# US 12,600,333 B2 · Differential braking and yaw rate mitigation during brake-by-wire braking events with increased deceleration during failure events > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,600,333 B2 - Document ID: US12600333B2 - Status: Granted - Kind: B2 - Application number: 17/968,360 - Filed: 2022-10-18 - Published: 2024-04-18 - Granted: 2026-04-14 - Earliest claimed: 2022-10-18 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Edward Thomas Heil; Matthew Allen Robere; Eric E. Krueger - Web page: https://patentgrep.com/patent/US12600333B2 ## CPC - B60T 8/885: {using electrical circuitry} - 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 8/1755: Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve (road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02) - B60T 8/26: characterised by producing differential braking between front and rear wheels {(using electrical circuitry or regulation means B60T8/17)} - B60T 8/92: automatically taking corrective action - B60T 13/662: {characterised by specified functions of the control system components} - B60T 2250/03: Vehicle yaw rate - B60T 2270/82: Brake-by-Wire, EHB - B60T 2270/86: Optimizing braking by using ESP vehicle or tyre model - 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 ## Abstract A braking system includes: brake circuits independently activated and deactivated and when activated apply braking force at respective wheels; a braking stability module detecting an issue or a failure with a first one of the brake circuits where an unexpected amount of braking torque is being applied as compared to an amount of braking torque applied at a second one of the brake circuits, and mitigating effect of the unexpected amount of braking torque on a yaw rate of the vehicle by i) adjusting the braking torque of the first one of the brake circuits, ii) adjusting braking torque of the second one of the brake circuits, and/or iii) deactivating the first one of the brake circuits and modulating braking torque of the second one of the brake circuits, to compensate for the unexpected amount of braking torque. ## Claims ### Claim 1 A braking system comprising: a plurality of brake circuits configured to be independently activated and deactivated and when activated apply braking force at respective wheels of a vehicle; and a braking stability module configured to detect an issue or a failure with a first one of the plurality of brake circuits where an unexpected amount of braking torque is being applied as compared to an amount of braking torque applied at a second one of the plurality of brake circuits, and mitigate effect of the unexpected amount of braking torque on a yaw rate of the vehicle by at least one of i) adjusting the braking torque of the first one of the plurality of brake circuits to compensate for the unexpected amount of braking torque, ii) adjusting braking torque of the second one of the plurality of brake circuits to compensate for the unexpected amount of braking torque, and iii) deactivating the first one of the plurality of brake circuits and modulating braking torque of the second one of the plurality of brake circuits to compensate for the unexpected amount of braking torque, the first one of the plurality of brake circuits being on a different side of the vehicle than the second one of the plurality of brake circuits. ### Claim 2 (depends on 1) The braking system of claim 1, wherein the braking stability module is configured to mitigate the effect of the unexpected amount of braking torque on the yaw rate of the vehicle by adjusting the braking torque of the first one of the plurality of brake circuits to compensate for the unexpected amount of braking torque. ### Claim 3 (depends on 1) The braking system of claim 1, wherein the braking stability module is configured to mitigate the effect of the unexpected amount of braking torque on the yaw rate of the vehicle by adjusting braking torque of a second one of the plurality of brake circuits to compensate for the unexpected amount of braking torque. ### Claim 4 (depends on 1) The braking system of claim 1, wherein the braking stability module is configured to mitigate the effect of the unexpected amount of braking torque on the yaw rate of the vehicle by deactivating the first one of the plurality of brake circuits and modulate braking torque of the second one of the plurality of brake circuits. ### Claim 5 (depends on 1) The braking system of claim 1, wherein the braking stability module is configured to mitigate the effect of the unexpected amount of braking torque on the yaw rate of the vehicle by modulating braking force of at least one of the first one of the plurality of brake circuits and the second one of the plurality of brake circuits based on permanent vehicle handling characteristics. ### Claim 6 (depends on 1) The braking system of claim 1, wherein the braking stability module is configured to mitigate the effect of the unexpected amount of braking torque on the yaw rate of the vehicle by modulating braking force of at least one of the first one of the plurality of brake circuits and the second one of the plurality of brake circuits based on dynamic vehicle state parameters. ### Claim 7 (depends on 1) The braking system of claim 1, wherein the braking stability module is configured to mitigate the effect of the unexpected amount of braking torque on the yaw rate of the vehicle by modulating braking force of at least one of the first one of the plurality of brake circuits and the second one of the plurality of brake circuits based on a location of the first one of the plurality of brake circuits. ### Claim 8 (depends on 1) The braking system of claim 1, wherein the braking stability module is configured to detect a failure with the first one of the plurality of brake circuits, and in response to detecting the failure, deactivating the first one of the plurality of brake circuits and modulating braking torque of the second one of the plurality of brake circuits. ### Claim 9 (depends on 1) The braking system of claim 1, wherein the braking stability module is configured to determine a side-to-side brake torque differential of the vehicle and reduce the side-to-side brake torque differential by at least one of i) increasing the braking torque of the first one of the plurality of brake circuits, ii) adjusting braking torque of the second one of the plurality of brake circuits, and iii) deactivating the first one of the plurality of brake circuits and modulating braking torque of the second one of the plurality of brake circuits. ### Claim 10 (depends on 1) The braking system of claim 1, wherein the braking stability module is configured to detect a failure of the first one of the plurality of brake circuits and maintain active operation of all of the other ones of the plurality of brake circuits to maximize deceleration of the vehicle while minimizing the yaw rate of the vehicle. ### Claim 11 (depends on 1) The braking system of claim 1, wherein the braking stability module is configured, in response to the unexpected amount of braking torque being more than expected, to compensate for the unexpected amount of braking torque by adjusting at least one of i) the braking torque of the first one of the plurality of brake circuits, and ii) the braking torque of the second one of the plurality of brake circuits. ### Claim 12 (depends on 1) The braking system of claim 1, wherein: the braking stability module is configured to increase an amount of brake torque of the second one of the plurality of braking circuits when the unexpected amount of braking torque is more than expected; and the second one of the plurality of braking circuits is on a same side of the vehicle as the first one of the plurality of braking circuits. ### Claim 13 (depends on 1) The braking system of claim 1, wherein: the braking stability module is configured to decrease an amount of brake torque of the second one of the plurality of braking circuits when the unexpected amount of braking torque is more than expected; and the second one of the plurality of braking circuits is on an opposite side of the vehicle as the first one of the plurality of braking circuits. ### Claim 14 (depends on 1) The braking system of claim 1, wherein the braking stability module is configured to decrease an amount of brake torque of the first one of the plurality of braking circuits, which is at a wheel associated with the failure when the unexpected amount of braking torque is more than expected. ### Claim 15 (depends on 1) The braking system of claim 1, wherein at least a portion of each of the plurality of braking circuits is located at a respective wheel of the vehicle. ### Claim 16 (depends on 1) The braking system of claim 1, wherein each of the plurality of braking circuits comprises a respective caliper and brake pads. ### Claim 17 A braking stability method comprising: detecting an issue or a failure with a first one of a plurality of brake circuits where an unexpected amount of braking torque is being applied as compared to an amount of braking torque applied at a second one of the plurality of brake circuits, the plurality of brake circuits being configured to be independently activated and deactivated and when activated apply braking force at respective wheels of a vehicle; and mitigating effect of the unexpected amount of braking torque on a yaw rate of the vehicle by at least one of i) adjusting the braking torque of the first one of the plurality of brake circuits to compensate for the unexpected amount of braking torque, ii) adjusting braking torque of the second one of the plurality of brake circuits to compensate for the unexpected amount of braking torque, and iii) deactivating the first one of the plurality of brake circuits and modulating braking torque of the second one of the plurality of brake circuits, the first one of the plurality of brake circuits being on a different side of the vehicle than the second one of the plurality of brake circuits. ### Claim 18 (depends on 17) The braking stability method of claim 17, further comprising detecting a failure with the first one of the plurality of brake circuits, and in response to detecting the failure, deactivating the first one of the plurality of brake circuits and modulating braking torque of the second one of the plurality of brake circuits. ### Claim 19 (depends on 17) The braking stability method of claim 17, further comprising determining a side-to-side brake torque differential of the vehicle and reduce the side-to-side brake torque differential by at least one of i) increasing the braking torque of the first one of the plurality of brake circuits, ii) adjusting braking torque of the second one of the plurality of brake circuits, and iii) deactivating the first one of the plurality of brake circuits and modulating braking torque of the second one of the plurality of brake circuits. ### Claim 20 (depends on 17) The braking stability method of claim 17, further comprising detecting a failure of the first one of the plurality of brake circuits and maintain active operation of all of the other ones of the plurality of brake circuits to maximize deceleration of the vehicle while minimizing the yaw rate of the vehicle.