US 12,441,328 B2
Safety system for a vehicle
David Israel Gonzalez Aguirre, Portland, OR (US); Ignacio Alvarez, Portland, OR (US); Maria Soledad Elli, Hillsboro, OR (US); Javier Felip Leon, Hillsboro, OR (US); and Javier Turek, Beaverton, OR (US)
Assigned to Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed by Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed on Oct. 31, 2023, as Appl. No. 18/498,640.
Application 18/498,640 is a continuation of application No. 17/941,044, filed on Sep. 9, 2022, granted, now 11,814,052.
Application 17/941,044 is a continuation of application No. 16/830,413, filed on Mar. 26, 2020, granted, now 11,472,414, issued on Oct. 18, 2022.
Prior Publication US 2024/0326822 A1, Oct. 3, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 40/068 (2012.01); B60W 40/10 (2012.01); B60W 50/00 (2006.01); G05D 1/00 (2006.01)
CPC B60W 40/068 (2013.01) [B60W 40/10 (2013.01); B60W 50/0097 (2013.01); B60W 2050/0031 (2013.01); B60W 2420/403 (2013.01); B60W 2520/06 (2013.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2520/16 (2013.01); B60W 2520/18 (2013.01); B60W 2552/35 (2020.02); B60W 2552/40 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2555/20 (2020.02); G05D 1/0088 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A safety system for a ground vehicle, the safety system comprising:
one or more sensors; and
a processing unit configured to:
generate motion data including at least a motion feature vector based on sensor data collected by the one or more sensors;
determine wheel path data based on at least one of torque or steering angle of the ground vehicle;
generate a ground state feature vector based on ground state data and wheel path data;
implement a friction prediction model to determine one or more predictive friction coefficients based on the motion data, wheel path data, and ground state data; and
provide one or more control instructions to control the ground vehicle based on the determined one or more predictive friction coefficients.