Remedies for securing a vehicle while it is stopped during the period of friction brake failure.

Abstract

In an exemplary embodiment, the method and system are used to secure a vehicle. In an exemplary embodiment, the vehicle includes a body, a drive system, a braking system, and a processor. The drive system is configured to generate motion of the body and includes a motor. The braking system includes a friction brake providing friction braking. The processor is disposed on the vehicle, connected to the motor, and configured to at least assist in: determining that friction braking loss has occurred when the vehicle comes to a stop; and, when friction braking loss is determined to have occurred, providing instructions to the motor to provide propulsive torque, thereby securing the vehicle upon stop; wherein the motor is further configured to execute the instructions provided by the processor to provide propulsive torque.

Description

Technical Field

[0001] The technical field generally relates to vehicles, and more specifically, to methods and systems for securing vehicles in the presence of frictional braking loss during a stop. Background Technology

[0002] Some modern vehicles include systems for securing the vehicle when it comes to a stop. However, when friction braking loss occurs, such as when the vehicle is on a slope or other type of incline, such existing vehicle systems may not always provide optimal vehicle securingness.

[0003] Therefore, there is a need to provide improved methods and systems for securing vehicles when they are stationary, including in the event of frictional braking loss. Furthermore, other desirable features and characteristics of this disclosure will become apparent from the following detailed description and appended claims, taken in conjunction with the accompanying drawings and the foregoing description of the technical and background art. Summary of the Invention

[0004] In an exemplary embodiment, a method for securing a vehicle is provided, the method comprising: determining, by a processor, that frictional braking loss has occurred when the vehicle stops; and, when it is determined that frictional braking loss has occurred, using a motor of the vehicle to provide propulsion torque according to instructions provided by the processor, thereby securing the vehicle when it stops.

[0005] Also in an exemplary embodiment: the step of determining that frictional braking loss has occurred includes determining that communication with the vehicle's braking system has been lost when the vehicle is stopped; and the step of providing propulsion torque includes, when it is determined that communication with the braking system has been lost, using the vehicle's motor to provide propulsion torque according to instructions provided by the processor, thereby securing the vehicle when it is stopped.

[0006] Similarly, in an exemplary embodiment, the steps of the method are implemented in conjunction with the braking system of a vehicle having a single-pedal drive.

[0007] In an exemplary embodiment, the method further includes: determining, by the processor, whether the vehicle is kept stationary; and when the vehicle is not kept stationary, allowing the vehicle driver to override and control the automatic control actions of the vehicle upon the driver's request.

[0008] In an exemplary embodiment, the method further includes: determining, by the processor, whether the vehicle was previously secured by a friction brake; and automatically switching the vehicle's parking system to the parking position according to instructions provided by the processor when it is determined that the vehicle is currently stationary and the vehicle was not previously secured by a friction brake.

[0009] In an exemplary embodiment, the method further includes: determining, by the processor, whether the parking system of the vehicle is in the parking position; determining, by the processor, whether the vehicle is in motion; and when the parking system is not in the parking position and the vehicle is not in motion, maintaining the current propulsion torque level from the motor by instructions provided by the processor until the parking system is in the parking position.

[0010] In an exemplary embodiment, the method further includes: when the parking system is not in the parking gear and the vehicle is in motion, increasing the propulsion torque of the motor by means of instructions provided by the processor until the vehicle stops and the parking system is in the parking gear.

[0011] In an exemplary embodiment, the method further includes: determining the direction of travel of the vehicle; when the parking system is not in parking gear and the vehicle is moving backward, increasing the positive propulsion torque from the motor via instructions provided by the processor until the vehicle stops and the parking system is in parking gear; and when the parking system is not in parking gear and the vehicle is moving forward, increasing the negative propulsion torque from the motor via instructions provided by the processor until the vehicle stops and the parking system is in parking gear.

[0012] In another exemplary embodiment, a system including a motor and a processor is provided. The processor is coupled to the motor and configured to at least assist in: determining that frictional braking loss has occurred when the covered vehicle stops; and, when frictional braking loss is determined to have occurred, providing instructions to the motor to provide propulsive torque to secure the vehicle upon stopping; wherein the motor is further configured to execute the instructions provided by the processor to provide propulsive torque.

[0013] Furthermore, in an exemplary embodiment, the processor is configured to at least facilitate: determining that communication with the vehicle's braking system has been lost when the vehicle stops; and when it is determined that communication with the braking system has been lost, providing instructions to the motor to provide propulsion torque, thereby securing the vehicle when it stops.

[0014] Also in an exemplary embodiment, the processor is configured to at least: determine whether the vehicle remains stationary; and when the vehicle is not stationary, allow the vehicle driver to override the automatic control actions of the vehicle at the driver's request.

[0015] Also in an exemplary embodiment, the processor is configured to at least help: determine whether the vehicle was previously secured by friction brakes; and automatically switch the vehicle's parking system to park when it is determined that the vehicle is currently stationary and the vehicle was not previously secured by friction brakes.

[0016] Also in an exemplary embodiment, the processor is configured to at least facilitate: determining whether the parking system of the vehicle is in the parking gear; determining whether the vehicle is in motion; and when the parking system is not in the parking gear and the vehicle is not in motion, providing instructions to the motor to maintain the current propulsion torque level from the motor until the parking system is in the parking gear.

[0017] Also in an exemplary embodiment, the processor is configured to at least assist in: when the parking system is not in the parking position and the vehicle is moving, providing instructions to the motor to increase propulsion torque until the vehicle stops and the parking system is in the parking position.

[0018] Also in an exemplary embodiment, the processor is configured to at least facilitate: determining whether the vehicle is moving backward; when the parking system is not in parking gear and the vehicle is moving backward, providing an instruction to the motor to increase the positive propulsion torque from the motor until the vehicle stops and the parking system is in parking gear; and when the parking system is not in parking gear and the vehicle is moving forward, providing an instruction to the motor to increase the negative propulsion torque from the motor until the vehicle stops and the parking system is in parking gear.

[0019] In another exemplary embodiment, a vehicle is provided, including a vehicle body, a drive system, a braking system, and a processor. The drive system is configured to generate motion of the vehicle body and includes a motor. The braking system includes a friction brake providing friction braking. The processor is disposed on the vehicle, connected to the motor, and configured to at least assist in: determining that friction braking loss has occurred when the vehicle comes to a stop; and, when friction braking loss is determined to have occurred, providing instructions to the motor to provide propulsive torque to secure the vehicle at a stop; wherein the motor is further configured to execute the instructions provided by the processor to provide propulsive torque.

[0020] Also in an exemplary embodiment, the processor is further configured to at least facilitate: determining that communication with the vehicle's braking system has been lost when the vehicle is stopped; and when it is determined that communication with the braking system has been lost, providing instructions to the motor to provide propulsion torque, thereby securing the vehicle when it is stopped.

[0021] Also in an exemplary embodiment, the processor is further configured to at least facilitate: determining whether the vehicle remains stationary; when the vehicle is not stationary, allowing the vehicle driver to override the automatic control actions of the vehicle upon the driver's request; determining whether the vehicle was previously secured by friction brakes; and automatically switching the vehicle's parking system to park when it is determined that the vehicle is currently stationary and the vehicle was not previously secured by friction brakes.

[0022] Also in an exemplary embodiment, the processor is further configured to at least facilitate: determining whether the parking system of the vehicle is in the parking gear; determining whether the vehicle is in motion; when the parking system is not in the parking gear and the vehicle is not in motion, providing instructions to the motor to maintain the current propulsion torque level from the motor until the parking system is in the parking gear; and when the parking system is not in the parking gear and the vehicle is in motion, providing instructions to the motor to increase the propulsion torque until the vehicle stops and the parking system is in the parking gear.

[0023] Also in an exemplary embodiment, the processor is further configured to at least facilitate: determining whether the vehicle is moving backward; when the parking system is not in parking gear and the vehicle is moving backward, providing an instruction to the motor to increase the positive propulsion torque from the motor until the vehicle stops and the parking system is in parking gear; and when the parking system is not in parking gear and the vehicle is moving forward, providing an instruction to the motor to increase the negative propulsion torque from the motor until the vehicle stops and the parking system is in parking gear. Attached Figure Description

[0024] The invention will now be described in conjunction with the following accompanying drawings, in which the same numerals denote the same elements:

[0025] Figure 1 A functional block diagram of a vehicle according to an exemplary embodiment, the vehicle includes a control system for fixing the vehicle at a stop (including in the event of frictional braking loss); and

[0026] Figure 2 A flowchart illustrating the stationary vehicle at a stop (including when frictional braking loss occurs) according to an exemplary embodiment may be incorporated. Figure 1 The implementation of transportation vehicles and control systems. Detailed Implementation

[0027] The following detailed description is merely exemplary in nature and is not intended to limit this disclosure or its application and use. Furthermore, it is not intended to be bound by any theories presented in the foregoing background or the following detailed description.

[0028] Figure 1 A vehicle 100 according to an exemplary embodiment is shown. As described in further detail below, according to an exemplary embodiment, the vehicle 100 includes a control system 102 configured to fix the vehicle 100 when it is stopped, including when friction braking loss has occurred.

[0029] In various embodiments, vehicle 100 includes an automobile. Vehicle 100 can be any of a variety of different types of automobiles, such as sedans, vans, trucks, or sport utility vehicles (SUVs), and in some embodiments can be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD), and / or various other types of vehicles. In some embodiments, vehicle 100 may also include motorcycles or other vehicles, such as airplanes, spacecraft, ships, etc., and / or one or more other types of mobile platforms (e.g., robots and / or other mobile platforms).

[0030] Vehicle 100 includes a body 104 mounted on a chassis 116. The body 104 substantially surrounds the other components of vehicle 100. The body 104 and chassis 116 may together form a frame. Vehicle 100 also includes a plurality of wheels 112. Each wheel 112 is rotatably coupled to chassis 116 near a corresponding corner of body 104 to facilitate movement of vehicle 100. In one embodiment, vehicle 100 includes four wheels 112, although this may vary in other embodiments (e.g., for trucks and certain other vehicles).

[0031] The drive system 110 is mounted on the chassis 116 and drives the wheels 112, for example, via axle 114. In various embodiments, the drive system 110 includes a motor 111 that drives the wheels 112 via axle 114 and also provides propulsion torque for automatic braking of the vehicle 100. In some embodiments, the motor 111 includes an electric motor. In various other embodiments, one or more other types of motors 111 may also be included, such as a hybrid electric motor, an internal combustion engine / motor, and / or one or more other different types of motors.

[0032] As shown in various embodiments, the drive system 110 also includes a parking system 113. In various embodiments, the parking system 113 can be automatically and / or manually switched to different gears, such as drive (D), park (P), reverse (R), etc.

[0033] In various embodiments, the vehicle 100 also includes a braking system 106. In various embodiments, the braking system 106 includes a friction brake 108 (also referred to herein as a friction braking unit 108) for stopping and holding the vehicle 100 in a stopped position.

[0034] In various embodiments, the vehicle 100 also includes one or more input devices 105 through which a driver, operator, or other user may request one or more vehicle control actions. In various embodiments, the input device 105 may include one or more accelerator and / or brake pedals, a steering wheel, a touchscreen, a control switch or knob, and / or other types of input devices.

[0035] As described above, according to an exemplary embodiment, the control system 102 is configured to fix the vehicle 100 when it stops, including in the event of frictional braking loss. In various embodiments, the control system 102 is integrated with... Figure 2 The steps of process 200 shown below provide these functions, which are combined below. Figure 2 Further description.

[0036] like Figure 1 As shown, in various embodiments, the control system 102 is coupled to the drive system 110, the braking system 106, and the input device 105. Similarly, as... Figure 1 As shown, in various embodiments, the control system 102 includes a sensor array 120, one or more transceivers 130, and a controller 140.

[0037] In various embodiments, sensor array 120 includes sensors that acquire sensor data for stationary vehicle 100, including when vehicle 100 is stopped and friction braking loss is present. In the illustrated embodiment, sensor array 120 includes wheel sensor 122, motor sensor 124, and input sensor 125.

[0038] In various embodiments, wheel sensor 122 includes one or more wheel speed sensors and / or other sensors coupled to one or more wheels 112 and configured to measure the motion, speed and / or rate of vehicle 100 and / or to calculate data on the motion, speed and / or rate of vehicle 100.

[0039] In various embodiments, motor sensor 124 includes one or more sensors coupled to motor 111, configured to measure the motion, speed and / or rate of motor 111, and / or to calculate data for calculating the motion, speed and / or rate of motor 111.

[0040] Furthermore, in various embodiments, the input sensor 125 is coupled to one or more input devices 105 (e.g., accelerator pedal, brake pedal, steering wheel, control switch or knob, touch screen, etc.) and configured to detect input from the user as a request for one or more vehicle actions (e.g., braking or acceleration).

[0041] In various embodiments, the one or more transceivers 130 receive and transmit information within vehicle 100 and / or between vehicle 100 and one or more other vehicles, remote servers, traffic lights, other infrastructure, and / or other entities outside vehicle 100. In some embodiments, transceiver 130 receives (and / or transmits) wireless messages from (and / or to) drive system 110, braking system 106, input device 105, and / or one or more other vehicle systems. In some other embodiments, this communication may instead be performed via a vehicle CAN bus and / or one or more other wired communication systems.

[0042] In various embodiments, controller 140 is coupled to sensor array 120, transceiver 130 (if applicable), and provides instructions to and controls their operation. In various embodiments, controller 140 is also coupled to drive system 110 and braking system 106 and / or one or more other vehicle systems and / or components, and configured to provide instructions to and control their operation.

[0043] In various embodiments, the controller (or computer system) 140 controls the operation of the vehicle, including fixing the vehicle 100 when it stops and friction braking loss occurs, including utilizing the propulsion torque provided by the motor 111 according to instructions provided to it by the controller 140 based on processing performed by the controller 140 using sensor data and other data and / or information obtained through the control system 102. In various embodiments, the controller 140 according to... Figure 2 The process has 200 steps to provide these and other functions.

[0044] In various embodiments, the controller 140 (or, in some embodiments, the control system 102 itself) is located within the body 104 of the vehicle 100. In one embodiment, the control system 102 is mounted on the chassis 116. In some embodiments, the controller 140 and / or the control system 102 and / or one or more components thereof may be located external to the body 104, for example, on a remote server, in the cloud, or in other devices that remotely perform image processing.

[0045] It should be understood that controller 140 may be related to Figure 1 The embodiments shown differ. For example, controller 140 may be coupled to or utilize one or more remote computer systems and / or other control systems, for example as part of one or more of the aforementioned vehicle 100 devices and systems.

[0046] In the illustrated embodiment, the computer system of controller 140 includes a computer system (also referred to herein as computer system 140) and includes a processor 142, a memory 144, an interface 146, a storage device 148, and a computer bus 150. Processor 142 performs the computational and control functions of controller 140 and may include any type of processor or multiple processors, a single integrated circuit such as a microprocessor, or any suitable number of integrated circuit devices and / or circuit boards that work together to perform the functions of a processing unit. During operation, processor 142 executes one or more programs 152 contained in memory 144, and thereby generally controls the general operation of controller 140 and the computer system of controller 140 during the execution of the process described herein, for example, in conjunction with the following... Figure 2 Further discussion process 200.

[0047] Memory 144 can be any suitable type of memory. For example, memory 144 can include various types of dynamic random access memory (DRAM), such as SDRAM, various types of static RAM (SRAM), and various types of non-volatile memory (PROM, EPROM, and flash memory). In some examples, memory 144 is located on and / or co-located on the same computer chip as processor 142. In the depicted embodiment, memory 144 stores the aforementioned program 152 and classification value 154 for fixing vehicle 100 when stopped.

[0048] Bus 150 is used to transmit programs, data, status, and other information or signals between various components of the computer system of controller 140. Interface 146 allows communication, for example, from system drives and / or another computer system to the computer system of controller 140, and can be implemented using any suitable methods and devices. In one embodiment, interface 146 obtains various data from sensor array 120 and transceiver 130, as well as other possible data sources. Interface 146 may include one or more network interfaces for communicating with other systems or components. Interface 146 may also include one or more network interfaces for communicating with technicians, and / or one or more storage interfaces for connecting to storage devices, such as storage device 148.

[0049] Storage device 148 may be any suitable type of storage device, including various types of direct access memory and / or other storage devices. In one exemplary embodiment, storage device 148 includes a program product from which memory 144 can receive program 152, which performs one or more embodiments of one or more processes of this disclosure, such as those described below. Figure 2The steps of process 200 are discussed further. In another exemplary embodiment, the program product may be directly stored in memory 144 and / or disk (e.g., disk 157), and / or accessed by memory 144 and / or disk (e.g., disk 157), as described below.

[0050] Bus 150 can be any suitable physical or logical device for connecting computer systems and components. This includes, but is not limited to, direct hardwired connections, fiber optic, infrared, and wireless bus technologies. During operation, program 152 is stored in memory 144 and executed by processor 142.

[0051] It should be understood that although this exemplary embodiment has been described in the context of a full-featured computer system, those skilled in the art will recognize that the mechanisms of the present invention can be distributed as a program product, with one or more types of non-transitory computer-readable signal-bearing media used to store the program and its instructions and to perform its distribution, such as a non-transitory computer-readable medium carrying the program and containing computer instructions stored therein for causing a computer processor (e.g., processor 142) to execute and run the program. Such a program product can take many forms, and this disclosure applies equally to whatever specific type of computer-readable signal-bearing medium is used to perform the distribution. Examples of signal-bearing media include: recordable media, such as floppy disks, hard disks, memory cards, and optical disks; and transmission system media, such as digital and analog communication links. It should be understood that cloud-based storage and / or other technologies may also be utilized in some embodiments. Similarly, it should be understood that the computer system of controller 140 may also differ from... Figure 1 In the illustrated embodiments, for example, the computer system of controller 140 may be coupled to or may utilize one or more remote computer systems and / or other control systems.

[0052] Figure 2 This is a flowchart of a process 200 for fixing a vehicle at a stop, including when friction braking loss occurs, according to an exemplary embodiment, controlling the movement of the vehicle relative to the timing of successive traffic lights. In various embodiments, process 200 may be combined with... Figure 1 The vehicle 100 and control system 102 and their components are used to implement this.

[0053] like Figure 2 As shown, in various embodiments, process 200 begins at step 202. In one embodiment, process 200 begins when the vehicle driving or ignition cycle begins, such as when the driver approaches or enters the vehicle 100, or when the driver activates the vehicle and / or ignition system (e.g., by turning a key, engaging a smart key, or pressing the start button). In one embodiment, the steps of process 200 are performed continuously during vehicle operation.

[0054] In various embodiments, input is obtained (step 204). In various embodiments, input includes via... Figure 1 One or more input sensors 125 obtain information about the driver or other user and Figure 1 The driver input and / or other user input are engaged with one or more input devices 105. In some embodiments and cases, the driver input includes a driver's request to stop the vehicle 100 based on the driver engaging the brake pedal and / or releasing the accelerator pedal of the vehicle 100, as well as other possible inputs.

[0055] In various embodiments, the vehicle is stopped (step 206). In various embodiments, Figure 1 The 100 vehicles were originally from Figure 1 The processor 142 provides a command to stop the propulsion torque supplied to the motor, which is then controlled by... Figure 1 The motor 111 is supplied so as to stop the vehicle 100 (e.g., by means of...). Figure 1 The shaft 114 applies torque to the wheel 112. Similarly, in various embodiments, torque is then applied via... Figure 1 The braking system 106 (e.g., by applying its friction braking unit 108) also continues braking via instructions provided by the processor 142 (e.g., once the vehicle 100 begins to stop).

[0056] In various embodiments, Figure 1 The vehicle 100 is stopped in such a manner (i.e., first by the motor 111, then by the friction brake 108 of the braking system 106) in response to a request from a user (e.g., a driver) via a user engagement input device 105 (e.g., pressing the brake pedal or releasing the accelerator pedal, etc.). In various embodiments, the vehicle 100 may also be stopped in this manner entirely via automatic braking (i.e., initially by the motor 111, then by the friction brake 108 of the braking system 106), wherein the processor 142 automatically provides such instructions during an emergency braking event and / or one or more other automatic braking events.

[0057] Similarly, in various embodiments, sensor data is acquired (step 208). In various embodiments, this is achieved through... Figure 1 One or more wheel sensors 122 and / or motor sensors 124 measure and obtain information about Figure 1 Sensor data on the motion of the wheel 112 and / or the motor 111 and / or the amount of torque provided by the motor 111. In some embodiments, this sensor data is collected continuously throughout all steps of process 200.

[0058] In various embodiments, communication is received from the braking system (step 210). In various embodiments, Figure 1 The processor 142 from Figure 1 The braking system 106 receives communication regarding the current functional state of the brake 108 (e.g., the friction brake unit of the braking system 106). In some embodiments, this communication is sent and received via one or more wired systems, such as the CAN bus of the vehicle 100. In some other embodiments, this communication is transmitted via… Figure 1 One or more transceivers 130 wirelessly transmit and receive. In various embodiments, the communication of step 210 is continuously transmitted and received while the vehicle 100 remains stationary (e.g., as described above with respect to step 206).

[0059] Similarly, in various embodiments, it is determined whether a friction brake loss indication has occurred (step 212). In various embodiments, this indication may occur when no communication of step 210 is received from the braking system 106 (and / or operation is stopped), and / or when the communication otherwise indicates that the braking system 106 (e.g., its friction brake unit 108) is not operating normally. In various embodiments, this determination is made by... Figure 1 The processor 142 makes the decision based on the communication (and / or the absence of communication and / or the interruption of communication) in step 210.

[0060] In some embodiments, when no indication of frictional braking loss is found, the braking system is determined to be functioning correctly. In this case, the process then returns to step 206 (as shown in the image). Figure 2 As shown), and the process continues in new iterations in step 206 (and subsequent steps, including steps 208-212).

[0061] Conversely, when a frictional braking loss indication is detected, it is determined that the braking system is malfunctioning. In this case, the process proceeds to step 214, as described below.

[0062] In step 214, it is determined whether the vehicle remains stationary. In various embodiments, during step 214, it is determined... Figure 1 Whether the speed of vehicle 100 is equal to zero (or, in some embodiments, whether the speed of vehicle 100 is less than a predetermined threshold that is close to or approximately equal to zero). In various embodiments, this determination is made by... Figure 1 The processor 142 was made based on... Figure 1 Sensor data obtained from one or more wheel sensors 122 and / or motor sensors 124 (e.g., regarding whether the speed is equal to zero and / or less than a predetermined threshold, which is stored as one of the stored values ​​154) Figure 1 (in memory 144).

[0063] In various embodiments, if it is determined in step 214 that the vehicle has not remained stationary (e.g., the speed is not equal to zero or the speed is not less than a predetermined threshold of at least approximately equal to zero), then when the vehicle has not remained stationary, the driver is allowed to override the automatic control actions of the vehicle at the driver's request (step 216). Specifically, in various embodiments, during step 216, the processor 142 does not automatically adjust the braking of the vehicle 100, and when the vehicle has not remained stationary, the vehicle driver is allowed to override the automatic control actions of the vehicle at the driver's request (step 216). Figure 1 When the input device 105 requests, it overrides the automatic control actions (including braking) of the vehicle. In various embodiments, the process then proceeds to step 234, which will be described in further detail below.

[0064] Conversely, if it is determined in step 214 that the vehicle remains stationary (e.g., at a speed of zero or less than a predetermined threshold of at least approximately zero), the procedure proceeds to step 216 below.

[0065] During step 216, it is determined whether the vehicle is secured by the brakes. In various embodiments, during step 216, it is determined whether the vehicle 100 is engaged before (e.g., immediately or substantially immediately before) the friction brakes are lost. Figure 1 The friction brake 108 is fixed. In various embodiments, this fixing is determined by... Figure 1 The processor 142 was made.

[0066] If it is determined in step 216 that the vehicle is not secured by the brakes, the procedure proceeds to step 218. During step 218, Figure 1 The parking system 113 via Figure 1 The processor 142 provides instructions to automatically switch to the "Park" parking system gear. In various embodiments, the process then proceeds to step 234, which will be described in further detail below.

[0067] Conversely, if it is determined in step 216 that the vehicle is secured by the brakes, the procedure proceeds to step 220, as described below.

[0068] In step 220, it is determined whether the vehicle is in the park position. In various embodiments, during step 220, it is determined... Figure 1 Is the parking system 113 currently in "Park" mode? In various embodiments, this determination is made by... Figure 1 The processor 142 was made.

[0069] If it is determined in step 220 that the vehicle is parked, then the vehicle is determined to be secured (step 221). Specifically, in various embodiments, during step 221, the processor 142 does not adjust the braking of the vehicle 100. In various embodiments, the process then proceeds to step 234, which will be described in further detail below.

[0070] Conversely, if it is determined in step 221 that the vehicle is not in the parking position, the procedure proceeds to step 224, as described below.

[0071] In step 224, it is determined whether the vehicle is moving. In various embodiments, during step 224, it is determined whether the speed of the vehicle 100 is greater than a predetermined threshold. In various embodiments, this determination is made by... Figure 1 The processor 142 makes a decision based on sensor data from wheel sensor 122 and / or motor sensor 124 relative to a predetermined speed value, which is stored as its storage value 154. Figure 1 In memory 144.

[0072] If it is determined in step 224 that the vehicle is not moving, the procedure proceeds to step 226. During step 226, the current propulsion torque is maintained (i.e., sustained) until the vehicle is in a parked state. Specifically, in various embodiments, during step 226, Figure 1 The processor 142 provides instructions to the motor 111 to continue providing the same amount of propulsive torque (as provided by the motor 111 in step 206), and these instructions are executed by the motor 111 to fix the vehicle 100 when stopped. In various embodiments, the process then proceeds to step 234, which will be described in further detail below.

[0073] Conversely, if it is determined in step 224 that the vehicle is moving, the program proceeds to step 228. In step 228, it is determined whether the vehicle is moving backward. Specifically, in various embodiments, during step 228, Figure 1 The processor 142 is based on... Figure 1 Sensor data obtained by wheel sensor 122 and / or motor sensor 124 determines whether vehicle 100 is moving backward.

[0074] If it is determined in step 228 that the vehicle has not moved backward, the procedure proceeds to step 230. During step 230, negative propulsion torque is increased until the vehicle stops, and then the vehicle is shifted into park. Specifically, in various embodiments, during step 230, Figure 1The processor 142 provides instructions to the motor 111 to provide negative propulsion torque, and these instructions are executed by the motor 111 to reduce the forward speed of the vehicle 100 until the vehicle 100 comes to a stop. Also in various embodiments, during step 230, the processor 142 then... Figure 1 The parking system 113 provides instructions to move to the "Park" position. In various embodiments, the process then proceeds to step 234, which will be described in further detail below.

[0075] Conversely, if it is determined in step 228 that the vehicle is moving backward, the program proceeds to step 232. During step 232, the positive propulsion torque is increased until the vehicle stops, and then the vehicle switches to parking. Specifically, in various embodiments, during step 232, Figure 1 The processor 142 provides instructions to the motor 111 to provide positive propulsion torque, and these instructions are executed by the motor 111 to reduce the rearward speed of the vehicle 100 until the vehicle 100 comes to a stop. Also in various embodiments, during step 232, the processor 142 then... Figure 1 The parking system 113 provides instructions to move to the "Park" position. In various embodiments, the process then proceeds to step 234, which will be described in further detail below.

[0076] In various embodiments, in step 234, it is determined whether the process should continue. Specifically, in some embodiments, Figure 1 The processor 142 determines whether the vehicle 100 is currently operated by the user during vehicle driving or a driving cycle. In various embodiments, this determination is performed throughout process 200.

[0077] In various embodiments, when it is determined in step 234 that the process continues (e.g., the current vehicle continues driving), process 200 returns to step 204 and then continues to a new iteration. Conversely, also in various embodiments, when it is determined during the iteration of step 234 that the process does not continue (e.g., the current vehicle has finished driving), the process terminates in step 236.

[0078] Therefore, methods, systems, and vehicles for securing vehicles are provided. In various embodiments, a motor drive torque is provided based on determinations and instructions made by the vehicle's computer processor to secure the vehicle in the event of friction brake failure. The methods, systems, and vehicles provided herein allow for securing the vehicle even when it is on a slope and / or when friction brake failure is severe.

[0079] In some embodiments, the methods, systems, and vehicles provided herein are implemented in conjunction with vehicles and braking systems that include one-pedal driving functionality, for example, where a driver uses a single pedal for braking and acceleration (e.g., in one exemplary embodiment, the driver depresses the pedal for acceleration, and in other possible embodiments, releases the pedal for braking).

[0080] It should be understood that the systems, vehicles, and methods may differ from those shown in the figures and described herein. For example, in different embodiments, Figure 1 The vehicle 100, its control system 102, and / or its components may differ. Similarly, it can be understood that the steps of process 200 may differ. Figure 2 The steps shown, and / or the various steps of process 200, may occur simultaneously and / or in different ways. Figure 2 The sequence shown occurs.

[0081] While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that numerous variations exist. It should also be understood that the one or more exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of this disclosure in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient roadmap for implementing one or more exemplary embodiments. It should be understood that various changes can be made to the function and arrangement of the elements without departing from the scope of this disclosure as set forth in the appended claims and their legal equivalents.

Claims

1. A method for fixing a means of transport, the method comprising: The processor determines that frictional braking loss has occurred when the vehicle is brought to a stop; and When it is determined that frictional braking loss has occurred, the motor of the vehicle is used to provide propulsion torque according to the instructions provided by the processor, thereby fixing the vehicle when it stops; The processor determines whether the vehicle's parking system is in the parking position. The processor determines whether the vehicle is in motion. and When the parking system is not in the parking position and the vehicle is not moving, the current propulsion torque level from the motor is maintained by instructions provided by the processor until the parking system is in the parking position; When the parking system is not in parking position and the vehicle is moving, the propulsion torque from the motor is increased by instructions provided by the processor until the vehicle stops and the parking system is in parking position.

2. The method according to claim 1, wherein: The steps to determine that friction braking loss has occurred include determining that communication with the vehicle's braking system has been lost when the vehicle is stopped; The step of providing propulsion torque includes, when it is determined that communication with the braking system has been lost, using the vehicle's motor to provide propulsion torque according to instructions provided by the processor, thereby securing the vehicle when it stops.

3. The method according to claim 1, characterized in that, The steps of the method are implemented in conjunction with the braking system of a vehicle with single-pedal drive.

4. The method according to claim 1, further comprising: The processor determines whether the vehicle remains stationary. and When the vehicle is not kept stationary, the driver of the vehicle is permitted, upon request, to override and control the automatic control actions of the vehicle.

5. The method according to claim 4, further comprising: The processor determines whether the vehicle was previously secured by a friction brake. and When either of the following two conditions is determined, the vehicle's parking system will be automatically switched to parking mode according to instructions provided by the processor: The vehicle was kept at a standstill; and The vehicle was not previously secured by the friction brake.

6. The method according to claim 1, further comprising: Determine the direction of travel of the vehicle; When the parking system is not in parking gear and the vehicle is moving backward, the positive propulsion torque from the motor is increased via instructions provided by the processor until the vehicle stops and the parking system is in parking gear. and When the parking system is not in parking gear and the vehicle is moving forward, the negative propulsion torque from the motor is increased by instructions provided by the processor until the vehicle stops and the parking system is in parking gear.

7. A means of transport, comprising: Body, A drive system configured to generate motion of the vehicle body, the drive system including a motor; Braking system, including friction brakes that provide friction braking; and A processor, disposed on the vehicle and coupled to the motor, is configured to at least facilitate: When the vehicle stops, it is determined that friction braking loss has occurred; and When it is determined that frictional braking loss has occurred, a command is given to the motor to provide propulsive torque, thereby fixing the vehicle when it stops; The motor is also configured to execute instructions provided by the processor to provide propulsive torque; The processor is configured as follows: The processor determines whether the vehicle's parking system is in the parking position. The processor determines whether the vehicle is in motion; and When the parking system is not in the parking position and the vehicle is not moving, the current propulsion torque level from the motor is maintained by instructions provided by the processor until the parking system is in the parking position; When the parking system is not in parking position and the vehicle is moving, the propulsion torque from the motor is increased by instructions provided by the processor until the vehicle stops and the parking system is in parking position.

8. The means of transport according to claim 7, characterized in that, The processor is also configured to at least facilitate: When the vehicle is stopped, it is determined that communication with the vehicle's braking system has been lost; and When it is determined that communication with the braking system has been lost, a command is given to the motor to provide propulsive torque, thereby securing the vehicle when it stops.

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