Abstract: Methods and system are provided for monitoring a controller area network (CAN) bus. In one embodiment, a method includes: receiving fault data associated with the CAN bus; processing, by a processor, the fault data with a software based method to determine a first propositions set; processing, by the processor, the fault data with a hardware based method to determine a second proposition set; processing, by the processor, the first propositions set and the second proposition set to determine a fault decision; and generating, by the processor, a diagnosis of the CAN bus based on the fault decision.

Abstract: A method for monitoring a controller for a vehicle includes determining configuration information associated with the vehicle and determining vehicle operating states associated with a plurality of conditions. A statistical analysis is executed to correlate a plurality of faults with the vehicle operating states and the configuration information associated with the vehicle. The plurality of faults in the controller can be isolated to one of a hardware fault or a software fault based upon the statistical analysis and the configuration information associated with the vehicle.

Abstract: A method for use with a vehicle having one or more subsystems includes receiving vehicle health management (VHM) information via a controller indicative of a state of health of the subsystem. The VHM information is based on prior testing results of the subsystem. The method includes determining a required testing profile using the testing results, applying the testing profile to the subsystem to thereby control a state of the subsystem, and measuring a response of the subsystem to the applied testing profile. The method also includes recording additional testing results in memory of the controller that is indicative of a response of the subsystem to the applied testing profile. The vehicle includes a plurality of subsystems and a controller configured to execute the method.

Abstract: A method proactively transitions performance of a functional operation from a primary subsystem to a secondary subsystem within a vehicle or other system having an electronic control unit (ECU). The method includes receiving health management information via the ECU when the primary subsystem is actively performing the functional operation within the system and the secondary subsystem operates in a standby mode, wherein the health information is indicative of a numeric state of health (SOH) of the primary subsystem. The method also includes comparing the numeric SOH to a calibrated non-zero threshold SOH, and then commanding, via the ECU, a transition of the performance of the functional operation to the secondary subsystem and placing the primary subsystem in the standby mode when the numeric SOH is less than the calibrated non-zero threshold SOH. A vehicle executes the method via the ECU.

Abstract: A method is used to evaluate a camera-related subsystem in a digital network, e.g., aboard a vehicle or fleet, by receiving, via a camera diagnostic module (CDM), sensor reports from the subsystem and possibly from a door sensor, rain/weather sensor, or other sensor. The CDM includes data tables corresponding to subsystem-specific fault modes. The method includes evaluating performance of the camera-related subsystem by comparing potential fault indicators in the received sensor reports to one of the data tables, and determining a pattern of fault indicators in the reports. The pattern is indicative of a health characteristic of the camera-related subsystem. A control action is executed with respect to the digital network in response to the health characteristic, including recording a diagnostic or prognostic code indicative of the health characteristic. The digital network and vehicle are also disclosed.

Abstract: A system includes control modules, a low-voltage communications bus, e.g., a CAN bus of a vehicle, a voltage sensor that measures a bus voltage and outputs 2.5-3.5 VDC high-data and 1.5-2.5 VDC low-data, and a host electronic control unit (ECU). The host ECU detects a recoverable fault using a data pattern in the bus voltage data when the data is outside of a calibrated range, and recalibrates the sensor. Recalibration may be by adjustment to a scaling factor and/or a bias value. Non-recoverable “stuck-at-fault”-type or “out-of-range”-type faults may be detected using the pattern, as may be a ground offset fault. A method includes measuring the bus voltage using the sensor, comparing the output data to a range to detect the fault, and isolating a sensor fault as a recoverable fault using the data pattern when the data is outside of the range. The sensor is then be recalibrated.

Abstract: A controller architecture for monitoring an autonomic vehicle control system includes a first controller, a second controller, a telematics controller, a third controller, a plurality of subsystem controllers, a first and a second communication bus, and a first and a second communication link. The telematics controller in communication with the first controller. The second controller includes a second processor and a second memory device. Each subsystem controller is configured to effect operation of one of a subsystem, wherein each of the subsystem controllers includes a vehicle health monitor (VHM) agent. The third controller includes a third processor and a third memory device. A first instruction set includes a prognostic classification routine based upon inputs from the VHM agents of the plurality of subsystem controllers. The telematics controller is disposed to communicate an output from the prognostic classification routine to an off-board 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: 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: An autonomic vehicle control system includes a vehicle spatial monitoring system including a plurality of spatial sensors disposed to monitor a spatial environment proximal to the autonomous vehicle. A controller is in communication with the spatial sensors of the vehicle spatial monitoring system, and the controller includes a processor and a memory device including an instruction set. The instruction set is executable to generate a perception result associated with a static field of view for each of the spatial sensors, wherein each of the spatial sensors is positioned at an analogous orientation to generate the respective perception result associated with the static field of view. The perception results from the plurality of spatial sensors are compared to detect a fault associated with one of the spatial sensors.

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: A method diagnoses a no-start condition in a powertrain having an engine and a starter system operable for starting the engine. The starter system includes a battery, solenoid relay, starter solenoid, and starter motor. The method includes recording starter data over a calibrated sampling duration in response to a requested start event when the solenoid relay is enabled, including a cranking voltage and engine speed. If no battery current sensor is used, the method derives a resistance ratio using an open-circuit voltage and a minimum cranking voltage of the battery. When such a sensor is used, the method derives a battery and starter resistance. A fault mode of the starter system is then identified via a controller using the starter data and either the resistance ratio or the battery and starter resistances. A control action executes that corresponds to the identified fault mode.

Abstract: A method for planning and adapting a recommended travel route to a route destination for a vehicle having various subsystems includes identifying the route destination and receiving vehicle health management (VHM)/state of health (SOH) information for each subsystem. The vehicle with a controller programmed to execute the method is also disclosed. The method includes calculating route characteristics of candidate travel routes to the destination using the VHM information and determining, from among the candidate travel routes, travel routes for which the characteristics meet a respective threshold requirement. Thereafter, the controller executes a control action by displaying a candidate route meeting the threshold requirements. An occupant is prompted to revise the mission requirements when no candidate route exists. A default route to a designated parking location or repair depot may be displayed when none of the candidate routes meet the threshold requirements.

Abstract: Methods and systems are provided for evaluating a CAN that includes a CAN bus and a plurality of modules configured to communicate over the CAN bus. A voltage sensor may be provided in electrical communication with the CAN bus. A number (N) of pairs of voltages may be read. Each pair may include a CAN high (CAN-H) value and a CAN low (CAN-L) value. The N pair of voltages may be processed through a comparison of the CAN-H values and the CAN-L values. Whether a fault signature is present in the CAN-H and CAN-L values may be determined from the processing.

Abstract: Methods and system are provided for monitoring a controller area network (CAN) bus. In one embodiment, a method includes: receiving fault data associated with the CAN bus; processing, by a processor, the fault data with a software based method to determine a first propositions set; processing, by the processor, the fault data with a hardware based method to determine a second proposition set; processing, by the processor, the first propositions set and the second proposition set to determine a fault decision; and generating, by the processor, a diagnosis of the CAN bus based on the fault decision.

Abstract: A method for diagnosing a fault mode in a system includes recording a hierarchical precedence rule assigning a priority level to fault modes of the system, and recording, in a fault report matrix, fault reports indicative of a corresponding one or more of the fault modes. The method also includes using the hierarchical precedence rule to determine the assigned relative priority level for the fault reports in response to a predetermined condition, e.g., a requested engine starting event, and identifying a root cause subsystem as a subsystem having the highest assigned priority level. A control action executed via the controller identifies the root cause subsystem by recording a diagnostic code and/or transmitting a message. The system is also disclosed, as is a computer-readable medium programmed with instructions embodying the method.

Abstract: A method for monitoring a controller for a vehicle includes determining configuration information associated with the vehicle and determining vehicle operating states associated with a plurality of conditions. A statistical analysis is executed to correlate a plurality of faults with the vehicle operating states and the configuration information associated with the vehicle. The plurality of faults in the controller can be isolated to one of a hardware fault or a software fault based upon the statistical analysis and the configuration information associated with the vehicle.

Abstract: A vehicle including an internal combustion engine, a DC power source and a controller are described. The internal combustion engine includes an engine starting system and an electrical charging system. A method for monitoring the DC power source includes determining a State of Charge (SOC) for the DC power source. Upon detecting that the SOC is less than a threshold SOC, routines are executed in the controller to evaluate a plurality of potential root causes associated with the low SOC. At least one of the potential root causes associated with the low SOC may be identified as a candidate root cause, and a fault probability for each of the candidate root causes is determined. One of the candidate root causes is determined to be a final root cause based upon the fault probabilities associated with the candidate root causes.

Abstract: A method and apparatus detecting battery drain are provided. The method includes: collecting critical data parameters from a plurality of electronic controller units (ECUs); identifying at least one ECU that is active from among the plurality of ECUs based on the critical data parameters and storing ECU snapshot data of the identified at least one ECU; determining an activity of the identified at least one ECU based on the ECU snapshot data and the critical data parameters; determining battery drain information based on at least one from among the ECU snapshot data, the critical data parameters, the activity of the identified at least one ECU, current draw information and fleet information; and outputting determined battery drain information. The method may be used to determine and isolate a root cause of battery drain by analyzing messages over a vehicle network.

Abstract: A vehicle including an internal combustion engine, a DC power source and a controller are described. The internal combustion engine includes an engine starting system and an electrical charging system. A method for monitoring the DC power source includes determining a State of Charge (SOC) for the DC power source. Upon detecting that the SOC is less than a threshold SOC, routines are executed in the controller to evaluate a plurality of potential root causes associated with the low SOC. At least one of the potential root causes associated with the low SOC may be identified as a candidate root cause, and a fault probability for each of the candidate root causes is determined. One of the candidate root causes is determined to be a final root cause based upon the fault probabilities associated with the candidate root causes.