Map-based braking

Patent metadata

Field	Value
Publication number	US-12325409-B2
Application number	US-202218145706-A
Country	US
Kind code	B2
Filing date	Dec 22, 2022
Priority date	Dec 22, 2022
Publication date	Jun 10, 2025
Grant date	Jun 10, 2025

Abstract

Vehicle control using map-based braking includes receiving, while a driver is operating the vehicle to traverse a vehicle transportation network, vehicle operation information including at least a current speed of the vehicle, retrieving, from a planned path of an in-vehicle navigation system, an upcoming turn in a current road when the driver is using the in-vehicle navigation system, and retrieving from map data, the upcoming turn in the current road when the driver is not using tin-vehicle navigation system. Thereafter, it is determined whether, during the upcoming turn, wheels of the vehicle will maintain contact with a road surface at the current speed. A braking instruction is issued to a control system of the vehicle responsive to whether the wheels of the vehicle will maintain contact with the road surface at the current speed.

First claim

What is claimed is:

1. An apparatus for vehicle control, the apparatus comprising:
a processor configured to:
receive, while a driver is operating the vehicle to traverse a vehicle transportation network, vehicle operation information including at least a current speed of the vehicle;
retrieve, from a planned path of an in-vehicle navigation system, an upcoming turn in a current road when the driver is using the in-vehicle navigation system, wherein the upcoming turn in the current road comprises data regarding a curve in the current road that causes the vehicle to advance along a new road different from the current road;
retrieve, from map data, the upcoming turn in the current road when the driver is not using the in-vehicle navigation system;
determine whether, during the upcoming turn, wheels of the vehicle will maintain contact with a road surface at the current speed; and
issue a braking instruction to a control system of the vehicle responsive to whether the wheels of the vehicle will maintain contact with the road surface at the current speed.

2. The apparatus of claim 1 , wherein the processor is configured to:
determine a degree of curvature of the upcoming turn; and
determine whether the wheels of the vehicle will maintain contact with the road surface at the current speed using the degree of curvature as input.

3. The apparatus of claim 2 , wherein to determine the degree of curvature of the upcoming turn comprises to:
determine a chord defined by two points located along the upcoming turn; and
determine a central angle based on a length of the chord, wherein the central angle is the degree of curvature.

4. The apparatus of claim 1 , wherein to retrieve, from the map data, the upcoming turn in the current road when the driver is not using in-vehicle navigation comprises to obtain data regarding a curve in the current road that maintains a current path of the vehicle along the current road.

5. The apparatus of claim 1 , wherein the processor is configured to:
receive, while the driver is operating the vehicle to traverse the vehicle transportation network, operational environment data, wherein the operational environment data includes data associated with objects external to the vehicle; and
determine whether the wheels of the vehicle will maintain contact with the road surface at the current speed using the operational environment data as input.

6. The apparatus of claim 5 , wherein the operational environment data comprises at least one of surface quality of the road surface or debris on the road surface.

7. The apparatus of claim 1 , wherein the processor is configured to:
determine an elevation change of the upcoming turn; and
determine whether the wheels of the vehicle will maintain contact with the road surface at the current speed using the elevation change as input.

8. The apparatus of claim 1 , wherein:
the vehicle operation information comprises tire wear of at least one of the wheels of the vehicle; and
the processor is configured to determine whether the wheels of the vehicle will maintain contact with the road surface at the current speed using the tire wear as input.

9. The apparatus of claim 1 , wherein:
the vehicle operation information comprises at least one of a tire temperature of at least one of the wheels, a tire pressure of at least one of the wheels, a wheel slip of at least one of the wheels, or a loaded weight of the vehicle; and
to determine whether the wheels of the vehicle will maintain contact with the road surface at the current speed uses the at least one of the tire temperature, the tire pressure, the wheel slip, or the loaded weight.

10. The apparatus of claim 1 , wherein the map data comprises high-definition map data, standard-definition map data, or a combination of high-definition map data and standard-definition map data of the in-vehicle navigation system.

11. The apparatus of claim 1 , wherein to issue the braking instruction to the control system comprises to end acceleration and slow the vehicle to a target speed below the current speed when the wheels of the vehicle will not maintain contact with the road surface at the current speed.

12. The apparatus of claim 1 , where to determine whether the wheels of the vehicle will maintain contact with the road surface at the current speed comprises to:
determine a maximum acceptable amount of slip to maintain contact with the road surface; and
determine whether the vehicle will maintain contact with the road surface at the current speed with less than or equal to the maximum acceptable amount of slip while the vehicle traverses the upcoming curve.

13. The apparatus of claim 1 , wherein to issue the braking instruction to the control system comprises to issue an instruction to a traction/stability control system to maintain balance of the vehicle while slowing the vehicle.

14. The apparatus of claim 1 , wherein to issue the braking instruction to the control system comprises to issue an instruction to perform four-wheel independent braking to maintain balance of the vehicle while slowing the vehicle.

15. The apparatus of claim 1 , wherein to issue the braking instruction to the control system comprises to issue an instruction to apply more braking to the vehicle using rear brakes of the vehicle than using front brakes of the vehicle.

16. The apparatus of claim 1 , wherein to issue the braking instruction to the control system comprises to issue an instruction to leave a current braking level unchanged.

17. A vehicle implementing vehicle control, comprising:
an in-vehicle navigation system;
a control system for braking the vehicle; and
a processor configured to:
receive, while a driver is operating the vehicle to traverse a vehicle transportation network, vehicle operation information including at least a current speed of the vehicle;
determine whether the driver is using the in-vehicle navigation system;
retrieve, from a planned path of the in-vehicle navigation system, an upcoming turn in a current road when the driver is using the in-vehicle navigation system, wherein the upcoming turn in the current road comprises data regarding a curve in the current road that causes the vehicle to advance along a new road different from the current road;
retrieve, from map data, the upcoming turn in the current road when the driver is not using the in-vehicle navigation system;
determine whether, during the upcoming turn, wheels of the vehicle will maintain contact with a road surface at the current speed; and
issue a braking instruction to the control system responsive to whether the wheels of the vehicle will maintain contact with the road surface at the current speed.

18. The vehicle of claim 17 , wherein the control system comprises at least one of a four-wheel independent braking system or a traction/stability control system.

19. The vehicle of claim 17 , comprising at least one of:
a temperature sensor for determining a temperature of at least one of the wheels;
a tire pressure sensor for determining a tire pressure of at least one of the wheels;
a torque sensor and a wheel rotation sensor for determining a wheel slip of at least one of the wheels; or
a strut compression sensor for determining a loaded weight of the vehicle, and wherein a level of braking provided by the braking instruction is based on at least one of the temperature, the tire pressure, the wheel slip, or the loaded weight.

20. The vehicle of claim 17 , wherein the braking instruction to the control system compri

Assignees

• Nissan North America Inc

Inventors

• Bailey Mark
• St Gray Erik
• Kochever Kevin
• Witwicki Stefan

Classifications

• B60W2720/10

  Longitudinal speed · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W50/0097

  Predicting future conditions · CPC title

• B60W30/18145 Primary

  Cornering · CPC title

• B60W2520/26

  Wheel slip · CPC title