# US 11,279,358 B2 · System and method to control the velocity of a vehicle

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- Number: US 11,279,358 B2
- Document ID: US11279358B2
- Status: Granted
- Kind: B2
- Application number: 16/362,155
- Filed: 2019-03-22
- Published: 2020-09-24
- Granted: 2022-03-22
- Earliest claimed: 2019-03-22
- Assignees: Veoneer US, Inc.
- Applicants: Veoneer US, Inc.
- Inventors: Jon D. Demerly; Hsin-Hsiang Yang
- Web page: https://patentgrep.com/patent/US11279358B2

## CPC

- B60W 30/18063: {Creeping}
- B60W 10/06: including control of combustion engines
- B60W 10/18: including control of braking systems
- B60W 30/143: {Speed control (B60W30/16 takes precedence)}
- B60W 30/188: Controlling power parameters of the driveline, e.g. determining the required power
- B60W 2050/0008: {Feedback, closed loop systems or details of feedback error signal}
- B60W 2050/0026: {Lookup tables or parameter maps}
- B60W 2520/10: Longitudinal speed
- B60W 2520/28: Wheel speed
- B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction
- B60W 2710/0605: Throttle position
- B60W 2710/18: Braking system
- B60W 2710/182: Brake pressure, e.g. of fluid or between pad and disc
- B60Y 2300/18058: Creeping
- 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 system and method for controlling the velocity of a vehicle includes a processor, a velocity sensor in communication with the processor, a throttle actuator in communication with the processor, and a brake actuator in communication with the processor. The processor is set either the throttle position of the vehicle via the throttle actuator or the brake pedal position of the vehicle via the brake actuator based whether the augmented acceleration is greater than or equal to a gear acceleration, whether the actual velocity is above a crawl speed, and a lookup table.

## Claims

### Claim 1

A system to control the velocity of a vehicle, the system comprising:
a processor;
a velocity sensor in communication with the processor, the velocity sensor configured to measure an actual velocity of the vehicle;
a throttle actuator in communication with the processor, the throttle actuator being configured to control a throttle of the vehicle;
a brake actuator in communication with the processor, the brake actuator being configured to control one or more brakes of the vehicle;
a memory in communication with the processor, the memory having a lookup table stored within the memory, the lookup table listing a plurality of throttle positions and brake pressure amounts based on the actual velocity (vactual) and a target acceleration (atarget) of the vehicle; and
the processor being configured to:
receive a target velocity (vtarget) and the actual velocity (vactual),
receive the target acceleration (atarget),
determine an augmented acceleration (aaug) based on the target velocity (vtarget) and the actual velocity (vactual),
determine if the augmented acceleration (aaug) is greater than or equal to a gear acceleration (agear);
set the throttle position of the vehicle via the throttle actuator based on the lookup table to decelerate the vehicle when the augmented acceleration (aaug) is greater than or equal to the gear acceleration (agear) and the actual velocity (vactual) is above a crawl speed,
determine if the augmented acceleration (aaug) is less than the gear acceleration (agear);
actuate the one or more brakes of the vehicle based on the lookup table to decelerate the vehicle when the augmented acceleration (aaug) is less than the gear acceleration (agear) and the actual velocity (vactual) is above the crawl speed, and
actuate the one or more brakes of the vehicle based on the lookup table to decelerate the vehicle when the actual velocity (vactual) is below the crawl speed.

### Claim 2 (depends on 1)

The system of claim 1, wherein the processor is configured to determine the augmented acceleration (aaug) based on the target velocity (vtarget), actual velocity (vactual), and a grade (θ) of a road the vehicle is travelling on.

### Claim 3 (depends on 1)

The system of claim 1, wherein:
aaug=atarget+λ·(vtarget−vactual)+p·sinθ;
wherein λ is a tunable parameter; and
wherein p is a tunable parameter providing compensation for road grade.

### Claim 4 (depends on 1)

The system of claim 1, wherein the crawl speed is approximately 6 km/h.

### Claim 5 (depends on 1)

The system of claim 1, wherein the velocity sensor is a wheel speed sensor.

### Claim 6 (depends on 1)

The system of claim 1, wherein the augmented acceleration (aaug) includes a non-zero value.

### Claim 7

A method to control the velocity of a vehicle, the method comprising the steps of:
measuring an actual velocity (vactual) of the vehicle using a velocity sensor mounted to the vehicle;
receiving a target velocity (vtarget) and the actual velocity (vactual);
receiving the target acceleration (atarget);
determining an augmented acceleration (aaug) based on the target velocity (vtarget) and actual velocity (vactual);
determining if the augmented acceleration (aaug) is greater than or equal to a gear acceleration (agear);
setting the throttle position of the vehicle via the throttle actuator based on a lookup table to decelerate the vehicle when the augmented acceleration (aaug) is greater than or equal to the gear acceleration (agear) and the actual velocity (vactual) is above a crawl speed, wherein the lookup table comprises a plurality of throttle positions and brake pressure amounts based on the actual velocity (vactual) and a target acceleration (atarget) of the vehicle;
determining if the augmented acceleration (aaug) is less than the gear acceleration (agear);
actuating a vehicle brake based on the lookup table to decelerate the vehicle when the augmented acceleration (aaug) is less than the gear acceleration (agear) and the actual velocity (vactual) is above the crawl speed; and
actuating the vehicle brake based on the lookup table to decelerate the vehicle when the actual velocity (vactual) is below the crawl speed.

### Claim 8 (depends on 7)

The method of claim 7, further comprising the steps of determining the augmented acceleration (aaug) based on the target velocity (vtarget), actual velocity (vactual), and a grade (θ) of a road the vehicle is travelling on.

### Claim 9 (depends on 7)

The method of claim 7, wherein:
aaug=atarget+λ·(vtarget−vactual)+p·sinθ;
wherein λ is a tunable parameter; and
wherein p is a tunable parameter providing compensation for road grade.

### Claim 10 (depends on 7)

The method of claim 7, wherein the crawl speed is approximately 6 km/h.

### Claim 11 (depends on 7)

The method of claim 7, wherein the velocity sensor is a wheel speed sensor.

### Claim 12 (depends on 7)

The method of claim 7, wherein the augmented acceleration (aaug) includes a non-zero value.