System and method for brake assistance of vehicle

Abstract

Systems and methods for brake assist for a vehicle are provided. The system includes a sensor system, a controller configured, by one or more processors, to receive sensor data from the sensor system, detect a braking event of the vehicle, monitor a vehicle state of the vehicle, the vehicle state including a deceleration rate of the vehicle, where the vehicle state and the deceleration rate are based on the sensor data, process the sensor data, and transmit the processed sensor data to the controller. The controller is configured to determine whether a vehicle state will trigger activation of an anti-lock brake system (ABS), and output one or more control signals in response to the deceleration rate satisfying a stop criterion and determining that the vehicle state will not trigger activation of the ABS, the braking torque applied to the wheels is reduced at a rate sufficient to reduce compression of the front suspension system prior to the vehicle being fully stopped by commanding the braking system.

Description

[0001] TECHNICAL FIELD The present invention relates generally to vehicle braking events and, more particularly, to systems and methods capable of providing brake assist to reduce suspension rebound motion that may occur when a vehicle comes to a complete stop. Background Art

[0002] When a vehicle comes to a complete stop, a rebound or rebound motion ensues, which is primarily due to the suspension system. The vehicle's suspension system is designed to provide a smooth and comfortable ride by absorbing and dampening shocks and vibrations from the road. When the vehicle is about to come to a stop, the suspension system compresses and stores energy in the form of compressed springs or other suspension components. This energy is then released or reduced when the vehicle comes to a complete stop. Rebound occurs when the spring or suspension component extends back to its original position, causing the vehicle to bounce slightly.

[0003] This rebound motion may have various negative consequences in addition to affecting the passenger ride quality. For example, rebound may cause wear on certain components of the vehicle, thereby reducing their lifespan, particularly components associated with the suspension system, such as springs and dampers (shock absorbers).

[0004] Therefore, it is desirable to provide systems or methods that can reduce and / or mitigate such rebound motion. Furthermore, other desirable features and characteristics of the present invention will become apparent from the subsequent detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing technical field and background. Summary of the invention

[0005] A method for brake assist for a vehicle is provided. In one example, the method includes: receiving sensor data indicating an observable condition of the vehicle from one or more sensors of the vehicle; detecting a braking event of the vehicle using one or more processors; in response to detecting the braking event, monitoring a vehicle state of the vehicle using one or more processors, the vehicle state including a deceleration rate of the vehicle during a braking cycle, wherein the vehicle state and the deceleration rate are based on the observable condition; processing the sensor data using one or more processors to determine whether the vehicle state will trigger activation of an anti-lock braking system (ABS) of the vehicle; and in response to the deceleration rate satisfying a stopping criterion and determining that the vehicle state will not trigger activation of the ABS, outputting one or more control signals using the one or more processors to command the braking system of the vehicle to reduce the braking torque applied by the braking system to the wheels of the vehicle at a rate sufficient to reduce compression of a front suspension system of the vehicle before the vehicle comes to a complete stop.

[0006] In various examples, the one or more control signals command the braking system to reduce braking torque at a rate sufficient to reduce rebound motion of the vehicle that occurs when the vehicle comes to a complete stop.

[0007] In various examples, the method includes, by one or more processors: estimating a full stop event when the vehicle is expected to stop based at least in part on a deceleration rate; and generating one or more control signals to command a braking system to reduce braking torque within a period of two seconds or less prior to the full stop event.

[0008] In various examples, detecting a braking event is based on observable conditions.

[0009] In various examples, the sensor data includes data indicative of wheel slip of a wheel of the vehicle, and in response to detecting the wheel slip, it is determined that the vehicle condition will trigger activation of the ABS.

[0010] In various examples, in response to a deceleration rate exceeding a deceleration threshold, it is determined that vehicle conditions will trigger activation of the ABS.

[0011] In various examples, the stopping criteria include data correlating a deceleration rate to time.

[0012] In various examples, the sensor data includes wheel data generated by wheel speed sensors of the vehicle indicating wheel slip of wheels of the vehicle, and acceleration data generated by deceleration sensors of the vehicle indicating a rate of deceleration of the vehicle.

[0013] A system for brake assist of a vehicle is provided. In one example, the system includes a sensor system including one or more sensors configured to sense observable conditions of the vehicle; a controller in operative communication with the sensor system and a braking system of the vehicle. The controller is configured to: receive sensor data indicating observable conditions of the vehicle from the sensor system; detect a braking event of the vehicle; in response to detecting the braking event, monitor a vehicle state of the vehicle, the vehicle state including a deceleration rate of the vehicle during a braking cycle, wherein the vehicle state and the deceleration rate are based on the observable conditions; process the sensor data to determine whether the vehicle state will trigger activation of an anti-lock braking system (ABS) of the vehicle; and in response to the deceleration rate satisfying a stop criterion and determining that the vehicle state will not trigger activation of the ABS, output one or more control signals to command the braking system of the vehicle to reduce the braking torque applied by the braking system to the wheels of the vehicle at a rate sufficient to reduce compression of a front suspension system of the vehicle before the vehicle comes to a complete stop.

[0014] In various examples, the one or more control signals command the braking system to reduce braking torque at a rate sufficient to reduce rebound motion of the vehicle that occurs when the vehicle comes to a complete stop.

[0015] In various examples, the controller is configured to utilize one or more processors to: estimate a full stop event when the vehicle is expected to stop based at least in part on the deceleration rate; and generate one or more control signals to command the braking system to reduce braking torque within a period of two seconds or less prior to the full stop event.

[0016] In various examples, the controller is configured to detect a braking event of the vehicle based on observable conditions using one or more processors.

[0017] In various examples, the sensor data includes data indicative of wheel slip of a wheel of the vehicle, and the controller is configured to determine, using the one or more processors, that a vehicle condition will trigger activation of the ABS in response to detecting the wheel slip.

[0018] In various examples, the controller is configured to determine, using one or more processors, that vehicle conditions will trigger activation of the ABS in response to the deceleration rate exceeding a deceleration threshold.

[0019] In various examples, the stopping criteria include data correlating a deceleration rate to time.

[0020] In various examples, the sensor data includes wheel data indicative of wheel slip of wheels of the vehicle generated by wheel speed sensors, and a deceleration rate of the vehicle generated by a deceleration sensor.

[0021] A vehicle is provided, in one example, the vehicle includes a braking system configured to apply braking torque to wheels of the vehicle, a sensor system including one or more sensors configured to sense observable conditions of the vehicle, an anti-lock braking system (ABS), a front suspension system, and a controller in operative communication with the braking system and the sensor system. The controller is configured to: receive sensor data indicating observable conditions of the vehicle from the sensor system; detect a braking event of the vehicle; in response to detecting the braking event, monitor a vehicle state of the vehicle, the vehicle state including a deceleration rate of the vehicle during a braking cycle, wherein the deceleration rate is based on the observable conditions; process the sensor data to determine whether the vehicle state will trigger activation of the ABS of the vehicle; and in response to the deceleration rate satisfying a stopping criterion and determining that the vehicle state will not trigger activation of the ABS, output one or more control signals to command the braking system of the vehicle to reduce the braking torque applied by the braking system to the wheels of the vehicle at a rate sufficient to reduce compression of the front suspension system of the vehicle before the vehicle comes to a complete stop.

[0022] In various examples, the one or more control signals command the braking system to reduce braking torque at a rate sufficient to reduce rebound motion of the vehicle that occurs when the vehicle comes to a complete stop.

[0023] In various examples, the controller is configured to utilize one or more processors to: estimate a full stop event in which the vehicle is expected to stop based at least in part on the deceleration rate; and generate one or more control signals to command the braking system to reduce braking torque within a period of two seconds or less prior to the full stop event.

[0024] In various examples, the one or more sensors of the sensor system include a wheel speed sensor configured to sense a rotational speed of a wheel of the vehicle and generate wheel data indicating wheel slip of the wheel, and a deceleration sensor configured to sense a deceleration rate of the vehicle and generate deceleration data indicating the deceleration rate. The sensor data includes the wheel data and the deceleration data. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Exemplary embodiments will be described below with reference to the following drawings, wherein like numerals represent like elements, and wherein:

[0026] Figure 1 is a functional block diagram illustrating a vehicle brake assist system for a vehicle according to various implementations;

[0027] Figure 2 According to various implementation methods Figure 1 Data flow diagram of the vehicle brake assist system; and

[0028] Figure 3 is a flow chart of a method for vehicle brake assist according to various implementations. DETAILED DESCRIPTION

[0029] The following detailed description is merely exemplary in nature and is not intended to limit the application and uses. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, summary or the following detailed description.

[0030] The following detailed description is merely exemplary in nature and is not intended to limit application and use. In addition, there is no intention to be bound by any express or implied theory presented in the aforementioned technical field, background technology, invention content or the following detailed description. As used herein, the term module refers to any hardware, software, firmware, electronic control component, processing logic and / or processor device, alone or in any combination, including but not limited to: application-specific integrated circuits (ASICs), electronic circuits, processors (shared, dedicated or groups) and memories that execute one or more software or firmware programs, combinational logic circuits and / or other suitable components that provide the described functions.

[0031] Examples of the present disclosure may be described herein in terms of functions and / or logic block components and various processing steps. It should be understood that such block components may be implemented by any number of hardware, software and / or firmware components configured to perform a specified function. For example, examples of the present disclosure may employ various integrated circuit components, such as memory elements, digital signal processing elements, logic elements, lookup tables, etc., which may perform various functions under the control of one or more microprocessors or other control devices. In addition, those skilled in the art will appreciate that examples of the present disclosure may be practiced in conjunction with any number of systems, and the systems described herein are merely examples of the present disclosure.

[0032] For the sake of brevity, conventional techniques related to other functional aspects of signal processing, data transmission, signaling, control, and systems (and the various operating components of the systems) may not be described in detail herein. In addition, the connecting lines shown in the various figures included herein are intended to represent example functional relationships and / or physical couplings between various elements. It should be noted that many alternative or additional functional relationships or physical connections may exist in the examples disclosed herein.

[0033] Figure 1 A vehicle 10 including a brake assist system 100 is shown according to one example. The system 100 is configured to monitor braking events and, under certain conditions, automatically reduce the braking torque (brake pressure or braking force) applied by the braking system 26 to the wheels 16-18 of the vehicle 10 in a gradual, progressive, incremental, linear, exponential, or other manner intended to reduce the rebound motion of the vehicle 10 when it is at a complete stop. In particular, during a braking cycle, manually controlled or operator-initiated braking typically causes rebound motion when the vehicle is at a complete stop due to the reduction in compression within the vehicle's front suspension system 35b caused by its forward momentum. The system 100 reduces or eliminates this rebound motion by reducing the compression within its front suspension system 35b, thereby improving passenger comfort and the life of certain components of the vehicle 10 (such as those associated with the front suspension system 35b). As used herein, a braking event refers to the initiation of braking torque by the braking system 26 on the wheels 16-18 (e.g., depression of the brake pedal 31), a full stop event refers to a full stop (i.e., zero speed) of the vehicle 10, and a braking cycle refers to the continuous or discontinuous application of braking torque by the braking system 26 between a braking event and a full stop event.

[0034] In some examples, the vehicle 10 includes an automobile. In various examples, the vehicle 10 can be any of a variety of different types of automobiles, such as, for example, a sedan, a van, a truck, or a sport utility vehicle (SUV), and in some examples can be a two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), a four-wheel drive (4WD) or an all-wheel drive (AWD) and / or various other types of vehicles. In some examples, the vehicle 10 can also include a motorcycle, a recreational vehicle, a military vehicle, a train, and / or one or more other types of vehicles. In addition, in various examples, it will also be understood that the vehicle 10 can include any number of other types of mobile platforms.

[0035] like Figure 1 As depicted in FIG. 1 , an exemplary vehicle 10 generally includes a chassis 12, a body 14, front wheels 16, and rear wheels 18. The body 14 is disposed on the chassis 12 and substantially surrounds the components of the vehicle 10. The body 14 and the chassis 12 may together form a frame. The wheels 16-18 are each rotationally coupled to the chassis 12 near a respective corner of the body 14.

[0036] The vehicle 10 further includes a propulsion system 20, a transmission system 22, a steering system 24, a braking system 26, a sensor system 28, an actuator system 30, at least one data storage device 32, at least one controller 34, a rear suspension system 35a, a front suspension system 35b, and an anti-lock braking system (ABS) 36. The propulsion system 20 may include a gasoline or diesel fuel internal combustion engine, an electric motor, a hybrid engine, or another type of engine or motor. The transmission system 22 is configured to transmit power from the propulsion system 20 to the wheels 16-18 according to a selectable speed ratio. According to various examples, the transmission system 22 may include a step ratio automatic transmission, a continuously variable transmission, or other suitable transmission. The steering system 24 affects the position of the wheels 16-18. Although depicted as including a steering wheel 24a for illustrative purposes, in some examples contemplated within the scope of the present disclosure, the steering system 24 may not include a steering wheel 24a.

[0037] The brake system 26 is configured to provide braking torque, pressure, or force to the wheels 16-18. In various examples, the brake system 26 can include friction brakes, brake-by-wire brakes, a regenerative braking system such as an electric motor, and / or other suitable braking systems. In one example, the vehicle 10 includes a brake pedal 31 that an operator can move from a released position to a depressed position to activate the brake system 26 to apply braking torque (i.e., pressure or force).

[0038] The front suspension system 35a and the rear suspension system 35b are configured to support the weight of the vehicle 10, absorb shocks from the road, and provide a comfortable and stable ride for the occupants. The front suspension system 35a and the rear suspension system 35b may include various components such as, but not limited to, springs, dampers (shock absorbers), control arms (A arms or wishbones), anti-roll bars, struts, bushings, links, and joints.

[0039] The ABS 36 is configured to reduce the likelihood of the wheels 16-18 locking during a braking event (i.e., application of the brake system 26), thereby maintaining traction contact with the road and facilitating control of the vehicle 10. In some examples, the ABS 36 may include a central electronic control unit (ECU), four wheel speed sensors, and at least two hydraulic valves within the brake hydraulic system of the vehicle 10. The ECU monitors the rotational speed of each wheel 16-18. If the ECU detects that the rotation of the wheel 16-18 is significantly slower than the speed of the vehicle 10, which is a condition indicating an impending wheel lock, the ECU actuates the hydraulic valve to reduce the hydraulic pressure of the brake system 26 at the affected wheel 16-18, thereby reducing the braking force on the wheel 16-18 and allowing the wheel 16-18 to rotate faster. Conversely, if the ECU detects that one of the wheels 16-18 is rotating much faster than the other wheels, the brake hydraulic pressure to the corresponding wheel 16-18 is increased, thereby reapplying the braking force to slow down the corresponding wheel 16-18.

[0040] The sensor system 28 includes one or more sensing devices 40a-40n that sense the external environment, observable conditions of the internal environment, and / or the state or condition of corresponding components of the vehicle 10, and provide such conditions and / or states to other systems of the vehicle 10, such as the controller 34. It should be understood that the vehicle 10 may include any number of sensing devices 40a-40n. The sensing devices 40a-40n may include, but are not limited to, deceleration sensors, wheel speed sensors, etc.

[0041] The actuator system 30 includes one or more actuator devices 42 a - 42 n that control one or more vehicle features such as, but not limited to, the propulsion system 20 , the transmission system 22 , the steering system 24 , and the braking system 26 .

[0042] The data storage device 32 stores data used to control the vehicle 10 and / or its systems and components. It will be appreciated that the data storage device 32 may be part of the controller 34, separate from the controller 34, or part of the controller 34 and part of a separate system. The storage device 32 may be any suitable type of storage device, including various different types of direct access storage and / or other memory devices. In one example, the storage device 32 includes a program product from which a computer readable memory device may receive a program that performs one or more processes of the present disclosure, such as described below in conjunction with Figure 3 The steps of the process are further discussed. In another example, the program product may be stored directly in the memory device and / or one or more other disks and / or other memory devices, and / or otherwise accessed by them.

[0043] The controller 34 includes at least one processor 44, a communication bus 45, and a computer-readable storage device or medium 46. The processor 44 performs the computational and control functions of the controller 34. The processor 44 can be any custom or commercially available processor, a central processing unit (CPU), a graphics processing unit (GPU), an auxiliary processor of several processors associated with the controller 34, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, any combination thereof, or any device generally used to execute instructions. For example, the computer-readable storage device or medium 46 can include volatile and non-volatile storage in a read-only memory (ROM), a random access memory (RAM), and a keep-alive memory (KAM). KAM is a persistent or non-volatile memory that can be used to store various operating variables when the processor 44 is powered off. The computer readable storage device or medium 46 may be implemented using any of a number of known memory devices, such as a PROM (Programmable Read Only Memory), an EPROM (Electrical PROM), an EEPROM (Electrically Erasable PROM), flash memory, or any other electrical, magnetic, optical, or combination memory device capable of storing data, some of which represents executable instructions used by the controller 34 in controlling the vehicle 10. The bus 45 is used to transfer programs, data, status, and other information or signals between the various components of the vehicle 10. The bus 45 can be any suitable physical or logical means of connecting computer systems and components. This includes, but is not limited to, direct hardwired connections, fiber optics, infrared, and wireless bus technologies.

[0044] The instructions may include one or more separate programs, each of which includes an ordered list of executable instructions for implementing logical functions. When executed by the processor 44, the instructions receive and process signals from the sensor system 28, perform logic, calculations, methods and / or algorithms, and generate data based on the logic, calculations, methods and / or algorithms. Figure 1Only one controller 34 is shown, but examples of vehicle 10 may include any number of controllers 34 that communicate via any suitable communication medium or combination of communication mediums and cooperate to process sensor signals, execute logic, calculations, methods and / or algorithms, and generate data.

[0045] It will be appreciated that the controller 34 may be different in other ways. Figure 1 . For example, the controller 34 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems, such as as part of one or more of the vehicle devices and systems described above. It should be understood that although this example is described in the context of a fully functional computer system, those skilled in the art will recognize that the mechanisms of the present disclosure are capable of being distributed as a program product along with one or more types of non-transitory computer-readable signal-bearing media for storing programs and their instructions and performing their distribution, such as a non-transitory computer-readable medium that carries the program and contains computer instructions stored therein for causing a computer processor (such as processor 44) to execute and implement the program. Such a program product may take a variety of forms, and the present disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used to perform the distribution. Examples of signal-bearing media include: recordable media, such as floppy disks, hard drives, memory cards, and optical disks, and transmission 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 examples. Similarly, it should be understood that the computer system of the controller 34 may also be different from other systems in other ways. Figure 1 In the example depicted in FIG. 1 , for example, the computer system of controller 34 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems.

[0046] refer to Figure 2 And continue to refer to Figure 1 , a data flow diagram showing the Figure 1 Elements of the brake assist system 100. It will be appreciated that various examples of the system 100 according to the present disclosure may include any number of modules embedded within the controller 34, which may be combined and / or further divided to similarly implement the systems and methods described herein. In addition, inputs to the system 100 may be received from other control modules (not shown) associated with the vehicle 10, and / or determined / modeled by other submodules (not shown) within the controller 34. In addition, the inputs may also be pre-processed, such as sub-sampling, noise reduction, normalization, feature extraction, missing data reduction, etc. In various examples, the system 100 includes a startup module 110, a brake cycle monitoring module 112, and a smooth stop control module 114.

[0047] In various examples, the activation module 110 receives as input sensor data 120 generated by one or more sensors (eg, sensing devices 40a-40n). The sensor data 120 includes various data indicative of one or more observable conditions of the vehicle 10, such as, but not limited to, wheel slip and deceleration rate.

[0048] The initiation module 110 processes the sensor data 120 to detect a braking event of the vehicle 10 that initiates a braking cycle. The braking event may be a braking event initiated and / or commanded by an operator controller. For example, the braking event may be in response to an operator moving the brake pedal 31 from a released position to a depressed position or toward a depressed position to activate the braking system 26 to apply a braking torque, pressure, or force. Various methods may be used to detect a braking event. In some examples, a braking event may be detected based on a deceleration rate of the vehicle 10. In some examples, a braking event may be detected based on an activation or command signal indicating the application of a brake of the braking system 26. The initiation module 110 generates initiation data 122 including data indicating the detection of a braking event.

[0049] In various examples, the brake cycle monitoring module 112 receives the startup data 122 generated by the startup module 110 as input. In response to detecting a braking event, the brake cycle monitoring module 112 performs monitoring of the vehicle state during the braking cycle. In some examples, the brake cycle monitoring module 112 monitors the deceleration rate of the vehicle 10 during the braking cycle. In such an example, the deceleration rate can be provided as one of the observable conditions or derived from one or more of the observable conditions. The vehicle state, deceleration rate and / or other characteristics of the vehicle 10 indicated by the sensor data 120 or derived from the sensor data 120 can be analyzed, and / or compared with the stop criteria. In some examples, the stop criteria can be stored in the data storage device 32 or the computer readable storage device or medium 46. In some examples, the comparison based on the stop criteria can cause the brake cycle monitoring module 112 to perform various actions. In some examples, the stop criteria can provide the brake cycle monitoring module 112 to continue monitoring activities, stop monitoring activities or generate brake cycle monitoring data 124. For example, the brake cycle monitoring module 112 may stop monitoring activity when the deceleration rate exceeds a deceleration threshold indicating activation of the ABS 35 during a braking cycle. As another example, the brake cycle monitoring module 112 may continue monitoring activity when the speed of the vehicle 10 is greater than a speed threshold indicating an imminent full stop (i.e., a full stop event) of the vehicle 10 and the deceleration rate is less than the aforementioned deceleration threshold. As yet another example, the brake cycle monitoring module 112 may initiate a reduction in the braking torque of the braking system 26 when the speed of the vehicle 10 is less than the speed threshold and the deceleration rate is less than the deceleration threshold. In some examples, the vehicle 10 may be considered to be about to come to a full stop when, for example, it is calculated based on the speed and deceleration rate of the vehicle 10 that the vehicle 10 will come to a full stop in two seconds or less (such as one second or less). The brake cycle monitoring data 124 includes various data indicating that the current conditions of the vehicle 10 are desirable for the initiation of autonomous and / or automatic brake assistance.

[0050] In various examples, the smooth stop control module 114 receives the sensor data 120 as input. The smooth stop control module 114 also receives the brake cycle monitoring data 124 generated by the brake cycle monitoring module 112 as input. The smooth stop control module 114 determines a deceleration rate or deceleration curve suitable for reducing the compression of the front suspension system 35b when the vehicle 10 stops, so that little rebound movement occurs when the vehicle 10 is completely stopped. In some examples, the deceleration rate or deceleration curve can be based on a lookup table or chart stored in the data storage device 32 or the computer readable storage device or medium 46. The smooth stop control module 114 generates smooth stop control data 126, which includes various data configured to command the braking system 26 of the vehicle 10 to adjust the braking torque applied thereby to slow down the vehicle 10 at a desired deceleration rate or deceleration curve (e.g., with a variable or changing deceleration rate). The smooth stop control module 114 can transmit the smooth stop control data 126 to the braking system 26.

[0051] Reference now Figure 3 And continue to refer to Figure 1-Figure 2 According to various examples, the flowchart provides a method 200 for brake assist of the vehicle 10, such as performed by the system 100. It is understood from the present disclosure that the order of operations within the method 200 is not limited to the following. Figure 3 , but may be performed in one or more altered orders where applicable and in accordance with the present disclosure. In various examples, method 200 may be scheduled to run based on one or more predetermined events, and / or may run continuously during operation of vehicle 10.

[0052] In one example, method 200 may begin at 210. In some examples, method 200 may begin in response to detecting a braking event of vehicle 10.

[0053] At 212 , method 200 may include monitoring wheel slip. In some examples, wheel speed sensors of vehicle 10 may be configured to detect wheel slip. If wheel slip is detected at 214 , engagement of ABS 36 is contemplated at 222 , and method 200 may end at 226 .

[0054] At 216, method 200 may include monitoring the deceleration rate and speed of vehicle 10. At 218, the deceleration rate is compared to a deceleration threshold. If at 218 the deceleration rate exceeds the deceleration threshold, engagement of ABS 36 is anticipated at 222, and method 200 may end at 226. If at 218 the deceleration rate is less than the deceleration threshold, method 200 may continue to 220. In some examples, the deceleration threshold represents a deceleration rate corresponding to wheel slip. For example, the deceleration threshold may be based on a deceleration rate associated with a particular likelihood of causing wheel slip.

[0055] At 220, method 200 may include comparing the speed to a speed threshold. If the speed is greater than the speed threshold, method 200 may include continuing to monitor the deceleration rate and speed at 216. If the speed is less than the speed threshold at 220, method 200 may include reducing the braking torque applied by braking system 26 to provide reduced compression within front suspension system 35b, thereby reducing rebound motion that may occur during a full stop of vehicle 10. Method 200 may end at 226. In some examples, method 200 ends in response to a full stop event of vehicle 10.

[0056] The systems and methods disclosed herein provide various benefits over certain existing systems and methods. For example, during a braking event, operator-initiated, controlled, or commanded braking typically results in a rebound motion when the vehicle 10 is completely stopped, which is caused by a rapid reduction in compression within the suspension system 35 due to the forward momentum of the vehicle 10. The systems and methods disclosed herein provide intervention in operator-initiated, controlled, or commanded braking, and provide an automatic or autonomous reduction in the braking torque, pressure, or force applied by the braking system 26 of the vehicle 10 during and / or while the operator-initiated, controlled, or commanded braking. This reduction in braking torque can allow the front suspension system 35b to be decompressed more gradually, thereby reducing the rebound motion when the vehicle 10 is completely stopped. In some examples, the rebound motion can be sufficiently reduced so that the operator of the vehicle 10 cannot perceive the rebound motion. This can improve ride quality and extend vehicle component life.

[0057] Although at least one embodiment has been presented in the foregoing detailed description, it should be understood that there are a large number of variations. It should also be understood that the exemplary embodiment or multiple exemplary embodiments are merely examples and are not intended to limit the scope, applicability or configuration of the present disclosure in any way. On the contrary, the foregoing detailed description will provide a convenient roadmap for implementing the exemplary embodiment or multiple exemplary embodiments for those skilled in the art. It should be understood that various changes may be made to the functions and arrangements of the elements without departing from the scope of the present disclosure as set forth in the attached claims and their legal equivalents.

Claims

1. A method for providing brake assistance for a vehicle, the method comprising: receiving sensor data indicative of an observable condition of the vehicle from one or more sensors of the vehicle; detecting, using one or more processors, a braking event of the vehicle; responsive to detecting the braking event, monitoring, with the one or more processors, a vehicle state of the vehicle, the vehicle state comprising a deceleration rate of the vehicle during a braking cycle, wherein the vehicle state and the deceleration rate are based on the observable condition; processing the sensor data with the one or more processors to determine whether the vehicle condition will trigger activation of an anti-lock braking system (ABS) of the vehicle; and In response to the deceleration rate satisfying the stopping criteria and determining that the vehicle state will not trigger activation of the ABS, outputting one or more control signals using the one or more processors to command the vehicle's braking system to reduce the braking torque applied by the braking system to the wheels of the vehicle at a rate sufficient to reduce compression of the vehicle's front suspension system before the vehicle comes to a complete stop.

2. The method according to claim 1, further comprising: estimating a full stop event when the vehicle is expected to stop based at least in part on the deceleration rate; as well as The one or more control signals are generated to command the braking system to reduce the braking torque within a period of two seconds or less prior to the full stop event.

3. The method according to claim 1, wherein: Detecting the braking event is based on the observable condition.

4. The method according to claim 1, wherein: The sensor data includes data indicative of wheel slip of the wheels of the vehicle, and in response to detecting the wheel slip, it is determined that the vehicle condition will trigger activation of the ABS.

5. The method according to claim 1, wherein: In response to the deceleration rate exceeding a deceleration threshold, it is determined that the vehicle state will trigger activation of the ABS.

6. A system for vehicle braking assistance, comprising: a sensor system comprising one or more sensors configured to sense observable conditions of the vehicle; a controller in operable communication with the sensor system and a braking system of the vehicle, the controller being configured by one or more processors to: receiving sensor data indicative of the observable condition of the vehicle from the sensor system; detecting a braking event of the vehicle; responsive to detecting the braking event, monitoring a vehicle state of the vehicle, the vehicle state comprising a deceleration rate of the vehicle during a braking cycle, wherein the vehicle state and the deceleration rate are based on the observable condition; processing the sensor data to determine whether the vehicle state will trigger activation of an anti-lock braking system (ABS) of the vehicle; and In response to the deceleration rate satisfying the stopping criteria and determining that the vehicle state will not trigger activation of the ABS, one or more control signals are output to command the vehicle's braking system to reduce the braking torque applied by the braking system to the wheels of the vehicle at a rate sufficient to reduce compression of the vehicle's front suspension system before the vehicle comes to a complete stop.

7. The system according to claim 6, wherein: The controller is configured to utilize the one or more processors to: estimating a full stop event when the vehicle is expected to stop based at least in part on the deceleration rate; and The one or more control signals are generated to command the braking system to reduce the braking torque within a period of two seconds or less prior to the full stop event.

8. The system according to claim 6, wherein: The controller is configured to detect the braking event of the vehicle based on the observable conditions using the one or more processors.

9. The system according to claim 6, wherein: The sensor data includes data indicative of wheel slip of a wheel of the vehicle, and the controller is configured to determine, using the one or more processors, that the vehicle condition will trigger activation of the ABS in response to detecting the wheel slip.

10. The system according to claim 6, wherein: The controller is configured to determine, using the one or more processors, that the vehicle condition will trigger activation of the ABS in response to the deceleration rate exceeding a deceleration threshold.

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