# US 12,005,871 B2 · Method and apparatus for braking control for autonomous parking

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- Number: US 12,005,871 B2
- Document ID: US12005871B2
- Status: Granted
- Kind: B2
- Application number: 17/684,795
- Filed: 2022-03-02
- Published: 2022-09-29
- Granted: 2024-06-11
- Earliest claimed: 2021-03-24
- Assignees: Hyundai Mobis Co., Ltd.
- Applicants: Hyundai Mobis Co., Ltd.
- Inventors: Beom Cheol Shin
- Web page: https://patentgrep.com/patent/US12005871B2

## CPC

- 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 15/041: {controlling auxiliary pressure brakes, e.g. parking or emergency brakes (B60T15/048 takes precedence)}
- B60T 8/17558: {specially adapted for collision avoidance or collision mitigation (road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09)}
- B60W 10/18: including control of braking systems
- B60W 30/06: Automatic manoeuvring for parking
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B62D 15/0285: {Parking performed automatically}
- B60T 2201/10: Automatic or semi-automatic parking aid systems
- B60W 2510/182: Brake pressure, e.g. of fluid or between pad and disc
- B60W 2540/18: Steering angle
- 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
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

A method and an apparatus for braking control for autonomous parking are disclosed. According to at least one embodiment, the present disclosure provides an apparatus for controlling braking of a vehicle to cause the vehicle to follow a target route generated in advance, including a biased braking control initiating unit configured to determine whether the target route satisfies a condition for initiating biased braking control, a biased braking amount determining unit configured to determine a ratio of a braking pressure to be applied to respective wheels of the vehicle based on the target route in response to determining that the target route satisfies the condition for initiating the biased braking control, and a control unit configured to perform braking control of the vehicle based on the ratio of the braking pressure.

## Claims

### Claim 1

An apparatus for controlling braking of a vehicle to cause the vehicle to follow a target route generated in advance, the apparatus comprising:
a biased braking control initiating unit configured to determine whether the target route satisfies a condition for initiating biased braking control;
a biased braking amount determining unit configured to determine a ratio of a braking pressure to be applied to respective wheels of the vehicle based on the target route in response to determining that the target route satisfies the condition for initiating the biased braking control; and
a control unit configured to perform braking control of the vehicle based on the determined ratio of the braking pressure,
wherein the biased braking amount determining unit is configured to, in response to an obstacle warning generated in the vehicle, determine the ratio of the braking pressure to allow a first braking pressure, which is a braking pressure to be applied to a wheel selected according to a direction of the target route, to be equal to or less than a preset multiple of a second braking pressure, which is a braking pressure to be applied to each of other wheels.

### Claim 2 (depends on 1)

The apparatus of claim 1, wherein the biased braking control initiating unit is configured to determine that the condition for initiating the biased braking control is satisfied in response to a prediction that a steering control process used alone without the biased braking control will lead the vehicle to a predicted route that does not coincide with the target route.

### Claim 3 (depends on 1)

The apparatus of claim 1, wherein the biased braking control initiating unit is configured to determine that the condition for initiating the biased braking control is satisfied when the target route has a turning angle that is greater than that of the vehicle during maximum steering of the vehicle.

### Claim 4 (depends on 1)

The apparatus of claim 1, wherein the ratio of the braking pressure is determined based on a difference between a turning angle of the target route and a front-wheel steering angle of the vehicle.

### Claim 5 (depends on 4)

The apparatus of claim 4, wherein the ratio of the braking pressure is determined based on:
α
=
{
1
-
f
⁡
(
v
,
G
)
×
(
θ
d
⁢
esire
-
θ
vehicle
θ
d
⁢
esire
)
if
⁢
θ
desire
>
θ
vehicle
1
else
,
where α is a quotient of a first braking pressure to be applied to each of other wheels divided by a second braking pressure to be applied to a wheel selected according to a direction of the target route, f is a preset weight function, v is a speed of the vehicle, G is a steering gear ratio of the vehicle, θdesire is the turning angle of the target route, and θvehicle is the front-wheel steering angle of the vehicle.

### Claim 6 (depends on 1)

The apparatus of claim 1, wherein the biased braking amount determining unit is configured to determine the ratio of the braking pressure such that a higher step of the obstacle warning causes a greater quotient of the first braking pressure divided by the second braking pressure.

### Claim 7 (depends on 1)

The apparatus of claim 1, wherein the control unit is configured to, in response to determining that the target route does not satisfy the condition for initiating the biased braking control, apply an equal braking pressure to all wheels of the vehicle.

### Claim 8

A method for controlling braking of a vehicle to cause the vehicle to follow a target route generated in advance, the method comprising:
determining whether the target route satisfies a condition for initiating biased braking control;
determining a ratio of a braking pressure to be applied to respective wheels of the vehicle based on the target route in response to determining that the target route satisfies the condition for initiating the biased braking control; and
performing braking control of the vehicle based on the determined ratio of the braking pressure,
wherein determining the ratio of the braking pressure comprises, in response to an obstacle warning generated in the vehicle, determining the ratio of the braking pressure to allow a first braking pressure, which is a braking pressure to be applied to a wheel selected according to a direction of the target route, to be equal to or less than a preset multiple of a second braking pressure, which is a braking pressure to be applied to each of other wheels.

### Claim 9 (depends on 8)

The method of claim 8, wherein determining whether the target route satisfies the condition for initiating the biased braking control comprises determining that the condition for initiating the biased braking control is satisfied in response to a prediction that a steering control process used alone without the biased braking control will lead the vehicle to a predicted route that does not coincide with the target route.

### Claim 10 (depends on 8)

The method of claim 8, wherein the ratio of the braking pressure is determined based on a difference between a turning angle of the target route and a front-wheel steering angle of the vehicle.

### Claim 11

A method for controlling braking of a vehicle to cause the vehicle to follow a target route generated in advance, the method comprising:
determining whether the target route satisfies a condition for initiating biased braking control;
determining a ratio of a braking pressure to be applied to respective wheels of the vehicle based on the target route in response to determining that the target route satisfies the condition for initiating the biased braking control; and
performing braking control of the vehicle based on the determined ratio of the braking pressure,
wherein the ratio of the braking pressure is determined based on:
α
=
{
1
-
f
⁡
(
v
,
G
)
×
(
θ
d
⁢
e
⁢
s
⁢
i
⁢
r
⁢
e
-
θ
vehicle
θ
d
⁢
e
⁢
s
⁢
i
⁢
r
⁢
e
)
if
⁢
θ
d
⁢
e
⁢
s
⁢
i
⁢
r
⁢
e
>
θ
v
⁢
e
⁢
h
⁢
i
⁢
c
⁢
l
⁢
e
1
else
,
where α is a quotient of a first braking pressure to be applied to each of other wheels divided by a second braking pressure to be applied to a wheel selected according to a direction of the target route, f is a preset weight function, v is a speed of the vehicle, G is a steering gear ratio of the vehicle, θdesire is a turning angle of the target route, and θvehicle is a front-wheel steering angle of the vehicle.