Methods and systems for steering-based oscillatory vehicle braking
AssigneeGoogle Inc.
InventorPeter Craig Lombrozo
Life of this patent
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Abstract
Methods and systems for steering-based oscillatory braking are described herein. A method may involve making a determination, by a computing device, to reduce a speed of a vehicle. The vehicle may include a pair of wheels. The method may further involve providing instructions to turn the pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially the same direction and turning of the pair of wheels oscillates each wheel of the pair of wheels between given directions about a direction of travel of the vehicle so as to reduce the speed of the vehicle.
Claims17
A method comprising:
- making a determination, by a computing device, to reduce a speed of a vehicle, wherein the vehicle includes a pair of wheels;
- and
- providing, by the computing device, instructions to a control system of the vehicle to cause a decoupling of a steering wheel of the vehicle from the pair of wheels of the vehicle and to turn the pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially the same direction and turning of the pair of wheels oscillates each wheel of the pair of wheels between given directions about a direction of travel of the vehicle so as to reduce the speed of the vehicle, wherein decoupling the steering wheel prevents rotation of the steering wheel when the pair of wheels oscillate.
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, wherein the vehicle includes a pair of wheels;
- and
- providing instructions to a control system of the vehicle to cause a decoupling of a steering wheel of the vehicle and to turn the pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially the same direction and turning of the pair of wheels oscillates each wheel of the pair of wheels between given directions about a direction of travel of the vehicle so as to reduce the speed of the vehicle, wherein decoupling the steering wheel prevents rotation of the steering wheel when the pair of wheels oscillate.
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, wherein the vehicle includes a pair of wheels;
- and
- providing instructions to a control system of the vehicle to cause a decoupling of a steering wheel of the vehicle from the pair of wheels of the vehicle and to turn the pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially the same direction and turning of the pair of wheels oscillates each wheel of the pair of wheels between given directions about a direction of travel of the vehicle so as to reduce the speed of the vehicle, wherein decoupling the steering wheel prevents rotation of the steering wheel when the pair of wheels oscillate.
The non-transitory computer-readable medium claim of 15, wherein providing instructions to turn a pair of wheels of the vehicle comprises:
- determining one or more parameters including the speed of the vehicle, a speed of one or more wheels of the vehicle, a mass of the vehicle, the direction of travel of the vehicle, a desired direction of travel of the vehicle, a steering angle of the vehicle, an operational status of one or more deceleration systems, a deceleration contribution of a particular deceleration system of the one or more deceleration systems, and a desired braking distance of the vehicle;
- determining a frequency of oscillation of the pair of wheels based at least in part on the one or more parameters;
- and
- providing instructions to turn the pair of wheels at the frequency of oscillation.
Dependencies are inferred from the claim text.