Actuators report availabilities

• US 7,274,981 B2
• Filed: 09/05/2003
• Issued: 09/25/2007
• Est. Priority Date: 05/29/2002
• Status: Active Grant

• Current Assignee: Volvo Car Corporation (AB Volvo)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Eriksson, Soren
• Primary Examiner(s): Black; Thomas
• Assistant Examiner(s): WEISKOPF, MARIE
• Application Number:
  US10/656,513
• Publication Number:
  US 20040044443A1
• Time in Patent Office: 1,481 Days
• Field of Search: None
• US Class Current: 701/37
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2800/85 System Prioritisation
• CPC Class Codes: B60T 2260/08 Coordination of integrated systems
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0006 Digital architecture hierarchy
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2050/0297 Control Giving priority to different actuators or systems
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: Y02T 10/40 Engine management systems

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.

Claims

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;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the lower hierarchical level is a suspension coordinator subsystem.

2. The vehicle control configuration of claim 1, wherein:

the upward signals include availabilities of made of operation of the lower hierarchical level.

3. 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;

wherein the upward signals include availabilities of mode of operation of the lower hierarchical level;

wherein the downward signals include a request for mode of operation of the lower hierarchical level; and

wherein the upward signals include a confirmation of the mode of operation.

4. 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;

wherein the downward signals include a request for enablement; and

wherein the upward signals include a confirmation of enablement.

5. 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;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the downward signals include vehicle state measurements of the vehicle.

6. 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; and

wherein the upward signals include vehicle state measurements of actuators controlled by the lower hierarchical level.

7. A vehicle control configuration comprising:

a hierarchical control system including at 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;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the upward signals include status of the lower hierarchical level independent of the current vehicle behavior.

8. A vehicle control system comprising:

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 suspension coordinator subsystem independent of the request for vehicle modification.

9. The vehicle control system of claim 8, wherein:

the upward signals include availabilities of mode of operation of the suspension coordinator subsystem.

10. The vehicle control system of claim 9, wherein:

the downward signals include a request for mode of operation of the suspension coordinator subsystem; and

the upward signals include a confirmation of the mode of operation.

11. The vehicle control system of claim 8, wherein:

the downward signals include a request for enablement; and

the upward signals include a confirmation of enablement.

12. The vehicle control system of claim 8, wherein:

the downward signals include vehicle state measurements of the vehicle.

13. The vehicle control system of claim 8, wherein:

the upward signals include vehicle state measurements of actuators of the suspension coordinator subsystem.

14. The vehicle control system of claim 8, wherein:

the upward signals include status of actuators of the suspension coordinator subsystem independent of the current vehicle behavior.

15. A method of controlling a vehicle comprising:

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; and

wherein the lower hierarchical level is a suspension coordinator subsystem.

16. The method of controlling a vehicle of claim 15, wherein:

the upward signals include availabilities of mode of operation of the lower hierarchical level.

17. A method of controlling a vehicle comprising:

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;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification;

wherein the upward signals include availabilities of mode of operation of the lower hierarchical level;

wherein the downward signals include a request for mode of operation of the lower hierarchical level; and

wherein the upward signals include a confirmation of the mode of operation.

18. A method of controlling a vehicle comprising:

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;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification;

wherein the downward signals include request for enablement; and

wherein the upward signals include a confirmation of enablement.

19. A method of controlling a vehicle comprising:

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;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the upward signals include vehicle state measurements of actuators controlled by the lower hierarchical level.

20. A method of controlling a vehicle comprising:

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;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the upward signals include status of the lower hierarchical level independent of the current vehicle behavior.