Abstract: In an embodiment, an automation system for a vehicle may employ a variety of diversities to enhance reliability, accuracy, and stability in automating operation of the vehicle. For example, in an embodiment, an automation system for a vehicle may include multiple sensor pods with overlapping fields of view. Each sensor pod may include multiple different sensors in an embodiment, providing diverse views of the environment surrounding the vehicle. A set of sensor pods with overlapping fields of view may also transmit their object data at different points in time, providing diversity in time. Redundancy in other areas, such as the network switches which connect the sensor pods to an automation controller, may also aid in provided fail operational functionality. In an embodiment, the sensor pods may include local processing to process the data captured by the sensors into object identification.

Abstract: Fault tolerance for an automation controller for a machine is provided. A first portion of phases of the automation controller may be processed with fail operational protection, in which a failure of one of the computers used for the first portion still permits full operational functionality in the machine. The remaining portion of the phases are processed with fail degraded protection, in which a failure of a computer used for the remaining portion permits continued operation but with one or more constraints, as compared to the fail operational portions.

Abstract: Various techniques related to authenticating and verifying the integrity of data received by a computer system from an external source (such as a sensor) are disclosed. Hardware circuits are disclosed that, along with the computer processor, allow for error-checking and authentication of data received by the computer system. For instance, the hardware circuits may generate a separate authentication code that can be compared to the authentication code in the data itself to determine whether or not the message is authentic and whether or not there is an error in the data. The disclosed techniques reduce the processing requirements of a computer system and can be implemented using simple hardware circuit designs.

Abstract: In an embodiment, an automation controller periodically generates stop trajectories and controls actuators to follow the stop trajectories. As long as new stop trajectories continue to be generated, the automation controller may follow a destination trajectory that is formed from the first portion of each stop trajectory. If stop trajectories are not generated for a period of time (e.g., due to failure in one or more computers generating the stop trajectories), the automation controller may continue to follow the most recent stop trajectory and bring the mobile machine to a stop.

Abstract: In an embodiment, an automation system for a vehicle may employ a variety of diversities to enhance reliability, accuracy, and stability in automating operation of the vehicle. For example, in an embodiment, an automation system for a vehicle may include multiple sensor pods with overlapping fields of view. Each sensor pod may include multiple different sensors in an embodiment, providing diverse views of the environment surrounding the vehicle. A set of sensor pods with overlapping fields of view may also transmit their object data at different points in time, providing diversity in time. Redundancy in other areas, such as the network switches which connect the sensor pods to an automation controller, may also aid in provided fail operational functionality. In an embodiment, the sensor pods may include local processing to process the data captured by the sensors into object identification.

Abstract: An electric power steering system of a vehicle includes a controller for controlling an electric motor connected to a steering column or other steering mechanism. The velocity of the motor must be determined to maintain the proper current to the motor. A method of estimating the velocity includes obtaining a first and second velocity signals from one or more sensors monitoring the motor. The first and second signals have different characteristics, e.g., the first signal may have a higher resolution than the second signal. An acceleration (or deceleration) of the velocity of the electric motor is computed based on the different representations of the velocity supplied by the different signals. An estimate of the velocity of the motor is then determined based on the acceleration/deceleration and the different representations of the velocity. The electric current provided to the electric motor is then adjusted based on the estimated velocity to meet the desired motor output (i.e., motor torque and velocity).

Abstract: A method, system, and apparatus for providing enhanced steering pull compensation are provided. The method compensates for steering pull in a vehicle steering system that includes a handwheel. The method includes monitoring the vehicle to determine whether the vehicle is heading forward along a substantially linear straight-ahead path and, if so, measuring handwheel torque, as a sensed torque signal, to determine an amount of steering pull existing at the handwheel. The method also includes generating a torque assist signal in response to the sensed torque signal and calculating an offset signal for reducing the amount of steering pull to substantially zero. The method further includes producing a modified torque assist signal by adding the offset signal to the torque assist signal, and applying the modified torque assist signal to the vehicle steering system.

Abstract: An electric power steering system of a vehicle includes a controller for controlling an electric motor connected to a steering column or other steering mechanism. The velocity of the motor must be determined to maintain the proper current to the motor. A method of estimating the velocity includes obtaining a first and second velocity signals from one or more sensors monitoring the motor. The first and second signals have different characteristics, e.g., the first signal may have a higher resolution than the second signal. An acceleration (or deceleration) of the velocity of the electric motor is computed based on the different representations of the velocity supplied by the different signals. An estimate of the velocity of the motor is then determined based on the acceleration/deceleration and the different representations of the velocity. The electric current provided to the electric motor is then adjusted based on the estimated velocity to meet the desired motor output (i.e., motor torque and velocity).

Abstract: An electric power steering system includes a steering wheel, an electric assist motor operatively coupled to the steering wheel, and an electronic controller operatively coupled to the assist motor. A steering wheel position sensor provides an output indicative of an angular position of the steering wheel. A motor position sensor provides an output indicative of a relative angular position for the motor. Steering wheel position sensor output is acquired at each of a plurality of angular positions of the motor, thereby establishing a set of points defining a curvilinear relationship between steering wheel sensor output and motor position sensor output. The set of points is sampled to calculate a straight line which approximates the curvilinear relationship, thereby reducing periodic errors in the steering wheel sensor output. The straight line is employed to determine a position offset for the motor position sensor output corresponding to a system zero position.

Abstract: A method, system, and apparatus for providing enhanced steering pull compensation are provided. The method compensates for steering pull in a vehicle steering system that includes a handwheel. The method includes monitoring the vehicle to determine whether the vehicle is heading forward along a substantially linear straight-ahead path and, if so, measuring handwheel torque, as a sensed torque signal, to determine an amount of steering pull existing at the handwheel. The method also includes generating a torque assist signal in response to the sensed torque signal and calculating an offset signal for reducing the amount of steering pull to substantially zero. The method further includes producing a modified torque assist signal by adding the offset signal to the torque assist signal, and applying the modified torque assist signal to the vehicle steering system.

Abstract: An electric power steering system includes a steering wheel, an electric assist motor operatively coupled to the steering wheel, and an electronic controller operatively coupled to the assist motor. A steering wheel position sensor provides an output indicative of an angular position of the steering wheel. A motor position sensor provides an output indicative of a relative angular position for the motor. Steering wheel position sensor output is acquired at each of a plurality of angular positions of the motor, thereby establishing a set of points defining a curvilinear relationship between steering wheel sensor output and motor position sensor output. The set of points is sampled to calculate a straight line which approximates the curvilinear relationship, thereby reducing periodic errors in the steering wheel sensor output. The straight line is employed to determine a position offset for the motor position sensor output corresponding to a system zero position.

Abstract: A method for generatig a fault tolerant sensor signal for a motor control system in a vehicle steering system. The method includes receiving at least three sensor signals indicative of a sensed parameter and generating a plurality of parameter pair signals responsive to the at least one sensor signal of the at least three sensor signals. Additionally, the method includes selecting one parameter pair signal of the plurality of parameter pair signals and generating a measured parameter signal responsive to the selecting.

Abstract: A controller (32) for a vehicular system (10) that includes a hand-wheel (16) and an electric motor (34) includes a torque-assist function (56) responsive to a signal representing the torque applied to the hand-wheel (16) for providing a torque-assist command to the motor (34), and a steering-pull compensator (52) responsive to a signal representing a valid ignition cycle for modifying the torque-assist command to the motor (34) by an offset corresponding to a detected steering-pull condition; where the method of control includes receiving the signal indicative of the torque applied to the hand-wheel (16), providing a torque-assist command to the motor (34) in response to the received torque signal, detecting an enabling signal related to the signal representing a valid ignition cycle, quantifying a steering-pull condition in response to the received and detected signals, and modifying the torque-assist command to the motor (34) by an offset corresponding to the quantified steering-pull condition.

Abstract: Disclosed herein is a method and system for initializing a rotating device such as an electronically commutated electric machine. The system comprises: an electric machine; a position sensor subsystem operatively connected to the electric machine configured to measure a position and transmit a position signal to a controller. The controller executes a method initializing position for the electric machine, the method comprising: establishing a sensor subsystem datum indicative of a measurement reference point for a sensor subsystem; obtaining a calibration value corresponding to a distance to a selected magnetic reference position for the electric machine, relative to the sensor subsystem datum; and measuring a position and calculating a position delta relative to an initial reference. The method also includes: estimating an offset from the sensor subsystem datum to an initial reference; determining an absolute position estimate of the electric machine relative to the magnetic reference position.

Abstract: A method and system for phase angle diagnostics in a sinusoidally excited PM electric machine, including: a controller that executes a process to facilitate the method including receiving a position value indicative of the rotational position from a position sensor configured to measure a rotor position of said electric machine and transmit a position signal; receiving a phase advance value indicative of a commanded phase advance angle; determining an expected phase voltage and expected status thereof; observing a selected phase voltage signal and determining an actual status corresponding thereto; and comparing the expected status and the actual status.

Abstract: Disclosed herein is a method of generating a fault tolerant sensor signal for a motor control system in a vehicle steering system. The method includes receiving at least three sensor signals indicative of a sensed parameter and generating a plurality of parameter pair signals responsive to the least one sensor signal of the at least three sensor signals. Additionally, the method includes selecting one parameter pair signal of the plurality of parameter pair signals and generating a measured parameter signal responsive to the selecting.

Abstract: Disclosed herein is a method and system for initializing a rotating device such as an electronically commutated electric machine. The system comprises: an electric machine; a position sensor subsystem operatively connected to the electric machine configured to measure a position and transmit a position signal to a controller. The controller executes a method initializing position for the electric machine, the method comprising: establishing a sensor subsystem datum indicative of a measurement reference point for a sensor subsystem; obtaining a calibration value corresponding to a distance to a selected magnetic reference position for the electric machine, relative to the sensor subsystem datum; and measuring a position and calculating a position delta relative to an initial reference. The method also includes: estimating an offset from the sensor subsystem datum to an initial reference; determining an absolute position estimate of the electric machine relative to the magnetic reference position.

Abstract: A controller (32) for a vehicular system (10) that includes a hand-wheel (16) and an electric motor (34) includes a torque-assist function (56) responsive to a signal representing the torque applied to the hand-wheel (16) for providing a torque-assist command to the motor (34), and a steering-pull compensator (52) responsive to a signal representing a valid ignition cycle for modifying the torque-assist command to the motor (34) by an offset corresponding to a detected steering-pull condition; where the method of control includes receiving the signal indicative of the torque applied to the hand-wheel (16), providing a torque-assist command to the motor (34) in response to the received torque signal, detecting an enabling signal related to the signal representing a valid ignition cycle, quantifying a steering-pull condition in response to the received and detected signals, and modifying the torque-assist command to the motor (34) by an offset corresponding to the quantified steering-pull condition.

Abstract: A method and system for phase angle diagnostics in a sinusoidally excited PM electric machine, including: a controller that executes a process to facilitate the method including receiving a position value indicative of the rotational position from a position sensor configured to measure a rotor position of said electric machine and transmit a position signal; receiving a phase advance value indicative of a commanded phase advance angle; determining an expected phase voltage and expected status thereof; observing a selected phase voltage signal and determining an actual status corresponding thereto; and comparing the expected status and the actual status.

Abstract: Automotive controller lookup table reference values are reduced as necessary so as to be stored in standard controller memory device locations by reducing, through a minimum number of standard reduction values, the magnitude of any reference value requiring more than one standard location for storage and by recording the number of standard reduction values applied to each reference value so that, upon retrieving any one reference value, the proper magnitude adjustment may be expediently made thereto to restore the reference value magnitude to its original value.