# US 12,110,025 B1 · Vehicle deceleration systems

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- Number: US 12,110,025 B1
- Document ID: US12110025B1
- Status: Granted
- Kind: B1
- Application number: 17/957,487
- Filed: 2022-09-30
- Granted: 2024-10-08
- Earliest claimed: 2018-04-09
- Assignees: Apple Inc.
- Applicants: Akhil J. Madhani; Dillon J. Thomasson; Peteris K. Augenbergs; Alexander Hitzinger
- Inventors: Akhil J. Madhani; Dillon J. Thomasson; Peteris K. Augenbergs; Alexander Hitzinger
- Web page: https://patentgrep.com/patent/US12110025B1

## CPC

- B60W 30/18109: {Braking}
- B60G 17/0195: characterised by the regulation being combined with other vehicle control systems {(conjoint control of vehicle sub-units including control of suspension systems B60W10/22)}
- B60K 7/0007: {the motor being electric}
- B60T 1/062: {acting on transmission parts}
- B60T 8/17: Using electrical or electronic regulation means to control braking {(detecting or indicating faulty operation B60T8/885)}
- B60T 13/748: {acting on electro-magnetic brakes (combined with fluid-pressure brake systems B60T13/667)}
- B60W 10/04: including control of propulsion units
- B60W 10/10: including control of change-speed gearings
- B60W 10/12: including control of differentials
- B60W 10/184: with wheel brakes
- B60W 10/22: including control of suspension systems
- B60W 30/18127: {Regenerative braking}
- B60K 2007/0046: {the motor moving together with the vehicle body, i.e. moving independently from the wheel axle}
- B60K 2007/0061: {the motor axle being parallel to the wheel axle}
- B60T 2210/32: Vehicle surroundings
- B60T 2250/00: Monitoring, detecting, estimating vehicle conditions
- B60T 2260/09: Complex systems; Conjoint control of two or more vehicle active control systems
- B60T 2270/604: Merging friction therewith; Adjusting their repartition
- B60W 2510/184: Brake temperature, e.g. of fluid, pads or discs
- B60W 2555/20: Ambient conditions, e.g. wind or rain
- B60W 2710/083: Torque
- B60W 2710/18: Braking system
- B60W 2710/22: Suspension systems
- F16D 2121/20: using electromagnets
- 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
- B60G: VEHICLE SUSPENSION ARRANGEMENTS (air-cushion vehicles B60V; {cycle suspensions B62K25/00})
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN 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

## Abstract

A vehicle includes a control system, a sensing system that senses an environment of the vehicle, and a propulsion system, a braking system, and a steering system that are operated by the control system to navigate the vehicle according to the sensing system and without direct human control. The propulsion system and the braking system are operated by the control system to cooperatively decelerate the vehicle. The braking system includes an inboard friction brake that is associated with one or more wheels of the vehicle and does not form unsprung mass of the vehicle.

## Claims

### Claim 1

A vehicle comprising:
a body;
at least one driven wheel;
a propulsion system comprising:
a motor-generator; and
a gearbox having a housing and a shaft rotatably coupled to the motor-generator, the at least one driven wheel being driven by the motor-generator via the shaft of the gearbox;
a braking system having a friction brake, the friction brake is positioned at least partially within the housing of the gearbox and is coupled to the shaft, the friction brake configured for decelerating the at least one driven wheel; and
a control system configured to cooperatively operate the propulsion system and the braking system to decelerate the vehicle,
wherein the control system is configured to operate the propulsion system and the braking system to decelerate the vehicle during a high deceleration event, and
wherein the control system is configured to operate the propulsion system without operating the braking system to decelerate the vehicle during a low deceleration event.

### Claim 2 (depends on 1)

The vehicle of claim 1, wherein the propulsion system further comprises a drive shaft and a constant velocity joint coupling the shaft of the gearbox to the at least one driven wheel.

### Claim 3 (depends on 1)

The vehicle of claim 1, wherein the control system operates the propulsion system and the braking system cooperatively to decelerate the vehicle without human control.

### Claim 4 (depends on 1)

The vehicle of claim 1, wherein the vehicle further includes an active suspension system that controls movement of the at least one driven wheel relative to the body of the vehicle.

### Claim 5 (depends on 4)

The vehicle of claim 4, wherein the active suspension system includes actuators that are operated by the control system to move the at least one driven wheel up and down relative to the body.

### Claim 6 (depends on 1)

The vehicle of claim 1, wherein the shaft of the gearbox comprises an intermediate shaft rotatably coupled to the motor-generator, wherein the friction brake is coupled to the intermediate shaft.

### Claim 7 (depends on 1)

The vehicle of claim 1, wherein the shaft of the gearbox comprises an output shaft rotatably coupled to the motor-generator, wherein the friction brake is coupled to the output shaft.

### Claim 8

A vehicle comprising:
a body;
a first driven wheel and a second driven wheel; and
a propulsion system comprising:
a first motor-generator;
a differential; and
a torque vectoring system comprising a second motor-generator,
wherein the first motor-generator provides a first torque to the differential for transfer to the first driven wheel and the second driven wheel, and
wherein the second motor-generator of the torque vectoring system is in-coupled to the differential and provides a second torque to the differential to supplement the first torque during a high deceleration event.

### Claim 9 (depends on 8)

The vehicle of claim 8, wherein the second motor-generator of the torque vectoring system is coupled to a torque vectoring gearbox and provides the second torque to the torque vectoring gearbox for distribution between the first driven wheel and the second driven wheel during normal operation.

### Claim 10 (depends on 9)

The vehicle of claim 9, wherein the torque vectoring system includes a pinion gear configured to be rotated by the second motor-generator, with the pinion gear movable alternately between coupling with the differential and coupling with the torque vectoring gearbox.

### Claim 11 (depends on 9)

The vehicle of claim 9, further comprising a braking system having a first friction brake that applies a first braking torque to the first driven wheel and a second friction brake that applies a second braking torque to the second driven wheel.

### Claim 12 (depends on 11)

The vehicle of claim 11, wherein the first friction brake and the second friction brake are disposed inboard, and the differential and the torque vectoring gearbox are configured as a single gearbox that contains the first friction brake and the second friction brake.

### Claim 13

A deceleration system for a vehicle, comprising:
a motor-generator,
a gearbox comprising an input shaft rotatably coupled to and driven by the motor-generator and an output shaft configured to be rotatably coupled to a wheel of the vehicle; and
a friction brake mounted to one of the motor-generator and the gearbox and rotatably coupled to the output shaft of the gearbox,
wherein the motor-generator is configured to apply a first torque to the output shaft for decelerating the vehicle and the friction brake is configured to apply a second torque to the output shaft for decelerating the vehicle.

### Claim 14 (depends on 13)

The deceleration system of claim 13, further comprising a control system configured to cooperatively operate the motor-generator and the friction brake to decelerate the vehicle,
wherein the control system is configured to operate the motor-generator to apply the first torque to the output shaft to decelerate the vehicle during a low deceleration event, and
wherein the control system is configured to operate the motor-generator to apply the first torque to the output shaft and the friction brake to apply the second torque to the output shaft to decelerate the vehicle during a high deceleration event.

### Claim 15 (depends on 13)

The deceleration system of claim 13, wherein the friction brake is at least partially disposed within the gearbox.

### Claim 16 (depends on 13)

The deceleration system of claim 13, wherein the friction brake is at least partially disposed within the motor-generator.

### Claim 17

A vehicle comprising:
a body;
at least one driven wheel;
a propulsion system having a motor-generator, with the at least one driven wheel being driven by the motor-generator, the motor-generator applies a first torque to the at least one driven wheel for decelerating the vehicle;
a braking system having a friction brake for decelerating the at least one driven wheel, the friction brake applies a second torque to the at least one driven wheel for decelerating the vehicle; and
a control system configured to cooperatively operate the propulsion system and the braking system to decelerate the vehicle,
wherein the control system is configured to operate the propulsion system and the braking system to decelerate the vehicle during a high deceleration event,
wherein the control system is configured to operate the propulsion system without operating the braking system to decelerate the vehicle during a low deceleration event,
wherein in the low deceleration event, the control system operates the motor-generator to apply the first torque and does not operate the friction brake such that the second torque is zero, and in the high deceleration event, the control system operates the friction brake for the second torque to be at a constant level and operates the motor-generator for the first torque to supplement the second torque.

### Claim 18

A vehicle comprising:
a body;
at least one driven wheel;
a propulsion system having a motor-generator, with the at least one driven wheel being driven by the motor-generator;
a braking system having a friction brake for decelerating the at least one driven wheel; and
a control system configured to cooperatively operate the propulsion system and the braking system to decelerate the vehicle,
wherein the control system is configured to operate the propulsion system and the braking system to decelerate the vehicle during a high deceleration event,
wherein the control system is configured to operate the propulsion system without operating the braking system to decelerate the vehicle during a low deceleration event, and
wherein the control system limits operation of the vehicle according to a condition of the friction brake.

### Claim 19 (depends on 18)

The vehicle of claim 18, wherein the condition of the friction brake includes one or more of a temperature of the friction brake or a time from the high deceleration event using the friction brake.

### Claim 20 (depends on 19)

The vehicle of claim 19, wherein the vehicle limits operation of the vehicle by one or more of preventing movement of the vehicle or limiting a speed of the vehicle.