# US 12,179,731 B2 · Method for determining a brake pressure change > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,731 B2 - Document ID: US12179731B2 - Status: Granted - Kind: B2 - Application number: 17/796,328 - Filed: 2021-03-17 - Published: 2023-03-16 - Granted: 2024-12-31 - Earliest claimed: 2020-06-02 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Rami Scharbak - Web page: https://patentgrep.com/patent/US12179731B2 ## CPC - B60T 8/171: Detecting parameters used in the regulation; Measuring values used in the regulation - B60Q 9/00: Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling} - 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 8/172: Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} - B60T 8/174: characterised by using special control logic, e.g. fuzzy logic {, neural computing} - B60T 17/22: Devices for monitoring or checking brake systems; Signal devices - G01P 15/00: Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration - B60T 8/17616: {Microprocessor-based systems} - B60T 2210/12: Friction - B60T 2240/00: Monitoring, detecting wheel/tyre behaviour; counteracting thereof - B60T 2270/10: ABS control systems - B60T 2270/86: Optimizing braking by using ESP vehicle or tyre model - B60T 2270/88: Pressure measurement in brake 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 - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G}) ## Abstract A method for determining a brake pressure change for a wheel of a vehicle to optimize a braking operation. The method includes: supplying a current wheel status of the wheel, wherein the wheel status includes a plurality of status parameters; determining at least one status parameter whose value deviates from a target wheel status; determining a change direction of the brake pressure change depending on a deviation of the at least one status parameter from the target wheel status; supplying a brake pressure characteristic map for determining a value of the brake pressure change, wherein the brake pressure characteristic map associates a brake pressure change with the plurality of status parameters and is specific to the determined change direction of the brake pressure change and status parameter change; determining a value of the brake pressure change using the current wheel status and the supplied brake pressure characteristic map. ## Claims ### Claim 1 A method for determining a brake pressure change for a brake pressure applied to a wheel of a vehicle in order to optimize a braking operation, the method comprising the following steps: obtaining a current wheel status of the wheel, wherein the wheel status includes a plurality of status parameters; determining that the obtained current status of the wheel deviates, with respect to a respective value of at least one of the status parameters, from a target wheel status; determining a change direction of the brake pressure change depending on the determined deviation; selecting one of a plurality of brake pressure characteristic maps according to a selection determination of which of the plurality of brake pressure characteristic maps is to be selected, the selection determination being made dependent on the determined change direction of the brake pressure change, wherein each of the brake pressure characteristic maps associates respective values for the brake pressure change with respective states of the wheel status; and selecting whichever one of the respective values for the brake pressure change that the selected brake pressure characteristic map associates with the state of the current wheel status; wherein the method further comprises at least one of the following: controlling the brake pressure applied to the wheel depending on the selected value for the brake pressure change; and supplying a control signal for actuating an at least partially automated vehicle operation based on the determined direction and value for the brake pressure change, and/or supplying a warning signal for alerting a vehicle occupant based on the determined direction and value for the brake pressure change. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein selection determination is made dependent on a change direction of the at least one status parameter whose value deviates from a target wheel status. ### Claim 3 (depends on 2) The method as recited in claim 2, wherein: a gradient of the at least one status parameter is determined using at least a previous wheel status and a current value of the status parameter; and the determination of the change direction of the brake pressure change is made additionally based on the gradient. ### Claim 4 (depends on 1) The method as recited in claim 1, wherein the determination of the change direction of the brake pressure change is determined by way of a multiplicity of the status parameters. ### Claim 5 (depends on 1) The method as recited in claim 1, wherein the determination of the change direction of the brake pressure change is determined depending on a delay time of an entire system for changing the brake pressure. ### Claim 6 (depends on 1) The method as recited in claim 1, wherein the at least one status parameter is determined from the plurality of status parameters in accordance with a prioritization order. ### Claim 7 (depends on 1) The method as recited in claim 1, wherein the plurality of status parameters includes a wheel slip and/or an acceleration of the wheel and/or a gradient of the wheel slip and/or a jerk of the wheel and/or a wheel acceleration relative to the acceleration of the vehicle. ### Claim 8 (depends on 1) The method as recited in claim 1, further comprising the controlling of the brake pressure applied to the wheel depending on the selected value for the brake pressure change. ### Claim 9 (depends on 1) The method as recited in claim 1, further comprising the supplying of the control signal for actuating the at least partially automated vehicle operation based on the determined direction and value for the brake pressure change, and/or supplying the warning signal for alerting the vehicle occupant based on the determined direction and value for the brake pressure change. ### Claim 10 A method comprising the following steps: determining a reward using reward rules and a current wheel status, wherein the wheel status includes a plurality of status parameters; and based on the determination of the reward: determining a most recently completed brake pressure change in terms of value, change direction, and an associated brake pressure characteristic map used for the brake pressure change; and determining a correction value for the associated brake pressure characteristic map in accordance with the reinforcement learning method. ### Claim 11 (depends on 10) The method as recited in claim 10, wherein the reward rules define conditions for the determining of the reward, the conditions being whether a slip value drops below a limit value for the slip and/or being whether the slip value drops below zero and/or being regarding a modulation frequency of a pressure change. ### Claim 12 (depends on 10) The method as recited in claim 10, wherein the method is used for optimizing a performance of a brake pressure controller for a wheel of the vehicle. ### Claim 13 (depends on 10) The method as recited in claim 10, further comprising: in order to optimize a braking operation, determining a brake pressure change for a wheel of a vehicle by performing the following: obtaining a further current wheel status, the further current wheel status being of the wheel; determining that the obtained further current status of the wheel deviates, with respect to a respective value of at least one of the status parameters, from a target wheel status; determining a change direction of the brake pressure change depending on the determined deviation; selecting the associated brake pressure characteristic map from a plurality of brake pressure characteristic maps according to a selection determination of which of the plurality of brake pressure characteristic maps is to be selected, the selection determination being made dependent on the determined change direction of the brake pressure change, wherein each of the brake pressure characteristic maps associates respective values for the brake pressure change with respective states of the wheel status; and selecting whichever one of the respective values for the brake pressure change that the selected brake pressure characteristic map associates with the state of the current wheel status. ### Claim 14 (depends on 13) The method as recited in claim 13, wherein the selection determination is made dependent on a change direction of the at least one status parameter whose value deviates from the target wheel status. ### Claim 15 (depends on 14) The method as recited in claim 14, wherein: a gradient of the at least one status parameter is determined using at least a previous wheel status and a current value of the status parameter; and the determination of the change direction of the brake pressure change is made based additionally on the gradient. ### Claim 16 (depends on 13) The method as recited in claim 13, wherein the determination of the change direction of the brake pressure change is determined by way of a plurality of the status parameters. ### Claim 17 (depends on 13) The method as recited in claim 13, wherein the determination of the change direction of the brake pressure change is determined depending on a delay time of an entire system for changing the brake pressure. ### Claim 18 (depends on 13) The method as recited in claim 13, wherein the at least one status parameter is determined from the plurality of status parameters in accordance with a prioritization order. ### Claim 19 (depends on 13) The method as recited in claim 13, wherein the plurality of status parameters includes a wheel slip and/or an acceleration of the wheel and/or a gradient of the wheel slip and/or a jerk of the wheel and/or a wheel acceleration relative to the acceleration of the vehicle. ### Claim 20 A system comprising a processor in communication with a braking system of a vehicle, wherein the processor is configured to: determine a reward using reward rules and a current wheel status, the wheel status including a plurality of status parameters; and based on the determination of the reward: determine a most recently completed brake pressure change of the braking system in terms of value, change direction, and an associated brake pressure characteristic map; and determine a correction value for the associated brake pressure characteristic map in accordance with the reinforcement learning method. ### Claim 21 A non-transitory computer-readable medium on which are stored instructions that are executable by a processor and that, when executed by the processor, cause the processor to perform a method, the method comprising: determining a reward using reward rules and a current wheel status, wherein the wheel status includes a plurality of status parameters; and based on the determination of the reward: determining a most recently completed brake pressure change of a braking system in terms of value, change direction, and an associated brake pressure characteristic map; and determining a correction value for the associated brake pressure characteristic map in accordance with the reinforcement learning method.