Vehicle control system and method
First Claim
1. A control system for a vehicle, comprising:
- at least one input device which is operatively connected to a first sensor, a second sensor and a third sensor for sensing an input to said input device and providing in response thereto a first unprocessed sensor signal, a second unprocessed sensor signal and a third unprocessed sensor signal;
an input device module which is adapted to receive the first unprocessed sensor signal, the second unprocessed sensor signal and the third unprocessed sensor signal and provide a processed sensor signal output;
a first controller which is adapted to receive the first unprocessed sensor signal and the processed sensor signal;
a second controller which is adapted to receive the second unprocessed sensor signal and the processed sensor signal;
a third controller which is adapted to receive the third unprocessed sensor signal and the processed sensor signal, and a controller bus which is operatively connected to each of said first controller, said second controller and said third controller and adapted to provide signal communication between each of them.
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Accused Products
Abstract
A control system and method for use in vehicles, such as automotive vehicles. The control system and method is particularly adapted for use in vehicles having by-wire control systems. The control system uses three system controllers. Each of the controllers is adapted to receive redundant control inputs from at least one input device, such as a steering actuator, an accelerator actuator and a brake actuator. Each controller is adapted to receive a different unprocessed actuator sensor signal and a processed actuator sensor signal which are associated with the input device. Each controller may also be adapted to receive a sensor status signal which is also associated with the input device. In accordance with the method of the invention, these signals may be used to determine a sensor signal which may be used as the basis for control of control systems or components in response to the input device. Depending on the status of these signals, the sensor signal used for control may comprise the processed sensor signal or a resolved sensor signal. The sensor signal used for control may be determined by implementing a voting process in conjunction with the controllers which utilizes both the unprocessed sensor signals and the processed sensor signals.
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Citations
26 Claims
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1. A control system for a vehicle, comprising:
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at least one input device which is operatively connected to a first sensor, a second sensor and a third sensor for sensing an input to said input device and providing in response thereto a first unprocessed sensor signal, a second unprocessed sensor signal and a third unprocessed sensor signal;
an input device module which is adapted to receive the first unprocessed sensor signal, the second unprocessed sensor signal and the third unprocessed sensor signal and provide a processed sensor signal output;
a first controller which is adapted to receive the first unprocessed sensor signal and the processed sensor signal;
a second controller which is adapted to receive the second unprocessed sensor signal and the processed sensor signal;
a third controller which is adapted to receive the third unprocessed sensor signal and the processed sensor signal, and a controller bus which is operatively connected to each of said first controller, said second controller and said third controller and adapted to provide signal communication between each of them. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A control system for a vehicle, comprising:
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a plurality of input devices, each said input device operatively connected to a first sensor, a second sensor and a third sensor for sensing an input to said input device and providing in response thereto a first unprocessed sensor signal, a second unprocessed sensor signal and a third unprocessed sensor signal;
a plurality of input device modules, each said input device module corresponding to one of the plurality of input devices and adapted to receive its first unprocessed sensor signal, second unprocessed sensor signal and third unprocessed sensor signal and provide a corresponding processed sensor signal output;
a first controller which is adapted to receive the first unprocessed sensor signal and the processed sensor signal of each of said input devices;
a second controller which is adapted to receive the second unprocessed sensor signal and the processed sensor signal of each of said input devices;
a third controller which is adapted to receive the third unprocessed sensor signal and the processed sensor signal of each of said input devices; and
a controller bus which is operatively connected to each of said first controller, said second controller and said third controller and adapted to provide signal communication between each of them. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A method of determining an input command for a control system from a sensed input:
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providing a first unprocessed sensor signal and a processed sensor signal which are associated with a sensed input to a first controller and comparing the first unprocessed sensor signal and the processed sensor signal to obtain a first signal differential;
providing a second unprocessed sensor signal and the processed sensor signal which are associated with the sensed input to a second controller and comparing the second unprocessed sensor signal and the processed sensor signal to obtain a second signal differential;
providing a third unprocessed sensor signal and a processed sensor signal which are associated with the sensed input to a third controller and comparing the third unprocessed sensor signal and the processed sensor signal to obtain a third signal differential;
comparing the absolute value of each of the first signal differential, second signal differential and third signal differential to a predetermined differential threshold, if the absolute value of each of the first signal differential, second signal differential and third signal differential is less than or equal to the predetermined differential threshold, using the processed sensor signal in each of the first controller, second controller and third controller for control based on the sensed input;
if the absolute value of one of the first signal differential, second signal differential and third signal differential is greater than the predetermined differential threshold, determining a resolved sensor signal for use in each of the first controller, second controller and third controller for control based on the sensed input. - View Dependent Claims (20, 21, 22)
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23. A method of determining an input command for a control system from a sensed input:
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providing a first unprocessed sensor signal, a processed sensor signal and a sensor status signal which are associated with a sensed input to a first controller and comparing the first unprocessed sensor signal and the processed sensor signal to obtain a first signal differential, wherein the sensor status signal is adapted to provide a fault or-no-fault status indication for each of the first unprocessed sensor signal, second unprocessed sensor signal and the third unprocessed sensor signal;
providing a second unprocessed sensor signal, the processed sensor signal and the sensor status signal which are associated with the sensed input to a second controller and comparing the second unprocessed sensor signal and the processed sensor signal to obtain a second signal differential;
providing a third unprocessed sensor signal, the processed sensor signal and the sensor status signal which are associated with the sensed input to a third controller and comparing the third unprocessed sensor signal and the processed sensor signal to obtain a third signal differential;
comparing the absolute value of each of the first signal differential, second signal differential and third signal differential to a predetermined differential threshold, if the absolute value of each of the first signal differential, second signal differential and third signal differential is less than or equal to the predetermined differential threshold, using the processed sensor signal in each of the first controller, second controller and third controller for control based on the sensed input;
if the absolute value of at least one of the first signal differential, second signal differential and third signal differential is greater than the predetermined differential threshold, determining which of the first signal differential, second signal differential and third signal differential is greater than the predetermined differential threshold and providing a fault indication for the unprocessed sensor signal associated with that signal differential;
comparing the fault indication of the unprocessed sensor signal with the status indication of the sensor status signal of that unprocessed sensor signal;
if the fault indication of the unprocessed sensor signal and the status indication of the sensor status signal of that unprocessed sensor signal both indicate a fault, using the processed sensor signal in each of the first controller, second controller and third controller for control based on the sensed input if the fault indication of the unprocessed sensor signal with the status indication of the sensor status signal of that unprocessed sensor signal do not both indicate a fault, determining a resolved sensor signal for use in each of the first controller, second controller and third controller for control based on the sensed input. - View Dependent Claims (24, 25, 26)
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Specification