Adaptive brake mode selection
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United States of America Patent
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Jun 4, 2024
Grant Date -
Jul 29, 2021
app pub date -
Jan 27, 2020
filing date -
Jan 27, 2020
priority date (Note) -
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Abstract
Methods, systems, and devices related to a method of controlling an autonomous vehicle, in particular, an autonomous diesel-engine truck are disclosed. In one example aspect, the method includes determining an available engine brake torque generation mechanism for reducing a current speed of the autonomous vehicle to a lower speed and selecting a brake mode corresponding to the engine brake torque availability. In case a rate of speed reduction is equal to or smaller than a threshold, the brake mode includes only an engine brake in which engine exhaust valve opening is adjusted for reducing the current speed. The threshold determined in part based on the available engine brake torque, gear position of the transmission, and the online estimated vehicle longitudinal dynamic model. In case the rate of speed reduction is greater than the threshold, the brake mode incudes a combination of the engine brake and the foundation brake.
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