US 11,999,348 B2
Adaptive brake mode selection
Junbo Jing, San Diego, CA (US); Arda Kurt, San Diego, CA (US); Chasen Sherman, San Diego, CA (US); Tianqu Shao, San Diego, CA (US); and Haoming Sun, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TUSIMPLE, INC., San Diego, CA (US)
Filed on Jan. 27, 2020, as Appl. No. 16/773,541.
Prior Publication US 2021/0229668 A1, Jul. 29, 2021
Int. Cl. B60W 30/18 (2012.01); B60W 10/06 (2006.01); B60W 10/18 (2012.01); B60W 60/00 (2020.01); F02D 9/06 (2006.01)
CPC B60W 30/18136 (2013.01) [B60W 10/06 (2013.01); B60W 10/18 (2013.01); B60W 60/0025 (2020.02); F02D 9/06 (2013.01); B60W 2510/0657 (2013.01); B60W 2510/10 (2013.01); B60W 2520/10 (2013.01); B60W 2520/28 (2013.01); B60W 2710/06 (2013.01); B60W 2710/18 (2013.01); F02D 2200/1006 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method of controlling a diesel-engine autonomous vehicle, comprising:
determining, using an adaptive model of the autonomous vehicle that adaptively adjusts model parameters while the autonomous vehicle is in operation:
(i) longitudinal dynamic response properties of the autonomous vehicle that indicate a dynamic response of the autonomous vehicle to longitudinal forces, and
(ii) an available engine brake torque for reducing a current speed of the autonomous vehicle to a lower speed,
wherein the adaptive model adaptively adjusts the model parameters for the determining the longitudinal dynamic response properties and the available engine brake torque by an online linear regression method that approximates a time-variant or high-order system by a time-invariant or a low-order model; and
selecting a brake mode corresponding to the available engine brake torque and a rate of speed reduction,
wherein, in case that the rate of speed reduction is equal to or smaller than a threshold, the brake mode is an engine brake in which engine exhaust valve opening is adjusted to generate a brake torque for reducing the current speed, the threshold determined in part based on the available engine brake torque and the longitudinal dynamic response properties of the autonomous vehicle, and
wherein the brake mode is a combination of the engine brake and a foundation brake in case the rate of speed reduction is greater than the threshold.