Steering-based scrub braking
AssigneeGoogle Inc.
InventorPeter Lombrozo
Life of this patent
Estimating the term…
Abstract
Methods and systems for implementing steering-based scrub braking are described. A computing device or system assisting in the control of a vehicle may be configured to make a determination to reduce a speed of the vehicle or enhance the stability of a vehicle that is traveling in a given direction. The computing device may provide instructions to turn a pair of wheels or any combination of wheels of the vehicle in a direction away from parallel to the given direction in which the vehicle is traveling and in opposite directions to each other so as to reduce the speed of the vehicle. In an example, the computing device may estimate a range to execute speed reduction of the vehicle.
Claims19
A method comprising:
- making a determination, by a computing device controlling a vehicle in an autonomous mode, to reduce a speed of the vehicle that is traveling in a given direction in the autonomous mode, wherein the vehicle includes a pair of wheels;
- determining, by the computing device, an estimate of a range over which to reduce the speed of the vehicle;
- and
- providing instructions, by the computing device, to turn the pair of wheels of the vehicle in a direction away from parallel to the given direction in which the vehicle is traveling and in opposite directions to each other in angular increments based on the estimate of the range so as to reduce the speed of the vehicle.
A system, comprising:
- at least one processor;
- and
- a memory having stored thereon instructions that, upon execution by the at least one processor, cause the system to perform functions comprising:
- making a determination to reduce a speed of a vehicle that is traveling in a given direction in an autonomous mode, wherein the vehicle includes a pair of wheels;
- determining an estimate of a range over which to reduce the speed of the vehicle;
- and
- providing instructions to turn the pair of wheels of the vehicle in a direction away from parallel to the given direction in which the vehicle is traveling and in opposite directions to each other in angular increments based on the estimate of the range so as to reduce the speed of the vehicle.
A non-transitory computer readable medium having stored thereon instructions that, upon execution by a computing device, cause the computing device to perform functions comprising:
- making a determination to reduce a speed of a vehicle that is traveling in a given direction in an autonomous mode, wherein the vehicle includes a pair of wheels;
- determining an estimate of a range over which to reduce the speed of the vehicle;
- and
- providing instructions to turn the pair of wheels of the vehicle in a direction away from parallel to the given direction in which the vehicle is traveling and in opposite directions to each other in angular increments based on the estimate of the range so as to reduce the speed of the vehicle.
Dependencies are inferred from the claim text.