# US 10,246,094 B2 · Autonomous vehicle cornering maneuver > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,094 B2 - Document ID: US10246094B2 - Status: Granted - Kind: B2 - Application number: 14/564,567 - Filed: 2014-12-09 - Published: 2016-06-09 - Granted: 2019-04-02 - Earliest claimed: 2014-12-09 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Kenneth James Miller; Thomas G. Leone; William Paul Perkins; Douglas Raymond Martin - Web page: https://patentgrep.com/patent/US10246094B2 ## CPC - B60W 30/18127: {Regenerative braking} - B60W 20/12: using control strategies taking into account route information {(estimation or calculation of non-directly measurable driving parameters B60W40/00)} - B60W 30/18145: {Cornering} - B60W 30/188: Controlling power parameters of the driveline, e.g. determining the required power - B60W 40/10: related to vehicle motion - B60W 50/0097: {Predicting future conditions} - B60W 50/0098: {Details of control systems ensuring comfort, safety or stability not otherwise provided for} - B60W 2420/90: Single sensor for two or more measurements - B60W 2510/18: Braking system - B60W 2510/20: Steering systems - B60W 2510/244: Charge state - B60W 2552/30: Road curve radius - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2720/10: Longitudinal speed - Y10S 903/903: having energy storing means, e.g. battery, capacitor - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract An example vehicle system includes a sensor and a processing device. The sensor is configured to identify a first location and a second location. The processing device is programmed to estimate a plurality of energy usages. Each energy usage is based at least in part on a speed of a host vehicle at the first location. The processing device is further programmed to select one of the plurality of energy usages as a target useable energy and control the host vehicle in accordance with the speed associated with the target useable energy. ## Claims ### Claim 1 A vehicle system comprising: a sensor configured to identify a first location and a second location; and a processing device programmed to estimate a plurality of energy usages each based at least in part on a different possible speed of a host vehicle at the first location, select one of the plurality of energy usages as a target useable energy, and, upon reaching the first location, control the host vehicle during a cornering maneuver, including braking, turning, and accelerating, in accordance with the speed associated with the selected target useable energy. ### Claim 2 (depends on 1) The vehicle system of claim 1, wherein the processing device is programmed to estimate a radius of a curve between the first and second locations. ### Claim 3 (depends on 1) The vehicle system of claim 1, wherein estimating the plurality of energy usages includes, for a plurality of different possible speeds of the host vehicle: estimating a first energy usage associated with the host vehicle reaching the first location, and estimating a second energy usage associated with the host vehicle reaching the second location; and wherein selecting one of the plurality of energy usages is based at least in part on the first energy usage and the second energy usage for each of the plurality of different possible speeds of the host vehicle. ### Claim 4 (depends on 3) The vehicle system of claim 3, wherein estimating the plurality of energy usages includes estimating a third energy usage associated with the host vehicle accelerating after reaching the second location, and wherein selecting one of the plurality of energy usages is based at least in part on the third energy usage. ### Claim 5 (depends on 1) The vehicle system of claim 1, wherein estimating the plurality of energy usages includes, for a plurality of different speeds, estimating a present regeneration loss associated with slowing the host vehicle prior to reaching the first location. ### Claim 6 (depends on 1) The vehicle system of claim 1, wherein estimating the plurality of energy usages includes, for a plurality of different speeds, estimating a future regeneration loss associated with accelerating the host vehicle after reaching the second location. ### Claim 7 (depends on 6) The vehicle system of claim 6, wherein the future regeneration loss includes energy losses associated with drawing energy from a power source. ### Claim 8 (depends on 1) The vehicle system of claim 1, wherein the host vehicle includes an electric vehicle or a hybrid vehicle. ### Claim 9 A method comprising: identifying a first location and a second location along a route; estimating a plurality of energy usages, each based at least in part on a different possible speed of a host vehicle at the first location; selecting one of the plurality of energy usages as a target useable energy; and upon reaching the first location, controlling the host vehicle during a cornering maneuver, including braking, turning, and accelerating, in accordance with the speed associated with the selected target useable energy. ### Claim 10 (depends on 9) The method of claim 9, further comprising estimating a radius of a curve between the first and second locations. ### Claim 11 (depends on 9) The method of claim 9, wherein estimating the plurality of energy usages includes, for a plurality of different possible speeds of the host vehicle: estimating a first energy usage associated with the host vehicle reaching the first location, and estimating a second energy usage associated with the host vehicle reaching the second location; and wherein selecting one of the plurality of energy usages is based at least in part on the first energy usage and the second energy usage for each of the plurality of different possible speeds of the host vehicle. ### Claim 12 (depends on 11) The method of claim 11, wherein estimating the plurality of energy usages includes estimating a third energy usage associated with the host vehicle accelerating after reaching the second location, and wherein selecting one of the plurality of energy usages is based at least in part on the third energy usage. ### Claim 13 (depends on 9) The method of claim 9, wherein estimating the plurality of energy usages includes, for a plurality of different speeds, estimating a present regeneration loss associated with slowing the host vehicle prior to reaching the first location. ### Claim 14 (depends on 9) The method of claim 9, wherein estimating the plurality of energy usages includes, for a plurality of different speeds, estimating a future regeneration loss associated with accelerating the host vehicle after reaching the second location. ### Claim 15 (depends on 14) The method of claim 14, wherein the future regeneration loss includes energy losses associated with drawing energy from a power source. ### Claim 16 (depends on 9) The method of claim 9, wherein the host vehicle includes an electric vehicle or a hybrid vehicle. ### Claim 17 A vehicle system comprising: a sensor configured to identify a first location and a second location; a power source configured to propel a host vehicle; and a processing device programmed to estimate a radius of a curve between the first location and the second location, estimate a plurality of energy usages each based at least in part on a different possible speed of the host vehicle at the first location, select one of the plurality of energy usages as a target useable energy, and, upon reaching the first location, control the host vehicle during a cornering maneuver, including braking, turning, and accelerating, in accordance with the speed associated with the selected target useable energy. ### Claim 18 (depends on 17) The vehicle system of claim 17, wherein estimating the plurality of energy usages includes, for a plurality of different speeds of the host vehicle: estimating a first energy usage associated with the host vehicle reaching the first location, and estimating a second energy usage associated with the host vehicle reaching the second location; and wherein selecting one of the plurality of energy usages is based at least in part on the first energy usage and the second energy usage for each of the plurality of different possible speeds of the host vehicle. ### Claim 19 (depends on 18) The vehicle system of claim 18, wherein estimating the plurality of energy usages includes estimating a third energy usage associated with the host vehicle accelerating after reaching the second location, and wherein selecting one of the plurality of energy usages is based at least in part on the third energy usage. ### Claim 20 (depends on 17) The vehicle system of claim 17, wherein estimating the plurality of energy usages includes, for a plurality of different speeds, estimating a present regeneration loss associated with slowing the host vehicle prior to reaching the first location and estimating a future regeneration loss associated with accelerating the host vehicle after reaching the second location.