an intermittent, periodic, or continuous basis.

10. The collision avoidance system of claim 1 wherein the instructions that cause the at least one controller to determine a value representative of an obstruction threshold distance that is equal to or greater than the determined minimum regenerative stopping distance, cause the at least one controller to:

determine a value representative of an obstruction threshold distance that is greater than the determined minimum regenerative stopping distance on an intermittent, periodic, or continuous basis.

11. A collision avoidance method for use with an electrically powered vehicle, the method comprising:

determining, by at least one controller, a value representative of a minimum regenerative stopping distance achievable using only a regenerative braking system of the electrically powered vehicle;

determining, by the at least one controller, a value representative of a minimum composite stopping distance achievable using a combination of a mechanical braking system and the regenerative braking system of the electrically powered vehicle;

determining, by the at least one controller, a value representative of an obstruction threshold distance that is equal to or greater than the determined minimum regenerative stopping distance;

receiving, by the at least one controller, at least one signal including data indicative of at least one object in a travel path of the electrically powered vehicle or the imminent entry of the at least one object into the travel path of the electrically powered vehicle using one or more of a number of sensors communicably coupled to the at least one controller;

determining, by the at least one controller, a value representative of a distance between the electrically powered vehicle and the at least one object;

determining, by the at least one controller, whether the distance between the electrically powered vehicle and the at least one object is less than the determined obstruction threshold distance and greater than the determined minimum regenerative stopping distance; and

responsive to determining the distance between the electrically powered vehicle and the at least one object is less than the determined obstruction threshold distance and greater than the determined minimum regenerative stopping distance by the at least one controller, autonomously placing the electrically powered vehicle in a first braking mode in which a velocity of the electrically powered vehicle is reduced at a first rate of deceleration using only the regenerative braking system.

12. The collision avoidance method of claim 11, further comprising:

prior to placing the electrically powered vehicle in the first braking mode, generating, by the at least one controller on a vehicular user interface, a first human-perceptible output indicative of the first braking mode.

13. The collision avoidance method of claim 11 wherein determining, by the at least one controller, a value representative of a minimum composite stopping distance achievable using a combination of a mechanical braking system and the regenerative braking system of an electrically powered vehicle comprises:

determining, by the at least one controller, the minimum composite stopping distance using the mechanical braking system, the regenerative braking system, and data supplied by one or more sensors or systems external to the electrically powered vehicle.

14. The collision avoidance method of claim 11, further comprising:

responsive to a determination, by the at least one controller, that the distance to the at least one object is less than the determined minimum regenerative stopping distance, autonomously determining a level of regenerative braking to apply and a level of mechanical braking to apply to minimize the velocity of the electrically powered vehicle prior to contact with the at least one object and maximize the level of regenerative braking; and

placing, by the at least one controller, the electrically powered vehicle in a second braking mode in which the velocity of the electrically powered vehicle is reduced at a second rate of deceleration that is greater than the first rate of deceleration by applying the regenerative braking system at the determined level of regenerative braking and applying the mechanical braking system at the determined level of mechanical braking.

15. The collision avoidance method of claim 14, further comprising:

prior to entering the second braking mode, generating, by the at least one controller on a vehicular user interface, a second human-perceptible output indicative of the second braking mode.

16. The collision avoidance method of claim 14, further comprising:

responsive to determining, by the at least one controller, that the distance to the at least one object is less than the determined minimum composite stopping distance autonomously adjusting, by the at least one controller, a vehicular light system.

17. The collision avoidance method of claim 11 wherein determining a value representative of a minimum composite stopping distance achievable using a combination of a mechanical braking system and the regenerative braking system of the electrically powered vehicle comprises:

determining, by the at least one controller, the value representative of a minimum composite stopping distance achievable using the combination of the mechanical braking system and the regenerative braking system of the electrically powered vehicle based at least in part on data provided by a battery charge level sensor.

18. The collision avoidance method of claim 11 wherein determining, by the at least one controller, a value representative of a minimum regenerative stopping distance achievable using a regenerative braking system of the electrically powered vehicle comprises:

determining, by the at least one controller, the value representative of the minimum regenerative stopping distance achievable using the on-board regenerative braking system of the electrically powered vehicle based at least in part on data provided by a battery charge level sensor.

19. The collision avoidance method of claim 11 wherein determining, by the at least one controller, a value representative of a minimum composite stopping distance achievable using a combination of a mechanical braking system and the regenerative braking system of the electrically powered vehicle comprises:

determining, by the at least one controller, the value representative of the minimum composite stopping distance achievable using the combination of the mechanical braking system and the regenerative braking system of the electrically powered vehicle based at least in part on data provided by a battery state sensor.

20. The collision avoidance method of claim 11 wherein determining, by the at least one controller, a value representative of a minimum composite stopping distance achievable using a combination of a mechanical braking system and the regenerative braking system of the electrically powered vehicle comprises:

determining, by the at least one controller, on an intermittent, periodic, or continuous basis, the value representative of the minimum stopping distance achievable using a combination of the mechanical braking system and the regenerative braking system of the electrically powered vehicle.

21. The collision avoidance method of claim 11 wherein determining, by the at least one controller, a value representative of an obstruction threshold distance that is greater than the determined minimum regenerative stopping distance comprises:

determining, by the at least one controller, on an intermittent, periodic, or continuous basis, the value representative of the obstruction threshold distance that is equal to or greater than the determined minimum regenerative stopping distance.

22. A collision avoidance system for use with an electrically powered vehicle, the collision avoidance system comprising:

a number of sensors, each of the number of sensors which, in operation, provide signals that contain data indicative of one or more electric vehicle operational parameters;

at least one controller, communicably coupled to each of the number of sensors, that, in operation, receives the signals provided by each of the number of sensors;

a nontransitory storage medium that includes controller-executable instructions, that when executed by the at least one controller, cause the at least one controller to;

determine, using at least some of the signals received from the number of sensors, a value representative of a minimum regenerative stopping distance achievable using only a regenerative braking system of the electrically powered vehicle;

determine, using at least some of the signals received from the number of sensors, a value representative of a minimum composite stopping distance achievable using a mechanical braking system in combination with the regenerative braking system of the electrically powered vehicle;

determine a value representative of an obstruction threshold distance that is greater than the determined minimum regenerative stopping distance;

responsive to receipt of a signal that includes data indicative of at least one object in a travel path of the electrically powered vehicle or the imminent entry of at least one object into the travel path of the electrically powered vehicle from one or more of the number of sensors, determine a distance to the at least one object;

responsive to a determination that the distance to the at least one object is less than the determined obstruction threshold distance and greater than the determined minimum regenerative stopping distance, autonomously place the electrically powered vehicle in a first braking mode in which a velocity of the electrically powered vehicle is reduced at a first rate of deceleration using only the regenerative braking system;

responsive to a determination that the distance to the at least one object is less than the determined minimum regenerative stopping distance, autonomously place the electrically powered vehicle in a second braking mode in which the velocity of the electrically powered vehicle is reduced at a second rate of deceleration, which is greater than the first rate of deceleration using both the regenerative braking system and the mechanical braking system; and

responsive to a determination that the distance to the at least one object is less than the determined composite braking minimum stopping distance, autonomously place the electrically powered vehicle in a third braking mode in which the velocity of the electrically powered vehicle is reduced at a third rate of deceleration that is greater than the second rate of deceleration using a combination of the mechanical braking system and the regenerative braking system.

23. A collision avoidance method for use with an electrically powered vehicle, the collision avoidance method comprising:

determining, by at least one controller, using signals containing data indicative of one or more electrically powered vehicle operational parameters and received from at least some of a number of sensors, a value representative of a minimum regenerative stopping distance achievable using only a regenerative braking system of the electrically powered vehicle;

determining, by the at least one controller, using the signals containing data indicative of one or more electrically powered vehicle operational parameters and received from at least some of the number of sensors, a value representative of a minimum composite braking stopping distance achievable using a mechanical braking system in combination with the regenerative braking system of the electrically powered vehicle;

determining, by the at least one controller, a value representative of an obstruction threshold distance that is at least equal to the determined minimum regenerative braking stopping distance;

receiving, by the at least one controller, a signal that includes data indicative of at least one object in a travel path of the electrically powered vehicle or the imminent entry of the at least one object into the travel path of the electrically powered vehicle;

determining, by the at least one controller, a value representative of a distance between the electrically powered vehicle and the at least one object;

determining whether the value representative of the distance to the at least one object is less than the determined obstruction threshold distance and greater than the determined minimum regenerative stopping distance;

responsive to determining that the value representative of the distance to the at least one object is less than the determined obstruction threshold distance and greater than the determined minimum regenerative stopping distance, autonomously placing the electrically powered vehicle in a first braking mode in which a velocity of the electrically powered vehicle is reduced at a first rate of deceleration using only the regenerative braking system;

determining whether the value representative of the distance to the at least one object is less than the determined minimum regenerative stopping distance;

responsive to a determination that the distance to the at least one object is less than the determined minimum regenerative stopping distance, autonomously placing the electrically powered vehicle in a second braking mode in which the velocity of the electrically powered vehicle is reduced at a second rate of deceleration that is greater than the first rate of deceleration, using both the regenerative braking system and the mechanical braking system; and

responsive to a determination that the distance to the at least one object is less than the determined minimum composite stopping distance, autonomously placing the electrically powered vehicle in a third braking mode in which the velocity of the electrically powered vehicle is reduced at a third rate of deceleration that is greater than the second rate of deceleration using a combination of the mechanical braking system and the regenerative braking system.