US 11,987,226 B2
Method for operating an at least semi-automated mobile platform
Guillaume Comat, Munich (DE); and Thomas Brettschneider, Abstatt (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jan. 5, 2021, as Appl. No. 17/142,019.
Claims priority of application No. 102020200278.9 (DE), filed on Jan. 10, 2020.
Prior Publication US 2021/0213921 A1, Jul. 15, 2021
Int. Cl. B60T 8/175 (2006.01); B60K 28/16 (2006.01); B60T 8/172 (2006.01); B60T 8/1769 (2006.01); B60W 40/10 (2012.01)
CPC B60T 8/175 (2013.01) [B60K 28/16 (2013.01); B60T 8/1769 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method for operating an at least semi-automated mobile platform on which an accelerating force acts, the mobile platform including at least a number of wheels, a braking system, and an acceleration sensor that generates acceleration values of the platform, the braking system, using a holding force, being configured to cooperate with at least the number of wheels in such a way that the platform is selectively fixed in a position, and wherein each wheel of the number of wheels includes a respective rotation angle sensor that generates a signal pulse as a function of a rotational position of the wheel, the method comprising the following steps:
performing a fixed gradient reduction in a fixed gradient reduction period at a start of which a reduction of a holding force at a combination of the number of fixed wheels is begun, wherein the fixed gradient reduction includes one or more holding force reductions that are each at a respective predefined fixed gradient;
as soon as the respective rotation angle sensor of any single one of the wheels has generated a first signal pulse, switching from the fixed gradient reduction period into a dynamic gradient reduction period in which a continued reduction of the holding force is performed using a controlled gradient that is modified during the dynamic gradient reduction period according to at least one variable determined during the dynamic gradient reduction period; and
switching from the dynamic gradient reduction period into a fixed gradient increase period during which the holding force of at least one of the wheels is increased and at a start of which the holding force of at least one of the wheels begins to be increased with a fixed gradient increase, the switching being performed in response to a predefined number of signal pulses has been generated by combination of the respective rotation angle sensors of all of the number of wheels, thereby fixing the platform using the at least one of the wheels.