# US 11,027,713 B2 · Brake NVH countermeasure

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- Number: US 11,027,713 B2
- Document ID: US11027713B2
- Status: Granted
- Kind: B2
- Application number: 15/855,293
- Filed: 2017-12-27
- Published: 2019-06-27
- Granted: 2021-06-08
- Earliest claimed: 2017-12-27
- Assignees: Robert Bosch GmbH
- Applicants: Robert Bosch GmbH
- Inventors: Alex Macpherson; Ryan A. Kuhlman; Jacob Bacheldor
- Web page: https://patentgrep.com/patent/US11027713B2

## CPC

- B60T 8/3255: {Systems in which the braking action is dependent on brake pedal data}
- B60T 7/042: {by electrical means, e.g. using travel or force sensors}
- B60T 8/172: Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)}
- B60T 8/173: Eliminating or reducing the effect of unwanted signals, e.g. due to vibrations or electrical noise
- B60T 13/74: with electrical assistance or drive
- B60T 8/00: Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force (by changing number of effective brake cylinders in power brake systems B60T17/10)
- B60T 2220/04: Pedal travel sensor, stroke sensor; Sensing brake request
- B60T 2270/82: Brake-by-Wire, EHB
- B60Y 2306/09: Reducing noise
- 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
- B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY

## Abstract

Systems and methods are described for controlling a vehicle braking system. An electronic controller determines a target deceleration based at least in part on a detected displacement position of a brake pedal and determines an adjusted braking pressure to be applied to at least one wheel of the vehicle such that, regardless of the displacement position of the brake pedal and the target deceleration, the adjusted braking pressure is maintained outside of a defined range of braking pressures that corresponds to a NVH condition for the at least one wheel. The adjusted braking pressure is then applied to the at least one wheel of the vehicle.

## Claims

### Claim 1

A brake system for a vehicle comprising:
a brake pedal position sensor configured to detect a displacement position of a brake pedal of the vehicle; and
an electronic controller configured to
determine a target deceleration based at least in part on the detected displacement position of the brake pedal,
access from a non-transitory, computer-readable memory a defined range of braking pressures corresponding to a noise, vibration, and harshness (NVH) condition for at least one wheel of the vehicle;
preemptively determine an adjusted braking pressure to be applied to the at least one wheel of the vehicle based on the determined target deceleration and the defined range of braking pressures accessed from the memory, wherein the adjusted braking pressure is maintained outside of the defined range of braking pressures corresponding to the NVH condition for the at least one wheel, and
transmit an adjusted braking force control signal to a braking actuator configured to cause the braking actuator to apply the adjusted braking pressure to the at least one wheel of the vehicle, wherein the electronic controller is configured to not transmit a control signal to the braking actuator configured to cause the braking actuator to apply any braking pressure to the at least one wheel of the vehicle that is within the defined range of braking pressures accessed from the memory before transmitting the adjusted braking force control signal.

### Claim 2 (depends on 1)

The brake system of claim 1, wherein the electronic controller is further configured to
determine an initial target braking force that, when applied equally to the at least one wheel of the vehicle and at least one additional wheel of the vehicle, achieve the target deceleration of the vehicle, and
transmit an initial target braking force control signal to the braking actuator in response to determining that the initial target braking force is outside of the defined range of braking pressures for the at least one wheel corresponding to the NVH condition, wherein the initial target braking force control signal is configured to cause the braking actuator to apply the initial target braking force to the at least one wheel of the vehicle.

### Claim 3 (depends on 2)

The brake system of claim 2, wherein the electronic controller is configured to determine the adjusted braking pressure to be applied to the at least one wheel of the vehicle by determining the adjusted braking pressure to be applied to the at least one wheel of the vehicle when the initial target braking force is within the defined range of braking pressures for the at least one wheel corresponding to the NVH condition, and
wherein the electronic controller is further configured to
not transmit the initial target braking force control signal to the braking actuator in response to determining that the initial target braking force is within the defined range of braking pressures for the at least one wheel corresponding to the NVH condition, and
determine a second adjusted braking pressure to be applied to the at least one additional wheel when the initial target braking force is within the defined range of braking pressures for the at least one wheel corresponding to the NVH condition, wherein the second adjusted braking pressure is a braking pressure applied to the at least one additional wheel of the vehicle necessary to achieve the target deceleration of the vehicle if the adjusted braking pressure is applied to the at least one wheel of the vehicle.

### Claim 4 (depends on 1)

The brake system of claim 1, wherein the electronic controller is further configured to
apply an equally distributed braking pressure to all wheels of the vehicle when the equally distributed braking pressure necessary to achieve the target deceleration is outside of the defined range of braking pressures corresponding to the NVH condition for the at least one wheel,
determine a second adjusted braking pressure to be applied to at least one additional wheel when the equally distributed braking pressure corresponding to the target deceleration would be within the defined range of braking pressures corresponding to the NVH condition for the at least one wheel,
wherein the second adjusted braking pressure is a braking pressure calculated to achieve the target deceleration when the adjusted braking pressure is applied to the at least one wheel and the second adjusted braking pressure is applied to the at least one additional wheel, and
transmit a second adjusted braking force control signal to the braking actuator configured to cause the braking actuator to apply the second adjusted braking pressure to the at least one additional wheel of the vehicle.

### Claim 5 (depends on 1)

The brake system of claim 1, wherein the electronic controller is configured to determine the adjusted braking pressure to be applied to the at least one wheel of the vehicle by determining an adjusted front axle braking pressure to be applied to a pair of front axle wheels of the vehicle.

### Claim 6 (depends on 5)

The brake system of claim 5, wherein the adjusted braking force control signal transmitted to the braking actuator is configured to cause the braking actuator to apply a first braking pressure to the front axle wheels of the vehicle and to apply a second braking pressure to one or more rear axle wheels of the vehicle,
wherein the first braking pressure is defined based on the second braking pressure for target decelerations where defining the first braking pressure based on the second braking pressure does not require the first braking pressure to be within the defined range of braking pressures corresponding to the NVH condition in order to achieve the target deceleration, and
wherein the NVH condition for the at least one wheel is an NVH condition for the front axle of the vehicle.

### Claim 7 (depends on 6)

The brake system of claim 6, wherein the first braking pressure is defined based on the second braking pressure by defining the first braking pressure as equal to the second braking pressure.

### Claim 8 (depends on 6)

The brake system of claim 6, wherein the electronic controller is configured to determine the adjusted front axle braking pressure by determining the adjusted front axle braking pressure for target decelerations where defining the first braking pressure based on the second braking pressure would require the first braking pressure to be within the defined range of braking pressures to achieve the target deceleration, and
wherein the electronic controller is further configured to determine an adjusted rear axle braking pressure necessary to achieve the target deceleration when the adjusted front axle braking pressure is applied to the front axle wheels.

### Claim 9 (depends on 1)

The brake system of claim 1, wherein the electronic controller is configured to determine the adjusted braking pressure to be applied to the at least one wheel of the vehicle by setting the adjusted braking pressure as equal to a lower adjusted braking pressure that is less than the defined range of pressures, and
wherein the electronic controller is further configured to determine a second adjusted braking pressure to be applied to at least one additional wheel of the vehicle, wherein the second adjusted braking pressure is an increased braking pressure defined to compensate for the lower adjusted braking pressure applied to the at least one wheel of the vehicle in order to achieve the target deceleration.

### Claim 10 (depends on 1)

The brake system of claim 1, wherein the electronic controller is configured to determine the adjusted braking pressure to be applied to the at least one wheel of the vehicle by setting the adjusted braking pressure as equal to a higher adjusted braking pressure that is greater than the defined range of pressures, and
wherein the electronic controller is further configured to determine a second adjusted braking pressure to be applied to at least one additional wheel of the vehicle, wherein the second adjusted braking pressure is a decreased braking pressure defined to compensate for the higher adjusted braking pressure applied to the at least one wheel of the vehicle in order to achieve the target deceleration.

### Claim 11

A method for controlling a vehicle braking system, the method comprising:
determining, by an electronic controller, a target deceleration based at least in part on a detected displacement position of a brake pedal;
accessing, from a non-transitory computer-readable memory, a defined range of braking pressures corresponding to a noise, vibration, and harshness (NVH) condition for at least one wheel of the vehicle;
determining, by the electronic controller, an adjusted braking pressure to be applied to the at least one wheel of the vehicle based on the determined target deceleration and the defined range of braking pressures accessed from the memory, wherein the adjusted braking pressure is maintained outside of the defined range of braking pressures corresponding to the NVH condition for the at least one wheel; and
applying the adjusted braking pressure to the at least one wheel of the vehicle, wherein no braking pressure that is within the defined range of braking pressures accessed from the memory is applied to the at least one wheel of the vehicle before applying the adjusted braking pressure.

### Claim 12 (depends on 11)

The method of claim 11, further comprising:
determining an initial target braking force that, when applied equally to the at least one wheel of the vehicle and at least one additional wheel of the vehicle, achieve the target deceleration of the vehicle; and
applying the initial target braking force to the at least one wheel of the vehicle when the initial target braking force is outside of the defined range of braking pressures for the at least one wheel corresponding to the NVH condition.

### Claim 13 (depends on 12)

The method of claim 12, wherein determining the adjusted braking pressure to be applied to the at least one wheel of the vehicle includes determining the adjusted braking pressure to be applied to the at least one wheel of the vehicle when the initial target braking force is within the defined range of braking pressures for the at least one wheel corresponding to the NVH condition, and
the method further comprising:
not applying the initial target braking force to the at least one wheel when the initial target braking force is within the defined range; and
determining a second adjusted braking pressure to be applied to the at least one additional wheel when the initial target braking force is within the defined range of braking pressures for the at least one wheel corresponding to the NVH condition, wherein the second adjusted braking pressure is a braking pressure applied to the at least one additional wheel of the vehicle necessary to achieve the target deceleration of the vehicle if the adjusted braking pressure is applied to the at least one wheel of the vehicle.

### Claim 14 (depends on 11)

The method of claim 11, further comprising:
applying an equally distributed braking pressure to all wheels of the vehicle when the equally distributed braking pressure necessary to achieve the target deceleration is outside of the defined range of braking pressures corresponding to the NVH condition for the at least one wheel;
determining a second adjusted braking pressure to be applied to at least one additional wheel when the equally distributed braking pressure corresponding to the target deceleration would be within the defined range of braking pressures corresponding to the NVH condition for the at least one wheel,
wherein the second adjusted braking pressure is a braking pressure calculated to achieve the target deceleration when the adjusted braking pressure is applied to the at least one wheel and the second adjusted braking pressure is applied to the at least one additional wheel; and
applying the second adjusted braking pressure to the at least one additional wheel of the vehicle.

### Claim 15 (depends on 11)

The method of claim 11, wherein determining the adjusted braking pressure to be applied to the at least one wheel of the vehicle includes determining an adjusted front axle braking pressure to be applied to a pair of front axle wheels of the vehicle.

### Claim 16 (depends on 15)

The method of claim 15, further comprising applying a first braking pressure to the front axle wheels of the vehicle and applying a second braking pressure to one or more rear axle wheels of the vehicle,
wherein the first braking pressure is defined based on the second braking pressure for target decelerations where defining the first braking pressure based on the second braking pressure does not require the first braking pressure to be within the defined range of braking pressures corresponding to the NVH condition to achieve the target deceleration, and
wherein the NVH condition for the at least one wheel is an NVH condition for the front axle of the vehicle.

### Claim 17 (depends on 16)

The method of claim 16, wherein the first braking pressure is defined based on the second braking pressure by defining the first braking pressure as equal to the second braking pressure.

### Claim 18 (depends on 16)

The method of claim 16, wherein determining the adjusted front axle braking pressure includes determining the adjusted front axle braking pressure for target decelerations where defining the first braking pressure based on the second braking pressure would require the first braking pressure to be within the defined range of braking pressures to achieve the target deceleration, and
further comprising determining an adjusted rear axle braking pressure necessary to achieve the target deceleration when the adjusted front axle braking pressure is applied to the front axle wheels.

### Claim 19 (depends on 11)

The method of claim 11, wherein determining the adjusted braking pressure to be applied to the at least one wheel of the vehicle includes setting the adjusted braking pressure as equal to a lower adjusted braking pressure that is less than the defined range of pressures, and
further comprising determining a second adjusted braking pressure to be applied to at least one additional wheel of the vehicle, wherein the second adjusted braking pressure is an increased braking pressure defined to compensate for the lower adjusted braking pressure applied to the at least one wheel of the vehicle in order to achieve the target deceleration.

### Claim 20 (depends on 11)

The brake system of claim 11, wherein determining the adjusted braking pressure to be applied to the at least one wheel of the vehicle includes setting the adjusted braking pressure as equal to a higher adjusted braking pressure that is greater than the defined range of pressures, and
further comprising determining a second adjusted braking pressure to be applied to at least one additional wheel of the vehicle, wherein the second adjusted braking pressure is a decreased braking pressure defined to compensate for the higher adjusted braking pressure applied to the at least one wheel of the vehicle in order to achieve the target deceleration.