# US 2025/0083649 A1 · Automatic vehicle braking control systems

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- Number: US 2025/0083649 A1
- Document ID: US20250083649A1
- Status: Published application
- Kind: A1
- Application number: 18/465,571
- Filed: 2023-09-12
- Published: 2025-03-13
- Earliest claimed: 2023-09-12
- Assignees: GM Global Technology Operations LLC
- Applicants: GM Global Technology Operations LLC
- Inventors: Paul A. ADAM; Harsh Ketan PATEL; Zhiyuan DU; Tetyana V. MAMCHUK
- Web page: https://patentgrep.com/patent/US20250083649A1

## 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}
- B60Q 5/006: {indicating risk of collision between vehicles or with pedestrians}
- B60T 2210/32: Vehicle surroundings
- 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

## Abstract

A method of automated vehicle braking control includes detecting a first object threat in a reverse travel path of a vehicle, monitoring a distance of the vehicle from the first object threat with respect to a time to collision threshold, and in response to a determination that the vehicle is crossing the time to collision threshold, initiating a first rear virtual bumper event by automatically applying brakes of the vehicle. The method includes storing a location of the first object threat, defining a boundary region surrounding the location of the first object threat, detecting a second object threat in the reverse travel path, comparing a location of the second object threat with the boundary region, and inhibiting automatic application of the brakes in response to a determination that the location of the second object threat is within the boundary region, to avoid a second rear virtual bumper event.

## Claims

### Claim 1

A method of automated vehicle braking control, the method comprising:
detecting, by at least one vehicle sensor, a first object threat in a reverse travel path of a vehicle;
monitoring a distance of the vehicle from the first object threat with respect to a time to collision threshold;
in response to a determination that the vehicle is crossing the time to collision threshold, initiating a first rear virtual bumper event by automatically applying brakes of the vehicle;
storing a location of the first object threat;
defining a boundary region surrounding the location of the first object threat;
subsequent to the first rear braking event, detecting a second object threat in the reverse travel path, by the at least one vehicle sensor;
comparing a location of the second object threat with the boundary region; and
inhibiting automatic application of the brakes in response to a determination that the location of the second object threat is within the boundary region, to avoid a second rear virtual bumper event.

### Claim 2 (depends on 1)

The method of claim 1, further comprising:
generating an audible alert during the first rear virtual bumper event; and
inhibiting generation of the audible alert in response to the determination that the location of the second object threat is within the boundary region.

### Claim 3 (depends on 1)

The method of claim 1, wherein:
detecting the first object threat occurs during a first reverse vehicle movement trajectory of the vehicle;
detecting the second object threat occurs during a second reverse vehicle movement trajectory of the vehicle; and
a forward movement trajectory of the vehicle is detected prior to detecting the second object threat.

### Claim 4 (depends on 3)

The method claim 3, further comprising using dead reckoning to update a location of the boundary region with respect to a position of the vehicle at an end of the forward movement trajectory of the vehicle.

### Claim 5 (depends on 1)

The method of claim 1, wherein:
the boundary region is defined having a first radius at a first point in time;
the method includes increasing a size of the boundary region to a second radius at a second point in time; and
the second point in time is a fixed period after the first point in time.

### Claim 6 (depends on 5)

The method of claim 5, further comprising increasing a size of the boundary region to a third radius at a third point in time,
wherein the third point in time is the fixed period after the second point in time.

### Claim 7 (depends on 6)

The method of claim 6, wherein:
the fixed period is less than or equal to ten seconds;
the first radius is less than or equal to twenty centimeters;
the second radius is less than or equal to fifty centimeters; and
the third radius is less than or equal to one meter.

### Claim 8 (depends on 1)

The method of claim 1, further comprising eliminating the boundary region after a specified time period to allow automatic application of the brakes in response to detection of a third object threat at a location formerly covered by the boundary region.

### Claim 9 (depends on 8)

The method of claim 8, wherein the specified time period is less than or equal to thirty seconds.

### Claim 10 (depends on 8)

The method of claim 8, further comprising restarting the specified time period in response to a subsequent detection of another object threat within the boundary region prior to expiration of the specified time period.

### Claim 11 (depends on 1)

The method of claim 1, wherein the boundary region is a first boundary region, and the method further comprises:
detecting, by at least one vehicle sensor, a third object threat in the reverse travel path of a vehicle;
storing a location of the third object threat; and
defining a second boundary region surrounding the location of the third object threat.

### Claim 12 (depends on 1)

The method of claim 1, wherein the at least one vehicle sensor includes at least one of a camera, a laser detector, and a lidar detector.

### Claim 13

An automated vehicle braking control system comprising:
a brake control module configured to automatically apply brakes of a vehicle in response to a rear virtual bumper event signal;
at least one vehicle sensor configured to detect object threats in a reverse travel path of the vehicle; and
a vehicle control module in communication with the braking control module and the at least one vehicle sensor, the vehicle control module configured to:
detect, via the at least one vehicle sensor, a first object threat in the reverse travel path of a vehicle;
monitor a distance of the vehicle from the first object threat with respect to a time to collision threshold;
in response to a determination that the vehicle is crossing the time to collision threshold, transmit a signal indicating a first rear virtual bumper event to the brake control module to automatically apply brakes of the vehicle;
store a location of the first object threat;
define a boundary region surrounding the location of the first object threat;
subsequent to the first rear virtual bumper event, detect a second object threat in the reverse travel path, via the at least one vehicle sensor;
compare a location of the second object threat with the boundary region; and
inhibit automatic application of the brakes in response to a determination that the location of the second object threat is within the boundary region, to avoid a second rear virtual bumper event.

### Claim 14 (depends on 13)

The system of claim 13, wherein the vehicle control module is configured to:
generate an audible alert during the first rear virtual bumper event; and
inhibit generation of the audible alert in response to the determination that the location of the second object threat is within the boundary region.

### Claim 15 (depends on 13)

The system of claim 13, wherein the vehicle control module is configured to:
detect the first object threat during a first reverse vehicle movement trajectory of the vehicle;
detect the second object threat during a second reverse vehicle movement trajectory of the vehicle; and
detect a forward movement trajectory of the vehicle prior to detecting the second object threat.

### Claim 16 (depends on 15)

The system claim 15, wherein the vehicle control module is configured to use dead reckoning to update a location of the boundary region with respect to a position of the vehicle at an end of the forward movement trajectory of the vehicle.

### Claim 17 (depends on 13)

The system of claim 13, wherein:
the boundary region is defined having a first radius at a first point in time;
the vehicle control module is configured to increase a size of the boundary region to a second radius at a second point in time; and
the second point in time is a fixed period after the first point in time.

### Claim 18 (depends on 17)

The system of claim 17, wherein:
the vehicle control module is configured to increase a size of the boundary region to a third radius at a third point in time; and
the third point in time is the fixed period after the second point in time.

### Claim 19 (depends on 18)

The system of claim 18, wherein:
the fixed period is less than or equal to ten seconds;
the first radius is less than or equal to twenty centimeters;
the second radius is less than or equal to fifty centimeters; and
the third radius is less than or equal to one meter.

### Claim 20 (depends on 13)

The system of claim 13, wherein the vehicle control module is configured to eliminate the boundary region after a specified time period to allow automatic application of the brakes in response to detection of a third object threat at a location within formerly covered by the boundary region.