US 12,391,257 B2
Surface recognition during differential braking
Clinton L. Schumann, Holly, MI (US); Karthik Rengarajan, Rochester Hills, MI (US); and Michael S. Wyciechowski, Grand Blanc, MI (US)
Assigned to Steering Solutions IP Holding Corporation, Auburn Hills, MI (US); and Continental Automotive Systems Inc., Auburn Hills, MI (US)
Filed by Steering Solutions IP Holding Corporation, Auburn Hills, MI (US); and Continental Automotive Systems, Inc., Auburn Hills, MI (US)
Filed on Apr. 26, 2023, as Appl. No. 18/139,429.
Prior Publication US 2024/0359693 A1, Oct. 31, 2024
Int. Cl. B60W 40/06 (2012.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 40/068 (2012.01)
CPC B60W 40/068 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 2520/10 (2013.01); B60W 2520/26 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method comprising:
determining vehicle differential brake pressure at a road wheel, wheel speed, steering angle, and vehicle speed;
determining wheel slip or brake locking pressure based upon the determined differential brake pressure at a road wheel, wheel speed, steering angle, and vehicle speed;
determining road surface type or surface friction using the wheel slip or brake locking pressure;
communicating the determined road surface type or surface friction to at least one controller wherein the at least one controller modifies at least one of brake commands to a brake to steer system or propulsion commands to a propulsion system based upon the determined road surface type or surface friction;
further comprising determining if a steer by wire system has failed or is failing prior to act of the at least one controller modifies at least one of brake commands to a brake to steer system or propulsion commands to a propulsion system based upon the road surface type or surface friction.