US 12,005,871 B2
Method and apparatus for braking control for autonomous parking
Beom Cheol Shin, Hwaseong-si (KR)
Assigned to HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed by HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed on Mar. 2, 2022, as Appl. No. 17/684,795.
Claims priority of application No. 10-2021-0037848 (KR), filed on Mar. 24, 2021.
Prior Publication US 2022/0306068 A1, Sep. 29, 2022
Int. Cl. B60T 15/04 (2006.01); B60W 10/18 (2012.01); B60W 30/06 (2006.01); B60W 50/14 (2020.01); B62D 15/02 (2006.01)
CPC B60T 15/041 (2013.01) [B60W 10/18 (2013.01); B60W 30/06 (2013.01); B60W 50/14 (2013.01); B62D 15/0285 (2013.01); B60T 2201/10 (2013.01); B60W 2510/182 (2013.01); B60W 2540/18 (2013.01)] 11 Claims
OG exemplary drawing
 
11. A method for controlling braking of a vehicle to cause the vehicle to follow a target route generated in advance, the method comprising:
determining whether the target route satisfies a condition for initiating biased braking control;
determining a ratio of a braking pressure to be applied to respective wheels of the vehicle based on the target route in response to determining that the target route satisfies the condition for initiating the biased braking control; and
performing braking control of the vehicle based on the determined ratio of the braking pressure,
wherein the ratio of the braking pressure is determined based on:

OG Complex Work Unit Math
where α is a quotient of a first braking pressure to be applied to each of other wheels divided by a second braking pressure to be applied to a wheel selected according to a direction of the target route, f is a preset weight function, v is a speed of the vehicle, G is a steering gear ratio of the vehicle, θdesire is a turning angle of the target route, and θvehicle is a front-wheel steering angle of the vehicle.