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First Claim
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1. A vehicle control configuration comprising:
- a hierarchical control system including an upper hierarchical level and a lower hierarchical level;
the upper hierarchical level communicates to the lower hierarchical level by sending downward signals;
the lower hierarchical level communicates to the upper hierarchical level by sending upward signals;
wherein the downward signals include at least one request for vehicle modification; and
wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification.
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Abstract
A vehicle control configuration and method of controlling a vehicle having a hierarchical control system including an upper hierarchical level and a lower hierarchical level. The upper hierarchical level communicates to the lower hierarchical level by sending downward signals and the lower hierarchical level communicates to the upper hierarchical level by sending upward signals. The downward signals include at least one request for vehicle modification. Furthermore, the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification.
65 Citations
20 Claims
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1. A vehicle control configuration comprising:
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a hierarchical control system including an upper hierarchical level and a lower hierarchical level;
the upper hierarchical level communicates to the lower hierarchical level by sending downward signals;
the lower hierarchical level communicates to the upper hierarchical level by sending upward signals;
wherein the downward signals include at least one request for vehicle modification; and
wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A vehicle control system comprising:
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a vehicle motion control subsystem having a control input and a control output;
a suspension coordinator subsystem including a subsystem input and a subsystem output;
wherein the vehicle motion control subsystem outputs downward signals out of the control output to the subsystem input of the suspension coordinator subsystem;
wherein the suspension coordinator subsystem outputs upward signals out of the subsystem output to the control input of the vehicle motion control subsystem;
wherein the downward signals include at least one request for vehicle modification; and
wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method of controlling a vehicle comprising:
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providing the vehicle with a hierarchical control system including an upper hierarchical level and a lower hierarchical level;
communicating downward signals from the upper hierarchical level to the lower hierarchical level;
communicating upward signals from the lower hierarchical level to the upper hierarchical level;
wherein the downward signals include at least one request for vehicle modification; and
wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification