Vehicle odometry system

Patent metadata

Field	Value
Publication number	US-2017282911-A1
Application number	US-201615084167-A
Country	US
Kind code	A1
Filing date	Mar 29, 2016
Priority date	Mar 29, 2016
Publication date	Oct 5, 2017
Grant date	—

Abstract

A current value of a state-of-motion from a second controller can be received by a first controller. The first controller determines a subset of a target value of the state-of-motion to be achieved by a subsystem and transmits a command to a third controller in communication with the subsystem to achieve the subset of the target value of the state-of-motion. The third controller commands the subsystem to approach the subset of the target value of the state-of-motion.

First claim

What is claimed is:

1 . A method of controlling a vehicle comprising:
receiving an identifier and a current value of a state-of-motion from a first controller; determining a subset of a target value of the state-of-motion to be achieved by a subsystem; and transmitting the identifier and a command for the subsystem to achieve the subset of the target value of the state-of-motion.

2 . The method of claim 1 , further comprising:
receiving an offset value associated with the identifier; and storing the identifier and the offset value.

3 . The method of claim 1 , wherein the subsystem is a brake system.

4 . The method of claim 1 , wherein the subsystem is a steering system.

5 . A method of controlling a vehicle, including a first controller, a second controller, and a third controller in communication with a subsystem, comprising:
receiving, by the first controller from the second controller, a current value of a state-of-motion and an identifier; determining, by the first controller, a subset of a target value of the state-of-motion to be achieved by the subsystem; transmitting, by the first controller to the third controller, the identifier and a command for the subsystem to achieve the subset of the target value of the state-of-motion; receiving, by the third controller from the first controller, the identifier and the command for the subsystem to achieve the subset of the target value of the state-of-motion; and commanding, by the third controller, the subsystem to approach the subset of the target value of the state-of-motion.

6 . The method of claim 5 , further comprising:
determining, by the second controller, whether the current value of the state-of-motion has crossed a boundary condition; and creating, by the second controller, a replacement identifier and an offset value associated with the replacement identifier.

7 . The method of claim 6 , further comprising:
transmitting, by the second controller to the first controller, the replacement identifier and the offset value associated with the replacement identifier; storing, by the first controller, the replacement identifier and the offset value; and transmitting, by the first controller to the third controller, the replacement identifier and a command for the subsystem to achieve the subset of the target value of the state-of-motion.

8 . The method of claim 7 , further comprising storing, by the first controller, replacement identifiers and offset values associated with the replacement identifiers.

9 . The method of claim 6 , further comprising storing, by the second controller, replacement identifiers and offset values associated with the replacement identifiers.

10 . The method of claim 9 , further comprising deriving, by the third controller, a subset of an updated target value of the state-of-motion from the original identifier and the subset of the target value of the state-of-motion received from the first controller.

11 . The method of claim 5 , wherein the subsystem is a brake system.

12 . The method of claim 5 , wherein the subsystem is a steering system.

13 . A vehicle-control system comprising:
a first controller, comprising a processor and memory; a second controller, comprising a processor and a memory, in communication with the first controller; a third controller, comprising a processor and a memory, in communication with the first controller; and a subsystem in communication with the third controller; wherein the first controller is programmed to receive from the second controller an identifier and a current value of a state-of-motion, determine a subset of a target value of the state-of-motion to be achieved by the subsystem, and transmit the identifier and a command to the third controller for the subsystem to achieve the subset of the target value of the state-of-motion; the second controller is programmed to send the identifier and the current value of the state-of-motion to the first controller; and the third controller is programmed to receive from the first controller the identifier and the command for the subsystem to achieve the subset of the target value of the state-of-motion, and command the subsystem to approach the subset of the target value of the state-of-motion.

14 . The vehicle-control system of claim 13 , wherein the second controller is further programmed to transmit an original identifier associated with the state-of-motion to the first controller, determine whether the current value of the state-of-motion has crossed a boundary condition, and create a replacement identifier and an offset value associated with the replacement identifier.

15 . The vehicle-control system of claim 14 , wherein:
the second controller is further programmed to transmit the replacement identifier and the offset value associated with the replacement identifier to the first controller; and the first controller is further programmed to store the replacement identifier and the offset value and transmit to the third controller the replacement identifier and a command to achieve the subset of the target value of the state-of-motion.

16 . The vehicle-control system of claim 15 , wherein the first controller is further programmed to store replacement identifiers and offset values associated with the replacement identifiers.

17 . The vehicle-control system of claim 14 , wherein the second controller is further programmed to store replacement identifiers and offset values associated with the replacement identifiers.

18 . The vehicle-control system of claim 17 , wherein the third controller is further programmed to derive a subset of an updated target value of the state-of-motion from the original identifier and the subset of the target value of the state-of-motion received from the first controller.

19 . The vehicle-control system of claim 13 , wherein the subsystem is a brake system.

20 . The vehicle-control system of claim 13 , wherein the subsystem is a steering system.

Assignees

• Ford Global Tech Llc

Inventors

• Joyce John P
• Recker Darrel Alan

Classifications

• B60T2201/022

  Collision avoidance systems · CPC title

• B60T7/12

  for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)} · CPC title

• B60W50/06

  Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot · CPC title

• B62D15/025

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title