Deceleration determination of a vehicle

Patent metadata

Field	Value
Publication number	US-10108197-B2
Application number	US-201514962259-A
Country	US
Kind code	B2
Filing date	Dec 8, 2015
Priority date	Dec 8, 2015
Publication date	Oct 23, 2018
Grant date	Oct 23, 2018

Abstract

A current state of a vehicle can be identified. At least a minimum acceleration capability of the vehicle is determined. A desired acceleration profile to follow is determined based at least in part on the minimum acceleration capability. An acceleration of the vehicle is controlled based at least in part on the desired acceleration profile.

First claim

What is claimed is:

1. A system, comprising a computer having a processor and a memory, the memory storing instructions executable by the processor such that the computer is programmed to:
identify a current state of a vehicle;
plot a maximum brake torque that can be applied in the vehicle over a period of time based on data continually received from at least one of a vehicle component and a vehicle system;
determine a desired acceleration profile to follow based at least in part on the maximum brake torque plot; and
control an acceleration of the vehicle based at least in part on the desired acceleration profile.

2. The system of claim 1 , wherein the current state of the vehicle includes at least one of an internal vehicle state and an environmental condition.

3. The system of claim 1 , wherein the computer is further programmed to determine the current state of the vehicle from at least a componentry status, a controller area network (CAN) bus status, a power supply level, a current vehicle speed and a tire saturation.

4. The system of claim 1 , wherein the maximum brake torque plot is determined from at least one of a brake pad status, a hydraulic pressure status, a size of the vehicle, a mass of the vehicle, a vehicle payload, a towed object mass, a road grade value, a road surface mu, a split friction mu, a brake pad mu, a pitch angle of the vehicle, a load distribution and a hydraulic brake pressure distribution.

5. The system of claim 1 , wherein the computer is further programmed to detect a brake system fault.

6. The system of claim 5 , wherein the brake system fault is at least one of a brake hydraulic circuit failure, a worn brake pad, and a deviation of brake pad friction.

7. The system of claim 1 , wherein the computer is further programmed to determine the desired acceleration profile to follow from at least one of a map stored in the memory, a desired route to follow, a communication from a second vehicle, a communication from an external road infrastructure system, and an obstacle detection sensor.

8. The system of claim 7 , wherein the obstacle detection sensor includes at least one of a LIDAR sensor, a SONAR sensor and an optical range determination system.

9. A method, comprising:
identifying a current state of a vehicle;
plotting a maximum brake torque that can be applied in the vehicle over a period of time based on data continually received from at least one of a vehicle component and a vehicle system;
determining a desired acceleration profile to follow based at least in part on the maximum brake torque plot; and
controlling an acceleration of the vehicle based at least in part on the desired acceleration profile.

10. The method of claim 9 , wherein the current state of the vehicle includes at least one of an internal vehicle state and an environmental condition.

11. The method of claim 9 , further comprising determining the current state of the vehicle from at least a componentry status, a controller area network (CAN) bus status, a power supply level, a current vehicle speed and a tire saturation.

12. The method of claim 9 , wherein the maximum brake torque plot is determined from at least one of a brake pad status, a hydraulic pressure status, a size of the vehicle, a mass of the vehicle, a vehicle payload, a towed object mass, a road grade value, a road surface mu, a split friction mu, a brake pad mu, a pitch angle of the vehicle, a load distribution and a hydraulic brake pressure distribution.

13. The method of claim 9 , further comprising detecting a brake system fault.

14. The method of claim 13 , wherein the brake system fault is at least one of a brake hydraulic circuit failure, a worn brake pad, and a deviation of brake pad friction.

15. The method of claim 9 , further comprising determining the desired acceleration profile to follow from at least one of a map stored in the memory, a desired route to follow, a communication from a second vehicle, a communication from an external road infrastructure system, and an obstacle detection sensor.

16. The method of claim 15 , wherein the obstacle detection sensor includes at least one of a LIDAR sensor, a SONAR sensor and an optical range determination system.

Assignees

• Ford Global Tech Llc

Inventors

• Lauffer Scott J
• Joyce John P
• Pallett Tobias John
• Brown Andrew
• Elwart Shane
• Williams Wayne

Classifications

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W2556/45

  External transmission of data to or from the vehicle · CPC title

• G01S17/931

  of land vehicles · CPC title

• B60W30/00

  Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units · CPC title

• G08G1/096791

  where the origin of the information is another vehicle · CPC title