US 12,145,559 B2
Control method for distribution of braking force of autonomous vehicle
In-Su Kim, Anyang-Si (KR); and Myung-Ki Yeom, Incheon (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Nov. 15, 2021, as Appl. No. 17/526,897.
Claims priority of application No. 10-2021-0090531 (KR), filed on Jul. 9, 2021.
Prior Publication US 2023/0009196 A1, Jan. 12, 2023
Int. Cl. B60T 8/1766 (2006.01); B60T 8/172 (2006.01); B60T 8/1755 (2006.01); B60T 13/74 (2006.01); G01G 19/08 (2006.01)
CPC B60T 8/1766 (2013.01) [B60T 8/172 (2013.01); B60T 8/1755 (2013.01); B60T 13/74 (2013.01); G01G 19/08 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A control method for distribution of braking force of a vehicle, the control method comprising:
performing a vertical load determination step in which a controller is configured to recognize an object existing in an interior of the vehicle and to recognize data of at least one among a position in the vehicle, a size, volume, density, weight, and center of gravity of the corresponding object, and to determine a vertical load applied to each wheel of the vehicle according to the recognized data,
wherein the controller is configured to transmit data of the determined vertical load of each wheel to a brake controller electrically connected to the controller, and the brake controller is configured to determine an amount of the distribution of the braking force for each wheel of the vehicle according to the received data of the vertical load and to drive a brake actuator electrically connected to the brake controller according to the determined amount of the distribution of the braking force,
wherein the control method further includes:
an object fall-down preventing step, in which the controller is configured to recognize an object existing in the interior of the vehicle by use of an indoor camera, and when the recognized object is an object having a possibility of falling-down, the controller is configured to control acceleration and deceleration of the vehicle to prevent the corresponding object from falling down from an original position thereof.