US 12,466,373 B2
Method for controlling a braking torque of a vehicle during an at least partly automated traversal of an incline and/or a decline, computing device, and assistance system for a vehicle
Christian Heidl, Garching (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 18/566,841
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed May 16, 2022, PCT No. PCT/EP2022/063124
§ 371(c)(1), (2) Date Dec. 4, 2023,
PCT Pub. No. WO2022/268408, PCT Pub. Date Dec. 29, 2022.
Claims priority of application No. 10 2021 115 955.5 (DE), filed on Jun. 21, 2021.
Prior Publication US 2024/0270220 A1, Aug. 15, 2024
Int. Cl. B60T 8/58 (2006.01); B60T 7/12 (2006.01); B60T 8/171 (2006.01); B60T 8/172 (2006.01)
CPC B60T 8/58 (2013.01) [B60T 7/12 (2013.01); B60T 8/171 (2013.01); B60T 8/172 (2013.01); B60T 2201/03 (2013.01); B60T 2201/04 (2013.01); B60T 2201/06 (2013.01); B60T 2210/20 (2013.01); B60T 2250/04 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method for controlling a braking torque of a vehicle while travelling in an at least semiautomated manner on an incline and/or a decline using an assistance system, comprising:
receiving standstill data, while the vehicle is traveling in the at least semiautomated manner on the incline and/or the decline, when a temporary standstill of the vehicle is requested by the assistance system;
continually receiving one or more speed values that describe a speed of the vehicle while the vehicle is decelerating prior to the temporary standstill;
continually determining slope data that describes an angle of the incline or decline;
continually computing an amended speed value that depends on the speed value and the slope data; and
outputting an electronic control signal to control the braking torque to bring the vehicle to the temporary standstill when the amended speed value decreases below a predetermined threshold value and the standstill data are received.