# US 10,246,095 B2 · Regenerative braking control apparatus for vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,095 B2 - Document ID: US10246095B2 - Status: Granted - Kind: B2 - Application number: 15/671,367 - Filed: 2017-08-08 - Published: 2018-02-15 - Granted: 2019-04-02 - Earliest claimed: 2016-08-10 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Jinkyo Lee; Kwangjin Jang; Jonghwa Yoon - Web page: https://patentgrep.com/patent/US10246095B2 ## CPC - B60W 30/18127: {Regenerative braking} - B60L 7/18: Controlling the braking effect (B60L7/12, B60L7/14, B60L7/16 take precedence) - B60T 1/10: by utilising wheel movement for accumulating energy, e.g. driving air compressors - B60T 7/18: operated by wayside apparatus - B60W 10/06: including control of combustion engines - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B60W 10/184: with wheel brakes - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60W 30/18072: {Coasting} - B60W 30/18136: {Engine braking} - B60W 30/18145: {Cornering} - B60W 30/18154: {Approaching an intersection} - F16D 61/00: Brakes with means for making the energy absorbed available for use (F16D57/00 takes precedence) - B60L 2240/423: Torque - B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} - B60T 2201/022: Collision avoidance systems - B60T 2210/32: Vehicle surroundings - B60T 2270/604: Merging friction therewith; Adjusting their repartition - B60W 2540/10: Accelerator pedal position - B60W 2540/12: Brake pedal position - B60W 2552/20: Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments - B60W 2552/30: Road curve radius - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60Y 2300/18125: Regenerative braking - B60Y 2300/89: Repartition of braking force, e.g. friction braking versus regenerative braking - Y02T 10/64: Electric machine technologies in electromobility - 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 - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - F16D: COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A regenerative braking control apparatus includes an interface unit configured to receive driving information of a vehicle; an object detection device configured to generate object information based on detecting an object outside the vehicle; and at least one processor. The at least one processor is configured to: determine whether to perform regenerative braking for the vehicle, based on the driving information and the object information; and provide at least one signal corresponding to a result of determining whether to perform the regenerative braking for the vehicle. ## Claims ### Claim 1 A regenerative braking control apparatus for an autonomous vehicle, comprising: an interface unit configured to receive driving information of a vehicle, wherein the interface unit comprises a port configured for passage of data; an object detection device configured to generate object information based on detecting an object outside the vehicle, wherein the object detection device comprises at least one of a camera, a radar, an ultrasonic sensor, or an infrared sensor; and at least one processor configured to: determine whether to perform regenerative braking for the vehicle, based on the driving information and the object information; and provide at least one signal corresponding to a result of determining whether to perform the regenerative braking for the vehicle, wherein the at least one processor is further configured to: receive, through the interface unit, driving mode information; and based on a determination to perform regenerative braking: determine a regenerative braking start location based on the driving mode information; and determine a regenerative braking start time based on whether the vehicle travels in an unmanned driving mode or a manned driving mode. ### Claim 2 (depends on 1) The regenerative braking control apparatus according to claim 1, wherein the at least one processor is configured to: based on the determination to perform regenerative braking, determine a regenerative braking end time, a regenerative braking end location, a degree of regenerative braking, and whether the degree of regenerative braking has been changed; and provide a first signal, among the at least one signal, corresponding to a result of determining the regenerative braking start time, the regenerative braking start location, the regenerative braking end time, the regenerative braking end location, the degree of regenerative braking, and whether the degree of regenerative braking has been changed. ### Claim 3 (depends on 1) The regenerative braking control apparatus according to claim 1, wherein: the driving information comprises at least one of vehicle speed information, vehicle route information, or vehicle location information, the object information comprises information regarding at least one of a traffic lamp, a traffic sign, or a traffic marker on a road surface, and the at least one processor is configured to determine, based on the vehicle speed information, the vehicle route information, the vehicle location information, and the object information, whether the vehicle is in a state of continuing travel with an acceleration input below a first threshold or a brake input above a second threshold. ### Claim 4 (depends on 3) The regenerative braking control apparatus according to claim 3, wherein the traffic marker on the road surface comprises a stop line, and the at least one processor is configured to determine a stop location of the vehicle based on information regarding the stop line. ### Claim 5 (depends on 4) The regenerative braking control apparatus according to claim 4, wherein the at least one processor is configured to: acquire information regarding a distance between the vehicle and the stop location; and determine the regenerative braking start location further based on the vehicle speed information and the information regarding the distance between the vehicle and the stop location. ### Claim 6 (depends on 4) The regenerative braking control apparatus according to claim 4, wherein the at least one processor is configured to: acquire information regarding an object located between the vehicle and the stop line; and determine the stop location of the vehicle further based on the information regarding the object located between the vehicle and the stop line. ### Claim 7 (depends on 6) The regenerative braking control apparatus according to claim 6, wherein the at least one processor is configured to: acquire information regarding a distance between the vehicle and the object located between the vehicle and the stop line; and determine the regenerative braking start location further based on the vehicle speed information and the information regarding the distance between the vehicle and the object located between the vehicle and the stop line. ### Claim 8 (depends on 3) The regenerative braking control apparatus according to claim 3, where the at least one processor is configured to determine to perform regenerative braking, in a state in which information regarding an object interfering with driving of the vehicle is acquired and traffic signal information of the traffic lamp is acquired. ### Claim 9 (depends on 3) The regenerative braking control apparatus according to claim 3, wherein: the vehicle route information comprises route information regarding a left turn or a right turn at an intersection located within a first distance from the vehicle; and the at least one processor is configured to determine not to perform regenerative braking, based on the acceleration input being less than the first threshold or the brake input being greater than the second threshold and based on a determination that the vehicle is allowed to make a left turn or a right turn at the intersection. ### Claim 10 (depends on 3) The regenerative braking control apparatus according to claim 3, wherein: the vehicle route information comprises information regarding a merging location located within a first distance from the vehicle; and the at least one processor is configured to determine not to perform regenerative braking, based on the acceleration input being less than the first threshold or the brake input being greater than the second threshold and based on not having acquired information regarding detection of a second vehicle merging at the merging location. ### Claim 11 (depends on 10) The regenerative braking control apparatus according to claim 10, wherein the at least one processor is configured to determine to perform regenerative braking, based on the acceleration input being less than the first threshold or the brake input being greater than the second threshold and based on having acquired the information regarding the detection of the second vehicle merging at the merging location. ### Claim 12 (depends on 3) The regenerative braking control apparatus according to claim 3, wherein: the vehicle route information comprises information regarding a curve in a road located within a first distance from the vehicle; and the at least one processor is configured to: acquire curvature information of the curve; and determine not to perform regenerative braking, based on the acceleration input being less than the first threshold or the brake input being greater than the second threshold and based on the curvature of the curve being less than or equal to a threshold curvature value. ### Claim 13 (depends on 12) The regenerative braking control apparatus according to claim 12, wherein the at least one processor is configured to determine to perform regenerative braking, based on the acceleration input being less than the first threshold or the brake input being greater than the second threshold and based on the curvature of the curve being greater than the threshold curvature value. ### Claim 14 (depends on 1) The regenerative braking control apparatus according to claim 1, wherein: the driving information comprises vehicle speed information; and the at least one processor is configured to: acquire information regarding a speed limit of a road on which the vehicle is travelling; and determine whether to perform regenerative braking, based on the vehicle speed information and the information regarding the speed limit. ### Claim 15 (depends on 14) The regenerative braking control apparatus according to claim 14, wherein the at least one processor is configured to determine to perform regenerative braking, based on the vehicle travelling at a speed greater than the speed limit. ### Claim 16 (depends on 1) The regenerative braking control apparatus according to claim 1, wherein: the driving information comprises parking situation information; and the at least one processor is configured to determine to perform regenerative braking, based on the vehicle decelerating and based on the parking situation information indicating that the vehicle performs a parking operation. ### Claim 17 (depends on 1) The regenerative braking control apparatus according to claim 1, wherein: the driving information comprises Adaptive Cruise Control (ACC)-on state information; and the at least one processor is configured to determine to perform regenerative braking, based on the vehicle decelerating in an ACC-on state according to the ACC-on state information. ### Claim 18 (depends on 1) The regenerative braking control apparatus according to claim 1, wherein: the driving information comprises Autonomous Emergency Braking (AEB)-on state information; and the at least one processor is configured to determine to perform regenerative braking based on vehicle being in an AEB-on state according to the AEB-on state information. ### Claim 19 (depends on 1) The regenerative braking control apparatus according to claim 1, wherein the at least one processor is further configured to determine not to perform regenerative braking, based on a determination that the vehicle is in a state of continuing travel with the acceleration input being less than a first threshold or the brake input being greater than a second threshold.