Method and arrangement for controlling a vehicle

• US 6,154,688 A
• Filed: 03/06/1998
• Issued: 11/28/2000
• Est. Priority Date: 03/07/1997
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Hermsen, Wolfgang, Grosse, Christian, Bertram, Torsten, Bellmann, Holger, Dominke, Peter, Volkart, Asmus, Mueller, Jens-Olaf
• Primary Examiner(s): Nguyen, Tan
• Assistant Examiner(s): Tran, Dalena
• Application Number:
  US09/035,979
• Time in Patent Office: 998 Days
• Field of Search: 701/1, 701/48, 701/33, 701/36, 364/468.03, 364/468.06, 364/488, 364/491, 706/26, 706/919, 706/921, 707/900, 707/902, 707/906, 707/907, 707/908, 709/107, 709/208, 709/253, 709/251, 710/110, 710/126, 710/243
• US Class Current: 701/1
• CPC Class Codes: B60R 16/0315 using multiplexing techniques multiplexing for transmission of signals G08C15/00; multiplexing for electrical communication in general H04J
• CPC Class Codes: B60T 2260/08 Coordination of integrated systems
• CPC Class Codes: B60T 2260/09 Complex systems; Conjoint control of two or more vehicle active control systems
• CPC Class Codes: B60W 10/02 including control of driveline clutches
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 2050/0006 Digital architecture hierarchy
• CPC Class Codes: B60W 50/00 Details of control systems for road vehicle drive control not related to the control of a particular sub-unit , e.g. process diagnostic or vehicle driver interfaces
• CPC Class Codes: F02D 41/26 using computer, e.g. microprocessor

Abstract

The invention is directed to a method and an arrangement for controlling a motor vehicle. Several components are arranged in a command hierarchy and the commands for the components flow only from a higher abstraction level into a lower abstraction level and from a higher hierarchial level into a lower hierarchial level. Each component has only one command generator. The components operator-controlled elements are arranged in the command hierarchy as low as possible.

Claims

1. A method for controlling a vehicle having a system incorporating a plurality of components for controlling the vehicle and the components including at least one operator-controlled element, the method comprising the steps of:

arranging said components in the context of a command hierarchy including a plurality of hierarchial levels arranged one above the other with commands flowing only from a higher hierarchial level to a lower hierarchial level;

providing only one command generator for each component;

arranging a coordinating element for said system in the uppermost hierarchial level;

allocating at least some of said plurality of said components to said coordinating element so that the allocated components are subordinate to said coordinating element;

arranging said operator-controlled element in a command hierarchy in the uppermost level in which data of said operator-controlled element are evaluated to form a command; and

,

utilizing said coordinating element to coordinate the functions of said allocated components via commands.

2. The method of claim 1, wherein said allocated components, in turn, have components which are configured as subsystems.

3. The method of claim 1, wherein precisely one component of said system is a command receiver which receives commands to the system from the higher-ranking abstraction level.

4. A method for controlling a vehicle having a system incorporating a plurality of components for controlling the vehicle, the method comprising the steps of:

arranging said components in the context of a command hierarchy including a plurality of hierarchial levels arranged one above the other with commands flowing only from a higher hierarchial level to a lower hierarchial level;

providing only one command generator for each component;

arranging a coordinating element for said system in the uppermost hierarchial level;

allocating at least some of said plurality of said components to said coordinating element so that the allocated components are subordinate to said coordinating element;

utilizing said coordinating element to coordinate the functions of said allocated components via commands; and

,

wherein components having inherent commands exist which issue no commands to the outside.

5. A method for controlling a vehicle having a system incorporating a plurality of components for controlling the vehicle, the method comprising the steps of:

arranging said components in the context of a command hierarchy including a plurality of hierarchial levels arranged one above the other with commands flowing only from a higher hierarchial level to a lower hierarchial level;

providing only one command generator for each component;

arranging a coordinating element for said system in the uppermost hierarchial level;

allocating at least some of said plurality of said components to said coordinating element so that the allocated components are subordinate to said coordinating element;

utilizing said coordinating element to coordinate the functions of said allocated components via commands; and

,

wherein feedback relationships are provided between said components which are coupled to a command and over which information is conducted as to the execution of the command to the command generator; and

, wherein the feedback relationship is always opposite to command issuance.

6. A method for controlling a vehicle having a system incorporating a plurality of components for controlling the vehicle, the method comprising the steps of:

arranging said components in the context of a command hierarchy including a plurality of hierarchial levels arranged one above the other with commands flowing only from a higher hierarchial level to a lower hierarchial level;

providing only one command generator for each component;

arranging a coordinating element for said system in the uppermost hierarchial level;

allocating at least some of said plurality of said components to said coordinating element so that the allocated components are subordinate to said coordinating element;

utilizing said coordinating element to coordinate the functions of said allocated components via commands; and

,

wherein the commands are either executed as an implicit command, after one component executes the commands, which are given in the specification of said one component, or are configured as explicit commands for which detailed targets as well as time-dependent and further peripheral conditions are transmitted.

7. A method for controlling a vehicle having a system incorporating a plurality of components for controlling the vehicle, the method comprising the steps of:

arranging said components in the context of a command hierarchy including a plurality of hierarchial levels arranged one above the other with commands flowing only from a higher hierarchial level to a lower hierarchial level;

providing only one command generator for each component;

arranging a coordinating element for said system in the uppermost hierarchial level;

allocating at least some of said plurality of said components to said coordinating element so that the allocated components are subordinate to said coordinating element;

utilizing said coordinating element to coordinate the functions of said allocated components via commands; and

,

wherein a coordinator is arranged on a high abstraction level in the first hierarchial level for the total vehicle; and

, said coordinator coordinates the systems arranged in a second hierarchial level.

8. A method for controlling a vehicle having a system incorporating a plurality of components for controlling the vehicle, the method comprising the steps of:

arranging said components in the context of a command hierarchy including a plurality of hierarchial levels arranged one above the other with commands flowing only from a higher hierarchial level to a lower hierarchial level;

providing only one command generator for each component;

arranging a coordinating element for said system in the uppermost hierarchial level;

allocating at least some of said plurality of said components to said coordinating element so that the allocated components are subordinate to said coordinating element;

utilizing said coordinating element to coordinate the functions of said allocated components via commands; and

,

wherein said systems arranged in said second hierarchial level are a mechanical energy source and vehicle movement.

9. A method for controlling a vehicle having a system incorporating a plurality of components for controlling the vehicle and a source of mechanical energy, the method comprising the steps of:

arranging said components in the context of a command hierarchy including a plurality of hierarchial levels arranged one above the other with commands flowing only from a higher hierarchial level to a lower hierarchial level;

providing only one command generator for each component;

arranging a coordinating element for said system in the uppermost hierarchial level;

allocating at least some of said plurality of said components to said coordinating element so that the allocated components are subordinate to said coordinating element;

utilizing said coordinating element to coordinate the functions of said allocated components via commands; and

,

wherein the source of mechanical energy has a coordinator for said source in a first hierarchial level; and

, components engine, transmission and clutch are in a second hierarchial level.

10. A method for controlling a vehicle having a system incorporating a plurality of components for controlling the vehicle and one of the components being an engine of the vehicle, the method comprising the steps of:

arranging said components in the context of a command hierarchy including a plurality of hierarchial levels arranged one above the other with commands flowing only from a higher hierarchial level to a lower hierarchial level;

providing only one command generator for each component;

arranging a coordinating element for said system in the uppermost hierarchial level;

allocating at least some of said plurality of said components to said coordinating element so that the allocated components are subordinate to said coordinating element;

utilizing said coordinating element to coordinate the functions of said allocated components via commands; and

,

wherein the engine is further refined;

a coordinator is provided for said engine in a first hierarchial level; and

, said coordinator issues commands to the components for adjusting the air supply, injection and ignition in a second hierarchial place of the subsystem.

11. A method for controlling a vehicle having a system incorporating a plurality of components for controlling the vehicle and having a system defining vehicle movement, the method comprising the steps of:

arranging said components in the context of a command hierarchy including a plurality of hierarchial levels arranged one above the other with commands flowing only from a higher hierarchial level to a lower hierarchial level;

providing only one command generator for each component;

arranging a coordinating element for said system in the uppermost hierarchial level;

allocating at least some of said plurality of said components to said coordinating element so that the allocated components are subordinate to said coordinating element;

utilizing said coordinating element to coordinate the functions of said allocated components via commands; and

,

wherein the system defining vehicle movement has a coordinator for the vehicle movement in a first hierarchial level which outputs commands to components steering, suspension and drive train and brake in a second hierarchial level.

12. An arrangement for controlling a vehicle, the arrangement comprising:

a plurality of components arranged in a command hierarchy wherein commands always flow from a higher abstraction level to a lower abstraction level and from a higher hierarchial level to a lower hierarchial level;

said components including at least one operator-controlled element;

each component having only one command generator;

a coordinating element for the entire vehicle arranged in a high abstraction level;

a plurality of components subordinated to said coordinator;

said operator-controlled element being arranged in a command hierarchy in the uppermost level in which the data of said operator-controlled element are evaluated to form a command; and

,

said coordinating element being adapted to coordinate the function of the subordinated components via commands.