Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Vehicle subsystem or accessory control
Reexamination Certificate
2002-05-29
2003-09-16
Arthur, Gertrude (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Vehicle subsystem or accessory control
C701S001000, C701S037000, C280S005500, C180S165000
Reexamination Certificate
active
06622074
ABSTRACT:
BACKGROUND OF INVENTION
The present invention relates to a control system, and in particular to a control system for a motor vehicle.
Control systems for motor vehicles command various actuators of the motor vehicles to perform certain tasks. Examples of control systems include traction control systems, anti-lock braking systems and stability control systems. Each of these control systems has a particular function that is carried out when certain information is sensed by the vehicle. For example, the anti-lock braking system will prevent the tires of the vehicle from locking during braking. Furthermore, vehicle control systems coordinate some or all of the actuators of the vehicle to produce a desired vehicle movement or procedure.
Heretofore, total control structures for motor vehicles have included coordinating elements which convert a command from a higher hierarchical level into commands for elements of a lower hierarchical level. The contents of the commands, which are transmitted from above to below in the hierarchical structure, define physical variables that determine the interfaces between the individual hierarchical levels. The command flow is only from a higher hierarchical level to a lower hierarchical level. U.S. Pat. Nos. 5,351,776 and 6,154,688 disclose control systems wherein the command flows only from the higher hierarchical level to the lower hierarchical level. However, the aforementioned control systems do not revise their commands to the lower hierarchical levels when the actuators being commanded by the lower hierarchical levels cannot carry out the commands.
Accordingly, an apparatus solving the aforementioned disadvantages and having the aforementioned advantages is desired.
SUMMARY OF INVENTION
One aspect of the present invention is to provide a method of controlling a vehicle with a vehicle motion control subsystem. The method includes the step of inputting an intended driving demand to the vehicle motion control subsystem, with the intended driving demand requesting a vehicle behavior modification. The method also includes the steps of inputting vehicle state measurements into a first coordinator subsystem, determining first capabilities of the first coordinator subsystem with regard to the vehicle state measurements, and outputting a first capability signal from the first coordinator subsystem to the vehicle motion control subsystem, with the first capability signal communicating the first capabilities of the first coordinator subsystem. The method further includes the steps of calculating a first demand signal and at least one of a second demand signal and a third demand signal, and outputting the first demand signal from the vehicle motion control subsystem to the first coordinator subsystem and the at least one of the second demand signal and the third demand signal to at least one of a second coordinator subsystem and a third coordinator subsystem. Both the first demand signal and the at least one of the second demand signal and the third demand signal are calculated according to the first capabilities of the first coordinator subsystem. The first demand signal and the at least one of the second demand signal and the third demand signal provide directions for the first coordinator subsystem and the at least one of the second coordinator subsystem and the third coordinator subsystem, respectively, to perform the vehicle behavior modification of the intended driving demand.
Another aspect of the present invention is to provide a vehicle control system. The vehicle control system includes a vehicle motion control subsystem having a system input and a system output, with the system input communicating an intended driving demand to the vehicle motion control subsystem and the intended driving demand requesting a vehicle behavior modification. The vehicle control system also includes a first coordinator subsystem having a first subsystem input and a first subsystem output, with the first subsystem input receiving vehicle state measurements. The vehicle control system further includes at least one of a second coordinator subsystem having a second subsystem input and a third coordinator subsystem having a third subsystem input. The first coordinator subsystem determines first capabilities of the first coordinator subsystem with regard to the vehicle state measurements. The first subsystem output of the first coordinator subsystem communicates the first capabilities of the first coordinator subsystem to the system input of the vehicle motion control subsystem. The vehicle motion control subsystem calculates a first demand signal and at least one of a second demand signal and a third demand signal, both the first demand signal and the at least one of the second demand signal and the third demand signal being calculated according to the first capabilities of the first coordinator subsystem. The vehicle motion control subsystem outputs the first demand signal to the first coordinator subsystem and at least one of the second demand signal and the third demand signal to at least one of the second subsystem input and the third subsystem input of the second coordinator subsystem and the third coordinator subsystem, respectively. The first demand signal and the at least one of the second demand signal and the third demand signal provide directions for the first coordinator subsystem and the at least one of the second coordinator subsystem and the third coordinator subsystem, respectively, to perform the vehicle behavior modification of the intended driving demand.
Yet another aspect of the present invention is to provide a method of controlling a vehicle with a vehicle motion control subsystem. The method includes inputting an intended driving demand to the vehicle motion control subsystem, with the intended driving demand requesting a vehicle behavior modification. The method also includes the step of determining first capabilities of a first coordinator subsystem, second capabilities of a second coordinator subsystem, and third capabilities of a third coordinator subsystem. The method further includes the step of outputting a first capability signal from the first coordinator subsystem to the vehicle motion control subsystem, a second capability signal from the second coordinator subsystem to the vehicle motion control subsystem and a third capability signal from the third coordinator subsystem to the vehicle motion control subsystem, with the first capability signal communicating the first capabilities of the first coordinator subsystem, the second capability signal communicating the second capabilities of the second coordinator subsystem and the third capability signal communicating the third capabilities of the third coordinator subsystem. The method also includes calculating at least one demand signal with the vehicle motion control subsystem according to at least one of the first capabilities of the first coordinator subsystem, the second capabilities of the second coordinator subsystem and the third capabilities of the third coordinator subsystem. The method further includes the step of outputting the at least one demand signal from the vehicle motion control subsystem to at least one coordinator subsystem. The at least one demand signal provides directions for the at least one coordinator subsystem to perform the vehicle behavior modification of the intended driving demand.
Accordingly, the vehicle control system provides for enhanced redistribution of functionality to avoid a loss of performance of the vehicle. The vehicle control system is easy to implement, capable of a long operable life, and particularly adapted for the proposed use.
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Coelingh Erik
Ekmark Jonas
Eriksson Soren
Olsson Per
Persson Per
Arthur Gertrude
Ford Global Technologies LLC
MacKenzie Frank A.
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