Environment-based anti-lock braking system
View Patent ↗A vehicle and anti-lock braking processes for the vehicle as automatically implemented by a computing device are disclosed. The vehicle can include a perception system and a computing device in communication with the perception system. The computing device can be configured to detect, using the perception system, an environmental condition external to the vehicle and select a wheel slip threshold based on the environmental condition. The environmental condition can be a weather-based condition or an obstacle-based condition. If the selected wheel slip threshold is reached while the vehicle is braking, the computing device can send a command to activate anti-lock braking for the vehicle.
1. A method of braking a vehicle, comprising:
detecting, using a perception system, an environmental condition external to the vehicle;
selecting a wheel slip threshold based on the environmental condition; and
if the wheel slip threshold is reached while the vehicle is braking, sending a command to activate anti-lock braking.
2. The method of claim 1 , wherein the environmental condition is one of a weather-based condition and an obstacle-based condition.
3. The method of claim 2 , wherein the weather-based condition is at least one of rain and snow and hail and sleet and ice.
4. The method of claim 2 , wherein the obstacle-based condition is at least one of a pothole and a speed bump and rough terrain.
5. The method of claim 2 , wherein the wheel slip threshold for an obstacle-based condition is larger than the wheel slip threshold for a weather-based condition.
6. The method of claim 1 , wherein the wheel slip threshold is a predetermined drop in velocity for one or more wheels of the vehicle.
7. The method of claim 1 , wherein the wheel slip threshold is further based on at least one of vehicle speed and vehicle deceleration and vehicle steering angle.
8. A computing device, comprising:
one or more processors for controlling operations of the computing device; and
a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to:
detect, using a perception system, an environmental condition external to a vehicle;
select a wheel slip threshold based on the environmental condition; and
if the wheel slip threshold is reached while the vehicle is braking, send a command to activate anti-lock braking.
9. The computing device of claim 8 , wherein the environmental condition is one of a weather-based condition and an obstacle-based condition.
10. The computing device of claim 9 , wherein the weather-based condition is at least one of rain and snow and hail and sleet and ice.
11. The computing device of claim 9 , wherein the obstacle-based condition is at least one of a pothole and a speed bump and rough terrain.
12. The computing device of claim 9 , wherein the wheel slip threshold for an obstacle-based condition is larger than the wheel slip threshold for a weather-based condition.
13. The computing device of claim 8 , wherein the wheel slip threshold is a predetermined drop in velocity for one or more wheels of the vehicle.
14. The computing device of claim 8 , wherein the wheel slip threshold is further based on at least one of vehicle speed and vehicle deceleration and vehicle steering angle.
15. A vehicle, comprising:
a perception system disposed on the vehicle; and
a computing device in communication with the perception system, comprising:
one or more processors for controlling operations of the computing device; and
a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to:
detect, using the perception system, an environmental condition external to the vehicle;
select a wheel slip threshold based on the environmental condition; and
if the wheel slip threshold is reached while the vehicle is braking, send a command to activate anti-lock braking.
16. The vehicle of claim 15 , wherein the environmental condition is one of a weather-based condition and an obstacle-based condition.
17. The vehicle of claim 16 , wherein the weather-based condition is at least one of rain and snow and hail and sleet and ice.
18. The vehicle of claim 16 , wherein the obstacle-based condition is at least one of a pothole and a speed bump and rough terrain.
19. The vehicle of claim 16 , wherein the wheel slip threshold for an obstacle-based condition is larger than the wheel slip threshold for a weather-based condition.
20. The vehicle of claim 15 , wherein the wheel slip threshold is further based on at least one of vehicle speed and vehicle deceleration and vehicle steering angle.