Multi-module control-by-wire architecture

• US 6,424,900 B2
• Filed: 02/01/2001
• Issued: 07/23/2002
• Est. Priority Date: 02/01/2000
• Status: Expired due to Term

• Current Assignee: Pacific Century Motors, Inc. (Aviation Industry Corporation of China, Ltd.), GM Global Technology Operations Incorporated (Motors Liquidation Co. GUC Trust)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: DʼAmbrosio, Joseph G., Millsap, Scott A., Byers, Michael D., Murray, Brian Thomas, Disser, Robert John, Mescher, Patrick Allen, Foust, Jeff Allan, Heinrichs, Jeffrey Alan
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US09/775,143
• Publication Number:
  US 20010029408A1
• Time in Patent Office: 537 Days
• Field of Search: 701/1, 701/22, 701/29, 701/30, 701/33, 701/34, 701/48
• US Class Current: 701/48
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60T 2260/08 Coordination of integrated systems
• CPC Class Codes: B60T 2270/404 Brake-by-wire or X-by-wire failsafe
• CPC Class Codes: B60T 2270/82 Brake-by-Wire, EHB
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60W 2050/0006 Digital architecture hierarchy
• CPC Class Codes: B60W 2050/021 Means for detecting failure or malfunction
• CPC Class Codes: B60W 2050/0292 Fail-safe or redundant systems, e.g. limp-home or backup systems
• CPC Class Codes: B60W 2050/041 Built in Test Equipment [BITE]
• CPC Class Codes: F16H 2061/122 Avoiding failures by using redundant parts
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 9/03 with multiple-channel loop, i.e. redundant control systems
• CPC Class Codes: G06F 11/2002 where interconnections or communication control functionality are redundant flexible arrangements for bus networks involving redundancy H04L12/40176

Abstract

A control-by-wire control system comprising a plurality of control device(s), each control device is responsive to, and configured to receive a control signal. Also included in the control-by-wire control system is a plurality of sensors wherein certain sensors are coupled to particular control devices. The sensors, each sense a parameter of the system and generate various sensor signals in response. A plurality of control modules is also included in control-by-wire control system. Each control module is interfaced to at least one of the control devices and is adapted to receive at least one or more sensor signals. The control modules also generate control signals for communication to the control devices. A communication interface of at least two communication networks provides communications among various control modules.

Claims

1. A control-by-wire control system for implementing a plurality of control functions comprising:

a plurality of control device(s), disposed in a vehicle, wherein each control device of said plurality of control devices is responsive to and configured to receive a control signal;

a plurality of sensors, wherein at least two sensors of said plurality of sensors are coupled to at least two control devices of said plurality of control devices for sensing a parameter of said system and generating a plurality of sensor signals responsive thereto;

a plurality of control modules, wherein each control module of said plurality of control modules is interfaced to at least one of said plurality of control devices and is adapted to receive at least one sensor signal of said plurality of sensor signals, and generates said control signal for communication to said at least one control device of said plurality of control devices;

a communication interface having a first communication network and a second communication network for communicating among said plurality of control module(s);

a plurality of independent power sources interfaced to said plurality of control modules;

wherein said plurality of control functions is distributed among and allocated to said plurality of control modules; and

wherein loss of operational capability of any one of said plurality of control devices, any one of said plurality of control modules, any one of said plurality of sensor signals, any one of said plurality of independent power sources, said first communication network, said second communication network does not result in loss of functional capability of said control-by-wire control system.

2. The system of claim 1, wherein at least one control device of said plurality of control devices is adapted to control road wheel steering of said vehicle.

3. The system of claim 2, wherein said at least one control device comprises a dual winding electric motor configured to control a steerable wheel of said vehicle.

4. The system of claim 1, wherein at least one of said control devices is adapted to control braking of said vehicle.

5. The system of claim 4, wherein said at least one control devices comprises an electric motor disposed at a wheel of said vehicle.

6. The system of claim 1, wherein at least one of said control devices is adapted to control hand wheel steering of said vehicle.

7. The system of claim 6, wherein said at least one control device comprises a dual winding electric motor.

8. The system of claim 1, wherein each control module of said plurality of control modules comprises a self-diagnostic controller configured to test and evaluate processes performed therein and communicates data and status via said communication interface.

9. The system of claim 8, wherein at least two of said control modules are adapted to control road wheel steering of said vehicle.

10. The system of claim 8, wherein at least two of said control modules are adapted to control braking of said vehicle.

11. The system of claim 8, wherein at least two of said control modules are adapted to control hand wheel steering of said vehicle.

12. The system of claim 1, wherein said communication interface comprises at least two communication networks, wherein each network comprises at least two channels.

13. The system of claim 1, wherein said first communication network is coupled to at least two control modules of said plurality of control modules allocated to road wheel steering functionality.

14. The system of claim 1, wherein said first communication network is coupled to at least two control modules of said plurality of control modules allocated to hand wheel steering functionality.

15. The system of claim 1, wherein said first communication network is coupled to a control module of said plurality of control modules allocated to supervisory functionality.

16. The system of claim 1, wherein said second communication network is coupled to at least two control modules of said plurality of control modules allocated to front wheel braking functionality.

17. The system of claim 1, wherein said second communication network is coupled to at least two control modules of said plurality of control modules allocated to rear wheel braking functionality.

18. The system of claim 1, wherein said second communication network is coupled to a control module of said plurality of control modules allocated to supervisory functionality.

19. The system of claim 1, wherein said first communication network and said second communication network are coupled to a control module of said plurality of control modules allocated to supervisory functionality.

20. The system of claim 1, wherein said first communication network and said second communication network are coupled to at least two control modules of said plurality of control modules allocated to hand wheel steering and rear braking functionality.

21. The system of claim 1, wherein a parameter of said system comprises characteristics, dynamics conditions, and states of any element of said system.

22. The system of claim 1, wherein each control module of said plurality of control modules is interfaced to at least one independent power source of said plurality of independent power sources.

23. The system of claim 22, wherein each control module of said plurality of control modules allocated to braking is interfaced to at least two independent power sources of said plurality of independent power sources.

24. The system of claim 22, wherein each control module of said plurality of control modules allocated to supervisory functions is interfaced to each independent power sources of said plurality of independent power sources.

25. The system of claim 1, wherein said plurality of control functions includes redundant functional capabilities such that a control function of said plurality of control functions are replicated and distributed among and allocated to said plurality of control modules.

26. The system of claim 25, wherein each control module of said plurality of control modules allocated to a particular control function.

27. The system of claim 25, wherein said plurality of control functions is allocated to six control modules.

28. The system of claim 27 wherein said plurality of control functions includes braking, road wheel steering, hand wheel steer functions, and coordinated steering and braking functions.

29. The system of claim 25, wherein at least one of said control devices is adapted to control braking of said vehicle.

30. The system of claim 29, wherein said at least one control devices comprises an electric motor disposed at a wheel of said vehicle.

31. The system of claim 29, wherein at least one of said control devices is adapted to control hand wheel steering of said vehicle.

32. The system of claim 31, wherein said at least one control device comprises a dual winding electric motor.

33. The system of claim 31, wherein each control module of said plurality of control modules comprises a self-diagnostic controller configured to test and evaluate processes performed therein and communicates data and status via said communication interface.

34. The system of claim 33, wherein at least two of said control modules are adapted to control road wheel steering of said vehicle.

35. The system of claim 33, wherein at least two of said control modules are adapted to control braking of said vehicle.

36. The system of claim 33, wherein at least two of said control modules are adapted to control hand wheel steering of said vehicle.

37. The system of claim 33, wherein said communication interface comprises at least two communication networks, wherein each network comprises at least two channels.

38. The system of claim 37, wherein said first communication network is coupled to at least two control modules of said plurality of control modules allocated to road wheel steering functionality.

39. The system of claim 38, wherein said first communication network is coupled to at least two control modules of said plurality of control modules allocated to hand wheel steering functionality.

40. The system of claim 39, wherein said first communication network is coupled to a control module of said plurality of control modules allocated to supervisory functionality.

41. The system of claim 40, wherein said second communication network is coupled to at least two control modules of said plurality of control modules allocated to front wheel braking functionality.

42. The system of claim 41, wherein said second communication network is coupled to at least two control modules of said plurality of control modules allocated to rear wheel braking functionality.

43. The system of claim 42, wherein said second communication network is coupled to a control module of said plurality of control modules allocated to supervisory functionality.

44. The system of claim 43, wherein said first communication network and said second communication network are coupled to a control module of said plurality of control modules allocated to supervisory functionality.

45. The system of claim 44, wherein said first communication network and said second communication network are coupled to at least two control modules of said plurality of control modules allocated to hand wheel steering and rear braking functionality.

46. The system of claim 45, wherein a parameter of said system comprises characteristics, dynamics conditions, and states of any element of said system.

47. The system of claim 46, wherein each control module of said plurality of control modules is interfaced to at least one independent power source of said plurality of independent power sources.

48. The system of claim 47, wherein each control module of said plurality of control modules allocated to braking is interfaced to at least two independent power sources of said plurality of independent power sources.

49. The system of claim 48, wherein each control module of said plurality of control modules allocated to supervisory functions is interfaced to each independent power sources of said plurality of independent power sources.

50. The system of claim 49, wherein each control module of said plurality of control modules allocated to a particular control function of said vehicle is interfaced to an independent power source of said plurality of independent power sources.

51. A vehicle including a drive by wire control system comprising:

a plurality of control device(s), disposed in said vehicle, wherein each control device of said plurality of control devices is responsive to and configured to receive a control signal;

a plurality of sensors, wherein at least two sensors of said plurality of sensors are coupled to at least two control devices of said plurality of control devices for sensing a parameter of said system and generating a plurality of sensor signals responsive thereto;

a plurality of control modules, wherein each control module of said plurality of control modules is interfaced to at least one of said plurality of control devices and is adapted to receive at least one sensor signal of said plurality of sensor signals, and generates said control signal for communication to said at least one control device of said plurality of control devices;

a communication interface having a first communication network and a second communication network for communicating among said plurality of control module(s);

a plurality of independent power sources interfaced to said plurality of control modules;

wherein said plurality of control functions is distributed among and allocated to said plurality of control modules; and

wherein loss of operational capability of any one of said plurality of control devices, any one of said plurality of control modules, any one of said plurality of sensor signals, any one of said plurality of independent power sources, said first communication network, said second communication network does not result in loss of functional capability of said control-by-wire control system.

52. The vehicle of claim 51, wherein at least one control device of said plurality of control devices is adapted to control road wheel steering of said vehicle.

53. The vehicle of claim 52, wherein said at least one control device comprises a dual winding electric motor configured to control a steerable wheel of said vehicle.

54. The vehicle of claim 51, wherein at least one of said control devices is adapted to control braking of said vehicle.

55. The vehicle of claim 54, wherein said at least one control devices comprises an electric motor disposed at a wheel of said vehicle.

56. The vehicle of claim 51, wherein at least one of said control devices is adapted to control hand wheel steering of said vehicle.

57. The vehicle of claim 56, wherein said at least one control device comprises a dual winding electric motor.

58. The vehicle of claim 51, wherein each control module of said plurality of control modules comprises a self-diagnostic controller configured to test and evaluate processes performed therein and communicates data and status via said communication interface.

59. The vehicle of claim 58, wherein at least two of said control modules are adapted to control road wheel steering of said vehicle.

60. The vehicle of claim 58, wherein at least two of said control modules are adapted to control braking of said vehicle.

61. The vehicle of claim 58, wherein at least two of said control modules are adapted to control hand wheel steering of said vehicle.

62. The vehicle of claim 51, wherein said communication interface comprises at least two communication networks, wherein each network comprises at least two channels.

63. The vehicle of claim 51, wherein said first communication network is coupled to at least two control modules of said plurality of control modules allocated to road wheel steering functionality.

64. The vehicle of claim 51, wherein said first communication network is coupled to at least two control modules of said plurality of control modules allocated to hand wheel steering functionality.

65. The vehicle of claim 51, wherein said first communication network is coupled to a control module of said plurality of control modules allocated to supervisory functionality.

66. The vehicle of claim 51, wherein said second communication network is coupled to at least two control modules of said plurality of control modules allocated to front wheel braking functionality.

67. The vehicle of claim 51, wherein said second communication network is coupled to at least two control modules of said plurality of control modules allocated to rear wheel braking functionality.

68. The vehicle of claim 51, wherein said second communication network is coupled to a control module of said plurality of control modules allocated to supervisory functionality.

69. The vehicle of claim 51, wherein said first communication network and said second communication network are coupled to a control module of said plurality of control modules allocated to supervisory functionality.

70. The vehicle of claim 51, wherein said first communication network and said second communication network are coupled to at least two control modules of said plurality of control modules allocated to hand wheel steering and rear braking functionality.

71. The vehicle of claim 51, wherein a parameter of said system comprises characteristics, dynamics conditions, and states of any element of said system.

72. The vehicle of claim 51, wherein each control module of said plurality of control modules is interfaced to at least one independent power source of said plurality of independent power sources.

73. The vehicle of claim 72, wherein each control module of said plurality of control modules allocated to braking is interfaced to at least two independent power sources of said plurality of independent power sources.

74. The vehicle of claim 72, wherein each control module of said plurality of control modules allocated to supervisory functions is interfaced to each independent power sources of said plurality of independent power sources.

75. The vehicle of claim 51, wherein said plurality of control functions includes redundant functional capabilities such that a control function of said plurality of control functions are replicated and distributed among and allocated to said plurality of control modules.

76. The vehicle of claim 75, wherein each control module of said plurality of control modules allocated to a particular control function.

77. The vehicle of claim 75, wherein said plurality of control functions is allocated to six control modules.

78. The vehicle of claim 77 wherein said plurality of control functions includes braking, road wheel steering, hand wheel steer functions, and coordinated steering and braking functions.

79. The vehicle of claim 75, wherein at least one of said control devices is adapted to control braking of said vehicle.

80. The vehicle of claim 79, wherein said at least one control devices comprises an electric motor disposed at a wheel of said vehicle.

81. The vehicle of claim 79, wherein at least one of said control devices is adapted to control hand wheel steering of said vehicle.

82. The vehicle of claim 81, wherein said at least one control device comprises a dual winding electric motor.

83. The vehicle of claim 81, wherein each control module of said plurality of control modules comprises a self-diagnostic controller configured to test and evaluate processes performed therein and communicates data and status via said communication interface.

84. The vehicle of claim 83, wherein at least two of said control modules are adapted to control road wheel steering of said vehicle.

85. The vehicle of claim 83, wherein at least two of said control modules are adapted to control braking of said vehicle.

86. The vehicle of claim 83, wherein at least two of said control modules are adapted to control hand wheel steering of said vehicle.

87. The vehicle of claim 83, wherein said communication interface comprises at least two communication networks, wherein each network comprises at least two channels.

88. The vehicle of claim 87, wherein said first communication network is coupled to at least two control modules of said plurality of control modules allocated to road wheel steering functionality.

89. The vehicle of claim 88, wherein said first communication network is coupled to at least two control modules of said plurality of control modules allocated to hand wheel steering functionality.

90. The vehicle of claim 89, wherein said firs t communication network is coupled to a control module of said plurality of control modules allocated to supervisory functionality.

91. The vehicle of claim 90, wherein said second communication network is coupled to at least two control modules of said plurality of control modules allocated to front wheel braking functionality.

92. The vehicle of claim 91, wherein said second communication network is coupled to at least two control modules of said plurality of control modules allocated to rear wheel braking functionality.

93. The vehicle of claim 92, wherein said second communication network is coupled to a control module of said plurality of control modules allocated to supervisory functionality.

94. The vehicle of claim 93, wherein said first communication network and said second communication network are coupled to a control module of said plurality of control modules allocated to supervisory functionality.

95. The vehicle of claim 94, wherein said first communication network and said second communication network are coupled to at least two control modules of said plurality of control modules allocated to hand wheel steering and rear braking functionality.

96. The vehicle of claim 95, wherein a parameter of said system comprises characteristics, dynamics conditions, and states of any element of said system.

97. The vehicle of claim 96, wherein each control module of said plurality of control modules is interfaced to at least one independent power source of said plurality of independent power sources.

98. The vehicle of claim 97, wherein each control module of said plurality of control modules allocated to braking is interfaced to at least two independent power sources of said plurality of independent power sources.

99. The vehicle of claim 98, wherein each control module of said plurality of control modules allocated to supervisory functions is interfaced to each independent power sources of said plurality of independent power sources.

100. The vehicle of claim 99, wherein each control module of said plurality of control modules allocated to a particular control function of said vehicle is interfaced to an independent power source of said plurality of independent power sources.