US 12,084,023 B2
Braking control method and braking control device
Akinobu Goto, Kanagawa (JP); Yuki Shiozawa, Kanagawa (JP); and Naotaka Usui, Kanagawa (JP)
Assigned to Nissan Motor Co., Ltd., Yokohama (JP)
Appl. No. 18/286,071
Filed by Nissan Motor Co., Ltd., Yokohama (JP)
PCT Filed Apr. 12, 2021, PCT No. PCT/JP2021/015191
§ 371(c)(1), (2) Date Oct. 6, 2023,
PCT Pub. No. WO2022/219681, PCT Pub. Date Oct. 20, 2022.
Prior Publication US 2024/0182005 A1, Jun. 6, 2024
Int. Cl. B60T 7/22 (2006.01); B60W 60/00 (2020.01)
CPC B60T 7/22 (2013.01) [B60W 60/001 (2020.02); B60T 2201/022 (2013.01); B60T 2210/32 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A braking control method using a processor to control a braking actuator of a subject vehicle with a vehicle speed profile based on a vehicle speed of the subject vehicle, a subject vehicle position, and an expected stop position at which the subject vehicle is expected to stop, the processor being configured to:
generate the vehicle speed profile having a reference deceleration section and a deceleration decrease section, the subject vehicle traveling in the reference deceleration section at a predetermined reference deceleration upstream the expected stop position and traveling in the deceleration decrease section at a lower deceleration than the predetermined reference deceleration downstream the reference deceleration section and upstream the expected stop position;
determine whether or not a moving object is detected in a predetermined region downstream the expected stop position; and
when determining that the moving object is detected in the predetermined region, change a start position of the deceleration decrease section with respect to the expected stop position upstream relative to that when determining that no moving object is detected in the predetermined region.