Abstract: In various embodiments, methods, systems, and vehicles are provided for determining a fault in a suspension system of a vehicle. In an exemplary embodiment, sensor data is obtained via one or more vehicle sensors during operation of the vehicle; a one or more first coefficients for the vehicle are calculated via a processor using a pitch model with the sensor data; one or more second coefficients for the vehicle are calculated via the processor using a roll model with the sensor data; and a fault in the suspension system is determined via the processor using the first coefficients and the second coefficients.

Abstract: A method of identifying a fault in a friction brake actuated by hydraulic brake pressure and configured to decelerate a vehicle road wheel includes detecting, via a first sensor, a vibration at the road wheel and communicating data indicative of the detected vibration to a controller. The method additionally includes detecting, via a second sensor, upon application of the hydraulic brake pressure, a hydraulic brake pressure variation and communicating data indicative of the detected hydraulic brake pressure variation. The method additionally includes comparing, via the controller, the data indicative of the detected vibration with a threshold vibration value and the data indicative of the detected hydraulic brake pressure variation with a threshold hydraulic brake pressure value.

Abstract: Methods and apparatus are provided for determining an offset detection for a fuel level sensor fault. The method includes receiving an electrical resistance reading from a potentiometer of a fuel level sensor and generating an estimated fuel level based on an established fuel usage table that references the electrical resistance reading. The fuel level sensitivity is calculated based on the change in electrical resistance readings divided by the change in the estimated fuel levels (R/F). The fuel level sensitivity is compared to a predetermined sensitivity curve to determine any necessary offset to the electrical resistance reading. Finally, the fuel usage table is updated with the offset to the electrical resistance reading.

Abstract: An electric drive system of a vehicle comprises a motor, a position sensor, an inverter, sensors to sense current and voltage supplied to the motor, and a controller to control the motor by controlling the inverter based on data from the position sensor and the sensors and a torque command. The controller estimates a motor torque using a motor model, calculates the motor torque, and generates a first state of health for the electric drive system based on a difference between the estimated and calculated motor torques. The controller generates, in response to the first state of health being less than or equal to a first threshold, a second state of health for at least one of the position sensor, the sensors, and the motor, and determines whether one of the position sensor, the sensors, and the motor is faulty based on the first and second states of health.

Abstract: A machine bearing disposed on a rotatable member, such as may be present on a vehicle, is described. A method for monitoring a state of health of the machine bearing includes monitoring, via a microphone, an acoustic signal, and coincidently determining a rotational speed of the rotatable member associated with the machine bearing. The sound spectrum is correlated to the rotational speed of the rotating member, and a time-frequency analysis is executed to determine a sound spectrum. The sound spectrum is transformed to a residual spectrum. A first feature associated with a first frequency band and a second feature associated with a second frequency band are extracted from the residual spectrum. The state of health associated with the machine bearing is detected based upon the first and second features, and is communicated to a second controller.

Abstract: An electric drive system of a vehicle comprises a motor, a position sensor, an inverter, sensors to sense current and voltage supplied to the motor, and a controller to control the motor by controlling the inverter based on data from the position sensor and the sensors and a torque command. The controller estimates a motor torque using a motor model, calculates the motor torque, and generates a first state of health for the electric drive system based on a difference between the estimated and calculated motor torques. The controller generates, in response to the first state of health being less than or equal to a first threshold, a second state of health for at least one of the position sensor, the sensors, and the motor, and determines whether one of the position sensor, the sensors, and the motor is faulty based on the first and second states of health.

Abstract: In various embodiments, methods, systems, and vehicles are provided for determining a fault in a suspension system of a vehicle. In an exemplary embodiment, sensor data is obtained via one or more vehicle sensors during operation of the vehicle; a one or more first coefficients for the vehicle are calculated via a processor using a pitch model with the sensor data; one or more second coefficients for the vehicle are calculated via the processor using a roll model with the sensor data; and a fault in the suspension system is determined via the processor using the first coefficients and the second coefficients.

Abstract: An autonomic vehicle control system includes a perception module of a spatial monitoring system that is disposed to monitor a spatial environment proximal to the autonomous vehicle. A method for evaluating vehicle dynamics operation includes determining a desired trajectory for the autonomous vehicle, wherein the desired trajectory includes desired vehicle positions including an x-position, a y-position and a heading. Vehicle control commands are determined based upon the desired trajectory, and include a commanded steering angle, an acceleration command and a braking command. Actual vehicle states responsive to the vehicle control commands are determined. An estimated trajectory is determined based upon the actual vehicle states, and a trajectory error is determined based upon a difference between the desired trajectory and the estimated trajectory. The trajectory error is monitored over a time horizon, and a first state of health (SOH) is determined based upon the trajectory error over the time horizon.

Abstract: A machine bearing disposed on a rotatable member, such as may be present on a vehicle, is described. A method for monitoring a state of health of the machine bearing includes monitoring, via a microphone, an acoustic signal, and coincidently determining a rotational speed of the rotatable member associated with the machine bearing. The sound spectrum is correlated to the rotational speed of the rotating member, and a time-frequency analysis is executed to determine a sound spectrum. The sound spectrum is transformed to a residual spectrum. A first feature associated with a first frequency band and a second feature associated with a second frequency band are extracted from the residual spectrum. The state of health associated with the machine bearing is detected based upon the first and second features, and is communicated to a second controller.

Abstract: An autonomic vehicle control system is described, and includes a vehicle spatial monitoring system including a subject spatial sensor that is disposed to monitor a spatial environment proximal to the autonomous vehicle. A controller is in communication with the subject spatial sensor, and the controller includes a processor and a memory device including an instruction set. The instruction set is executable to evaluate the subject spatial sensor, which includes determining first, second, third, fourth and fifth SOH (state of health) parameters associated with the subject spatial sensor, and determining an integrated SOH parameter for the subject spatial sensor based thereupon.

Abstract: A system and method for determining and detecting a suspension system fault using visual sensor data. The system and method are operative to detect a horizon in response to an image using image processing techniques, compare the detected horizon to an expected or calculated horizon and to determine a faulty suspension component in response to a deviation of the detected horizon from the expected horizon.

Abstract: An apparatus and method that detect a condition of a vehicle component are provided. The method includes diagnosing vehicle health of a vehicle by analyzing one or more from among vehicle performance, vehicle energy usage, and vehicle vibration and acoustics, performing fault isolation on the vehicle to detect a health condition of a vehicle component corresponding to the isolated fault if the vehicle health below a predetermined threshold, monitoring the vehicle component corresponding to the isolated fault and estimating a remaining useful life of the vehicle component corresponding to the isolated fault, and performing one or more from among continuously monitoring, scheduling maintenance, providing a warning, and performing fault mitigation based on the estimated remaining useful life of the vehicle component corresponding to the isolated fault.

Abstract: A perception module of a spatial monitoring system to monitor and characterize a spatial environment proximal to an autonomous vehicle is described. A method for evaluating the perception module includes capturing and storing a plurality of frames of data associated with a driving scenario for the autonomous vehicle, and executing the perception module to determine an actual spatial environment for the driving scenario, wherein the actual spatial environment for the driving scenario is stored in the controller. The perception module is executed to determine an estimated spatial environment for the driving scenario based upon the stored frames of data associated with the driving scenario, and the estimated spatial environment is compared to the actual spatial environment for the driving scenario. A first performance index for the perception module is determined based upon the comparing, and a fault can be detected.

Abstract: An apparatus and method that detect a condition of a vehicle component are provided. The method includes diagnosing vehicle health of a vehicle by analyzing one or more from among vehicle performance, vehicle energy usage, and vehicle vibration and acoustics, performing fault isolation on the vehicle to detect a health condition of a vehicle component corresponding to the isolated fault if the vehicle health below a predetermined threshold, monitoring the vehicle component corresponding to the isolated fault and estimating a remaining useful life of the vehicle component corresponding to the isolated fault, and performing one or more from among continuously monitoring, scheduling maintenance, providing a warning, and performing fault mitigation based on the estimated remaining useful life of the vehicle component corresponding to the isolated fault.

Abstract: A method of identifying a fault in a friction brake actuated by hydraulic brake pressure and configured to decelerate a vehicle road wheel includes detecting, via a first sensor, a vibration at the road wheel and communicating data indicative of the detected vibration to a controller. The method additionally includes detecting, via a second sensor, upon application of the hydraulic brake pressure, a hydraulic brake pressure variation and communicating data indicative of the detected hydraulic brake pressure variation. The method additionally includes comparing, via the controller, the data indicative of the detected vibration with a threshold vibration value and the data indicative of the detected hydraulic brake pressure variation with a threshold hydraulic brake pressure value.

Abstract: Systems and method are provided for collaboration between autonomous vehicles. In one embodiment, a processor-implemented method for coordinating travel between multiple autonomous vehicles is provided. The method includes sending a collaboration request to one or more vehicles in an area to form a group to perform a mission, receiving an acceptance of the collaboration request to join the group wherein the group includes a plurality of vehicles, cooperating in assigning leading functions for the group to one or more of the plurality of vehicles in the group, cooperating in mission negotiations for the group, cooperating in determining a formation for the group, and cooperating in generating a trajectory for the group. The vehicles in the group are operated in accordance with the determined formation and generated trajectory.

Abstract: An electric machine assembly having an electric machine and a controller-based method for isolating a particular fault condition in the electric machine. A plurality of current sensors is configured to output respective measured currents in respective phases of the electric machine. A position sensor is configured to output a rotor position of the electric machine. A controller is configured to group the respective measured currents into respective combinations of two. The controller is configured to calculate respective residual factors (Ri), and a global residual factor (G) based on the respective residual factors (Ri). Responsive to at least three of the global residual factor (G) and the respective residual factors (Ri) exceeding respective calibrated error thresholds, the controller is configured to identify a particular fault condition from among a plurality of possible fault conditions and execute a control action with respect to the electric machine.

Abstract: Methods and apparatus are provided for determining an offset detection for a fuel level sensor fault. The method includes receiving an electrical resistance reading from a potentiometer of a fuel level sensor and generating an estimated fuel level based on an established fuel usage table that references the electrical resistance reading. The fuel level sensitivity is calculated based on the change in electrical resistance readings divided by the change in the estimated fuel levels (R/F). The fuel level sensitivity is compared to a predetermined sensitivity curve to determine any necessary offset to the electrical resistance reading. Finally, the fuel usage table is updated with the offset to the electrical resistance reading.

Abstract: A vehicle including a monitoring system and controller for evaluating a vehicle subsystem is described. The monitoring system includes a sensor that is disposed to monitor on-vehicle noise or vibration. The subsystem includes an actuator, and a fault associated with the subsystem is defined by a fault vibration signature. A command to activate the subsystem is monitored coincident with a signal input from the sensor. A first vibration signature is determined based upon the signal input from the sensor, and a correlation between the first vibration signature and the fault vibration signature are determined for the fault associated with the subsystem. Occurrence of a fault associated with the subsystem can be detected when the correlation between the first vibration signature and the fault vibration signature associated with the subsystem is greater than a threshold correlation.

Abstract: Systems and method are provided for collaboration between autonomous vehicles. In one embodiment, a processor-implemented method for coordinating travel between multiple autonomous vehicles is provided. The method includes sending a collaboration request to one or more vehicles in an area to form a group to perform a mission, receiving an acceptance of the collaboration request to join the group wherein the group includes a plurality of vehicles, cooperating in assigning leading functions for the group to one or more of the plurality of vehicles in the group, cooperating in mission negotiations for the group, cooperating in determining a formation for the group, and cooperating in generating a trajectory for the group. The vehicles in the group are operated in accordance with the determined formation and generated trajectory.