US 11,752,882 B1
Systems and methods for controlling vehicle acceleration to regulate environmental impact
Thomas M. Wittenschlaeger, Sarasota, FL (US)
Assigned to AYRO, INC., Round Rock, TX (US)
Filed by AYRO, Inc., Round Rock, TX (US)
Filed on Nov. 3, 2022, as Appl. No. 18/52,429.
Int. Cl. B60L 15/20 (2006.01); B60W 30/02 (2012.01); B60W 30/18 (2012.01); B60W 40/107 (2012.01); B60W 40/02 (2006.01); B60W 10/08 (2006.01); B60W 10/26 (2006.01); B60W 10/18 (2012.01); G05D 1/02 (2020.01)
CPC B60L 15/2009 (2013.01) [B60W 10/08 (2013.01); B60W 10/18 (2013.01); B60W 10/26 (2013.01); B60W 30/02 (2013.01); B60W 30/18127 (2013.01); B60W 30/18172 (2013.01); B60W 40/02 (2013.01); B60W 40/107 (2013.01); G05D 1/0223 (2013.01); B60W 2510/244 (2013.01); B60W 2540/18 (2013.01); B60W 2720/106 (2013.01)] 26 Claims
OG exemplary drawing
 
1. A system for regulating impact of a low-speed vehicle (LSV) on a real-world environment, comprising:
an electric motor-generator coupled to one or more wheels of the LSV, the electric motor-generator configured to supply a motive force to the one or more wheels in a first mode of operation, and configured to supply a regenerative braking force to the one or more wheels in a second mode of operation;
a supplemental braking system configured to supply a supplemental braking force to the one or more wheels; and
a controller coupled to the electric motor-generator and the supplemental braking system, wherein the controller is configured to control the electric motor-generator and the supplemental braking system to prevent the one or more wheels from rolling with slipping on a terrain over which the LSV travels by:
controlling the electric motor-generator, while in the first mode of operation, to increase a speed of the LSV in correspondence with a first velocity-time curve defined by a first cubic function and prevent the one or more wheels from rolling with slipping as the LSV travels; and
controlling both the electric motor-generator, while in the second mode of operation, and the supplemental braking system, to decrease the speed of the LSV in correspondence with a second velocity-time curve defined by a second cubic function and prevent the one or more wheels from rolling with slipping as the LSV travels.