Methods and apparatus to extricate a vehicle from a stuck condition

Patent metadata

Field	Value
Publication number	US-10358141-B2
Application number	US-201615332451-A
Country	US
Kind code	B2
Filing date	Oct 24, 2016
Priority date	Oct 24, 2016
Publication date	Jul 23, 2019
Grant date	Jul 23, 2019

Abstract

Methods and apparatus to extricate a vehicle from a stuck condition, apparatus, systems and articles of manufacture are disclosed. An example method includes receiving a command to place a vehicle in a stuck mode. The stuck mode corresponds to an autonomous control mode of the vehicle. The method further includes autonomously controlling the vehicle in the stuck mode to attempt to extricate the vehicle from a stuck condition.

First claim

What is claimed is:

1. A method comprising:
receiving a command to place a vehicle in a stuck mode, the stuck mode corresponding to an autonomous control mode of the vehicle;
autonomously torqueing driven wheels of the vehicle alternately in a reverse direction and a forward direction to rock the vehicle within a rut associated with a stuck condition;
autonomously shifting a transmission of the vehicle alternately between a reverse gear and a forward gear of the vehicle;
calculating a ratio of a velocity of the vehicle to an acceleration of the vehicle in substantially real-time; and
shifting the transmission when the ratio approximately corresponds to a time period for the vehicle to shift gears and deliver torque to the driven wheels.

2. The method of claim 1 , further including determining a maneuverability envelope surrounding the vehicle, the autonomous control of the vehicle to be based on the maneuverability envelope.

3. The method of claim 2 , further including autonomously controlling a direction of wheels of the vehicle during the autonomous control of the vehicle based on the maneuverability envelope.

4. The method of claim 1 , further including automatically deactivating the stuck mode of the vehicle in response to determining that the vehicle is no longer in the stuck condition.

5. The method of claim 1 , further including:
detecting that the vehicle is in the stuck condition; and
prompting a driver of the vehicle to authorize the vehicle to be placed in the stuck mode in response to detecting the stuck condition.

6. The method of claim 1 , further including prior to receiving the command to place the vehicle in the stuck mode:
detecting that the vehicle is in the stuck condition; and
automatically deactivating a traction control feature of the vehicle in response to detecting the stuck condition.

7. A method comprising:
receiving a command to place a vehicle in a stuck mode, the stuck mode corresponding to an autonomous control mode of the vehicle;
determining a maneuverability envelope surrounding the vehicle;
autonomously controlling the vehicle in the stuck mode to attempt to move the vehicle out of a rut associated with a stuck condition; and
autonomously maintaining a speed of driven wheels of the vehicle below a threshold speed during the autonomous control of the vehicle, the threshold speed defined based on the maneuverability envelope.

8. The method of claim 7 , wherein the threshold speed when the vehicle is being driven forward is different than when the vehicle is being driven in reverse.

9. An apparatus comprising:
a user interface to receive a command to place a vehicle in a stuck mode, the stuck mode corresponding to an autonomous control mode of the vehicle; and
a stuck mode controller to:
autonomously torque driven wheels of the vehicle alternately in a reverse direction and a forward direction to rock the vehicle within a rut associated with a stuck condition;
calculate a ratio of a velocity of the vehicle to an acceleration of the vehicle in substantially real-time; and
autonomously shift a transmission of the vehicle alternately between a reverse gear and a forward gear of the vehicle, the shifting of the transmission timed to correspond to when the ratio approximately corresponds to a time period for the vehicle to shift gears and deliver torque to the driven wheels.

10. The apparatus of claim 9 , wherein the stuck mode controller is to determine a maneuverability envelope surrounding the vehicle, the autonomous control of the vehicle to be based on the maneuverability envelope.

11. The apparatus of claim 10 , wherein the maneuverability envelope is defined based on sensor feedback indicating at least one of a distance or a location of an object in an area surrounding the vehicle.

12. The apparatus of claim 11 , further including autonomously controlling a direction of wheels of the vehicle during the autonomous control of the vehicle based on the maneuverability envelope.

13. The apparatus of claim 11 , further including autonomously maintaining a speed of the driven wheels of the vehicle below a threshold speed during the autonomous control of the vehicle, the threshold speed defined based on the maneuverability envelope.

14. The apparatus of claim 13 , wherein the threshold speed when the vehicle is being driven forward is different than when the vehicle is being driven in reverse.

15. A tangible computer readable storage medium comprising instructions that, when executed cause a machine to at least:
receive a command to place a vehicle in a stuck mode, the stuck mode corresponding to an autonomous control mode of the vehicle;
autonomously torque driven wheels of the vehicle alternately in a reverse direction and a forward direction to rock the vehicle within a rut associated with a stuck condition;
calculate a ratio of a velocity of the vehicle to an acceleration of the vehicle in substantially real-time; and
autonomously shift a transmission of the vehicle alternately between a reverse gear and a forward gear of the vehicle, the shifting of the transmission timed to correspond to when the ratio approximately corresponds to a time period for the vehicle to shift gears and deliver torque to the driven wheels.

16. The tangible computer readable storage medium of claim 15 , wherein the instructions further cause the machine to determine a maneuverability envelope surrounding the vehicle, the autonomous control of the vehicle to be based on the maneuverability envelope.

17. The tangible computer readable storage medium of claim 16 , wherein the maneuverability envelope is defined based on sensor feedback indicating at least one of a distance or a location of objects detected in an area surrounding the vehicle.

18. The tangible computer readable storage medium of claim 17 , wherein the instructions further cause the machine to autonomously control a direction of wheels of the vehicle during the autonomous control of the vehicle based on the maneuverability envelope.

19. The tangible computer readable storage medium of claim 17 , wherein the instructions further cause the machine to autonomously maintain a speed of the driven wheels of the vehicle below a threshold speed during the autonomous control of the vehicle, the threshold speed defined based on the maneuverability envelope.

20. The tangible computer readable storage medium of claim 19 , wherein the threshold speed when the vehicle is being driven forward is different than when the vehicle is being driven in reverse.

Assignees

• Ford Global Tech Llc

Inventors

• James Alex
• Perlick Donald A
• Salmon Thomas
• Cao Bang Kim

Classifications

• B60W2556/00

  Input parameters relating to data · CPC title

• B60W50/0098 Primary

  Details of control systems ensuring comfort, safety or stability not otherwise provided for · CPC title

• B60W10/06

  including control of combustion engines · CPC title

• B60W30/18009

  related to particular drive situations · CPC title

• B60W10/10

  including control of change-speed gearings · CPC title