The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 15, 2020
Filed:
Aug. 22, 2018
Filip Ilievski, Belmont, CA (US);
Matisse J. Milovich, Cupertino, CA (US);
Christopher M. Miller, Cupertino, CA (US);
Budhadipta Dan, San Jose, CA (US);
Jack E. Graves, Cupertino, CA (US);
Evan C. Cull, Sunnyvale, CA (US);
Irene Perali, San Francisco, CA (US);
Mira S. Misra, Los Gatos, CA (US);
Sheila P. Nabanja, Oakland, CA (US);
Lucian Ion, Mountain View, CA (US);
James J. Reuther, San Francisco, CA (US);
Christy F. Cull, Sunnyvale, CA (US);
Filip Ilievski, Belmont, CA (US);
Matisse J. Milovich, Cupertino, CA (US);
Christopher M. Miller, Cupertino, CA (US);
Budhadipta Dan, San Jose, CA (US);
Jack E. Graves, Cupertino, CA (US);
Evan C. Cull, Sunnyvale, CA (US);
Irene Perali, San Francisco, CA (US);
Mira S. Misra, Los Gatos, CA (US);
Sheila P. Nabanja, Oakland, CA (US);
Lucian Ion, Mountain View, CA (US);
James J. Reuther, San Francisco, CA (US);
Christy F. Cull, Sunnyvale, CA (US);
Apple Inc., Cupertino, CA (US);
Abstract
A method includes determining temperature values for roadway areas ahead of a vehicle, determining lubricant state values for the roadway areas, and determining lubricant thickness values for the roadway areas. The method also includes determining a tire-road friction estimate for each of the roadway areas using the temperature values, the lubricant state values, and the lubricant thickness values, and defining a friction map that relates the tire-road friction estimates to the roadway areas. The method also includes determining a motion plan based at least in part on the friction map, and controlling the vehicle based on the motion plan.