US 12,286,099 B2
Braking and signaling schemes for autonomous vehicle system
Patrick Kessler, South San Francisco, CA (US)
Assigned to GLYDWAYS, INC., South San Francisco, CA (US)
Filed by Glydways, Inc., South San Francisco, CA (US)
Filed on Jun. 16, 2021, as Appl. No. 17/349,814.
Claims priority of provisional application 63/041,513, filed on Jun. 19, 2020.
Prior Publication US 2021/0394748 A1, Dec. 23, 2021
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/18 (2012.01); B60W 60/00 (2020.01); G05D 1/00 (2024.01); G08G 1/00 (2006.01); G08G 1/16 (2006.01)
CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 30/18109 (2013.01); B60W 60/0015 (2020.02); G05D 1/0289 (2013.01); G08G 1/16 (2013.01); G08G 1/22 (2013.01); B60W 2554/4049 (2020.02); B60W 2556/65 (2020.02); B60W 2710/18 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method of decelerating a plurality of vehicles along a roadway, comprising:
at a first vehicle:
receiving, from an adjacent downstream vehicle:
a braking indication signal indicating initiation of a braking operation of the adjacent downstream vehicle; and
a first deceleration value indicating a deceleration rate of the adjacent downstream vehicle; and
in response to receiving the braking indication signal:
determining a distance to the adjacent downstream vehicle;
determining, based at least in part on the first distance, a second deceleration value configured to prevent the first vehicle from colliding with the adjacent downstream vehicle;
in accordance with a determination that the second deceleration value is greater than or equal to an upper deceleration value, decelerating at the upper deceleration value;
in accordance with a determination that the second deceleration value is less than the upper deceleration value and greater than a lower deceleration target, the lower deceleration target having a nonzero value, decelerating at the second deceleration value;
in accordance with a determination that the second deceleration value is less than or equal to the lower deceleration target:
after receiving the braking indication signal, maintaining a speed of the first vehicle for a duration; and
after maintaining the speed of the first vehicle for the duration:
 determining, based at least in part on an updated distance to the adjacent downstream vehicle, that a third deceleration value configured to prevent the first vehicle from colliding with the adjacent downstream vehicle has reached the lower deceleration target; and
 in accordance with a determination that the third deceleration value has reached the lower deceleration target, decelerating at the lower deceleration target.