Distributed system architecture for an autonomous steering system

Patent metadata

Field	Value
Publication number	US-2022097766-A1
Application number	US-202017123815-A
Country	US
Kind code	A1
Filing date	Dec 16, 2020
Priority date	Sep 29, 2020
Publication date	Mar 31, 2022
Grant date	—

Abstract

A method for controlling an electronic power steering system may include receiving, at an electronic power steering controller, at least one signal from at least one sensor and generating, by the electronic power steering controller using the at least one signal, a first autonomous steering command. The method may also include receiving, from a domain controller at the electronic power steering controller, a second autonomous steering command and comparing, by the electronic power steering controller, the first autonomous steering command and the second autonomous steering command. The method may also include selectively controlling, by the electronic power steering controller, the electronic power steering system using one of the first autonomous steering command and the second autonomous steering command, based on the comparison of the first autonomous steering command and the second autonomous steering command.

First claim

What is claimed is:

1 . A method for controlling an electronic power steering system, the method comprising:
receiving, at an electronic power steering controller, at least one signal from at least one sensor; generating, by the electronic power steering controller using the at least one signal, a first autonomous steering command; receiving, from a domain controller at the electronic power steering controller, a second autonomous steering command; comparing, by the electronic power steering controller, the first autonomous steering command and the second autonomous steering command; and selectively controlling, by the electronic power steering controller, the electronic power steering system using one of the first autonomous steering command and the second autonomous steering command, based on the comparison of the first autonomous steering command and the second autonomous steering command.

2 . The method of claim 1 , further comprising, in response to the comparison of the first autonomous steering command and the second autonomous steering command indicating that the first autonomous steering command is within a predetermined range of the second autonomous steering command, selectively controlling, by the electronic power steering controller, the electronic power steering system using the second autonomous command.

3 . The method of claim 1 , further comprising, in response to the comparison of the first autonomous steering command and the second autonomous steering command indicating that the first autonomous steering command is not within a predetermined range of the second autonomous steering command:
selectively controlling, by the electronic power steering controller, the electronic power steering system using the second autonomous command; and communicating, by the electronic power steering controller, a signal to the domain controller indicating that the first autonomous steering command is not within the predetermined range of the second autonomous steering command.

4 . The method of claim 1 , further comprising determining, by the electronic power steering controller, whether an issue occurred in the domain controller.

5 . The method of claim 4 , further comprising, in response to a determination that an issue occurred with the domain controller, selectively controlling, by the electronic power steering system, the electronic power steering system using the first autonomous steering command.

6 . The method of claim 1 , wherein the at least one sensor includes an image-capturing sensor.

7 . The method of claim 1 , wherein the at least one sensor includes an ultrasonic sensor.

8 . The method of claim 1 , wherein the at least one sensor includes a light detection and ranging sensor.

9 . The method of claim 1 , wherein the at least one sensor includes a radio detection and ranging sensor.

10 . The method of claim 1 , wherein the at least one sensor includes a torque sensor.

11 . The method of claim 1 , wherein the at least one sensor includes a handwheel position sensor.

12 . A system for controlling an electronic power system, the system comprising:
a processor; and a memory including instructions that, when executed by the processor, cause the processor to:
receive at least one signal from at least one sensor;
generate, using the at least one signal, a first autonomous steering command;
receive, from a domain controller, a second autonomous steering command;
compare the first autonomous steering command and the second autonomous steering command; and
selectively control the electronic power steering system using one of the first autonomous steering command and the second autonomous steering command, based on the comparison of the first autonomous steering command and the second autonomous steering command.

13 . The system of claim 12 , wherein the instructions further cause the processor to, in response to the comparison of the first autonomous steering command and the second autonomous steering command indicating that the first autonomous steering command is within a predetermined range of the second autonomous steering command, selectively control the electronic power steering system using the second autonomous command.

14 . The system of claim 12 , wherein the instructions further cause the processor to, in response to the comparison of the first autonomous steering command and the second autonomous steering command indicating that the first autonomous steering command is not within a predetermined range of the second autonomous steering command:
selectively control the electronic power steering system using the second autonomous command; and communicate a signal to the domain controller indicating that the first autonomous steering command is not within the predetermined range of the second autonomous steering command.

15 . The system of claim 12 , wherein the instructions further cause the processor to determine whether an issue occurred in the domain controller.

16 . The system of claim 15 , wherein the instructions further cause the processor to, in response to a determination that an issue occurred with the domain controller, selectively control the electronic power steering system using the first autonomous steering command.

17 . An apparatus for controlling a steering system, the apparatus comprising:
a processor; and a memory including instructions that, when executed by the processor, cause the processor to:
receive at least one signal from at least one sensor;
generate, using the at least one signal, a first autonomous steering command;
receive, from a controller, a second autonomous steering command;
compare the first autonomous steering command and the second autonomous steering command; and
selectively control the steering system using one of the first autonomous steering command and the second autonomous steering command, based on the comparison of the first autonomous steering command and the second autonomous steering command.

18 . The apparatus of claim 17 , wherein the instructions further cause the processor to, in response to the comparison of the first autonomous steering command and the second autonomous steering command indicating that the first autonomous steering command is within a predetermined range of the second autonomous steering command, selectively control the steering system using the second autonomous command.

19 . The apparatus of claim 17 , wherein the instructions further cause the processor to, in response to the comparison of the first autonomous steering command and the second autonomous steering command indicating that the first autonomous steering command is not within a predetermined range of the second autonomous steering command:
selectively control the steering system using the second autonomous command; and communicate a signal to the controller indicating that the first autonomous steering command is not within the predetermined range of the second autonomous steering command.

20 . The apparatus of claim 17 , wherein the instructions further cause the processor to:
determine whether an issue occurred in the controller; and in response to a determination that an issue occurred with the controller, selectively control the steering system using the first autonomous steering command.

Assignees

• Steering Solutions Ip Holding

Inventors

• Yang Kun
• Longuemare Pierre C
• Fan David

Classifications

• B62D5/0481

  monitoring the steering system, e.g. failures · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• B62D15/025 Primary

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

• B60W2710/083

  Torque · CPC title

• B62D15/021 Primary

  Determination of steering angle · CPC title