# US 10,766,469 B2 · Braking control device and braking control method

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- Number: US 10,766,469 B2
- Document ID: US10766469B2
- Status: Granted
- Kind: B2
- Application number: 15/744,126
- Filed: 2015-07-27
- Published: 2018-07-19
- Granted: 2020-09-08
- Earliest claimed: 2015-07-27
- Assignees: Nissan Motor Co., Ltd.
- Applicants: Nissan Motor Co., Ltd.
- Inventors: Yasuhiko Takae; Takeshi Sugano
- Web page: https://patentgrep.com/patent/US10766469B2

## CPC

- B60T 8/17552: {responsive to the tyre sideslip angle or the vehicle body slip angle}
- B60T 7/12: for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)}
- B60T 8/17: Using electrical or electronic regulation means to control braking {(detecting or indicating faulty operation B60T8/885)}
- B60T 8/17616: {Microprocessor-based systems}
- B60T 8/245: {Longitudinal vehicle inclination}
- B60T 8/4827: {in hydraulic brake systems}
- B60T 13/662: {characterised by specified functions of the control system components}
- B60W 10/182: {including control of parking brakes}
- B60W 10/184: with wheel brakes
- B60T 2201/06: Hill holder; Start aid systems on inclined road
- B60T 2201/10: Automatic or semi-automatic parking aid systems
- B60T 2210/12: Friction
- B60T 2210/32: Vehicle surroundings
- B60W 2552/40: Coefficient of friction
- B60W 2556/00: Input parameters relating to data
- B60W 2556/10: Historical data
- B60Y 2400/81: Braking systems
- 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
- 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
- B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY

## Abstract

A braking control device is provided to automatically control a main braking device normally used to brake a host vehicle during travel and a second braking device used to maintain the host vehicle in a stopped state. The braking control device has a slip degree prediction unit and a braking device switching unit. The slip degree prediction unit predicts a possibility that the host vehicle will slip. The braking device switching unit is configured to delay a timing with which to start a reduction in a braking force of the main braking device if the slip degree prediction unit predicts a slip when switching the main braking device to the second braking device.

## Claims

### Claim 1

A braking control device for automatically controlling a main braking device normally used to brake a host vehicle during travel and a second braking device used to maintain the host vehicle in a stopped state, the braking control device comprising a controller configured to:
determine a slip degree;
predict a possibility that the host vehicle will slip based on the determined slip degree,
switch from the main braking device to the second braking device when the host vehicle is placed in a stop holding state by the main braking device, and
when switching from the main braking device to the second braking device, delay a timing with which to start a reduction in a braking force of the main braking device, with respect to the timing with which to start the reduction in the braking force of the main braking device when a slip is not predicted, upon predicting the slip.

### Claim 2 (depends on 1)

The braking control device as recited in claim 1, wherein
the controller is configured to delay the timing with which the braking force of the main braking device falls to or below a predetermined value as the slip degree increases.

### Claim 3 (depends on 2)

The braking control device as recited in claim 2, wherein
the controller is further configured to delay the timing with which the braking force of the main braking device falls to or below the predetermined value by reducing a speed with which the braking force of the main braking device is decreased.

### Claim 4 (depends on 2)

The braking control device as recited in claim 2, wherein
the controller is further configured to delay the timing with which the braking force of the main braking device falls to or below the predetermined value by reducing the braking force of the main braking device in a stepwise manner.

### Claim 5 (depends on 2)

The braking control device as recited in claim 2, wherein
the controller is further configured to set an upper limit value for the timing until the braking force of the main braking device falls to or below the predetermined value, and the upper limit value is changed according to the slip degree.

### Claim 6 (depends on 1)

The braking control device as recited in claim 1, wherein
the controller is further configured to predict the slip degree from a coefficient of friction of a road on which the host vehicle travels, and predicts the slip degree based on at least one of an operation history of a system that controls driving or braking of the host vehicle, a travel mode of the host vehicle, an operating state of a wiper of the host vehicle, a road sign in a vicinity of the host vehicle, host vehicle surrounding road environment information, a current date and time, and position information of the host vehicle.

### Claim 7 (depends on 1)

The braking control device as recited in claim 1, wherein
the controller is further configured to predict the slip degree from a gradient of a road on which the host vehicle travels, and predicts the slip degree based on at least one of an output of an acceleration sensor of the host vehicle, altitude information of the host vehicle, surrounding map information of the host vehicle, and a road sign in a vicinity of the host vehicle.

### Claim 8

A braking control method of a braking control device for automatically controlling a main braking device normally used to brake a host vehicle during travel and a second braking device used to maintain the host vehicle in a stopped state, the braking control method comprising:
determining a slip degree;
predicting a possibility that the host vehicle will slip based on the determined slip degree,
switching from the main braking device to the second braking device when the host vehicle is placed in a stop holding state by the main braking device, and
when switching from the main braking device to the second braking device, delaying a timing with which to start a reduction in a braking force of the main braking device, with respect to the timing with which to start the reduction in the braking force of the main braking device when a slip is not predicted, if the slip is predicted.

### Claim 9 (depends on 1)

The braking control device as recited in claim 1, wherein
the controller is configured to delay the timing with which to start the reduction in the braking force of the main braking device upon predicting the slip such that an amount of delay increases as the determined slip degree increases.

### Claim 10 (depends on 8)

The braking control method as recited in claim 8, wherein
the timing with which to start the reduction in the braking force of the main braking device is delayed upon predicting the slip such that an amount of delay increases as the determined slip degree increases.