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: 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: 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 operating an electric power steering system installed on a vehicle. The electric power steering system includes a controller that receives a desired assist torque value and supplies a pulse-width modulation duty cycle to an electric motor. The method includes the step of controlling the electric motor to achieve a nominal value of power steering assist torque when the electrical power available to the motor is sufficient to achieve the nominal value of power steering assist torque. The method further includes the step of controlling the electric motor to achieve a reduced value of power steering assist torque less than the nominal value when the electrical power available to the motor is not sufficient to achieve the nominal value of power steering assist torque.

Abstract: A method of controlling a vehicle having an electric power steering system includes generating a plurality of possible routes. Each of the plurality of possible routes that require a steering torque that is within an available torque range is identified as a system compliant route. Each of the plurality of possible routes that require an angular position of an electric motor of the electric power steering system at all time indices throughout that route that are within an available motor position range are also identified as a system compliant route. One of the identified system compliant routes is selected based on at least one selection criteria, and designated as an active route. The electric power steering system is then controlled to maneuver the vehicle along the active route. The electric power steering system is monitored as the vehicle moves along the active route to identify degradation of its capabilities.

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. Evaluating operation of the autonomous vehicle includes commanding operation of an actuator that is disposed to effect operation of the autonomous vehicle and simultaneously monitoring dynamic operation of the autonomous vehicle via a plurality of the spatial sensors. The commanded operation of the actuator is correlated with the dynamic operation of the autonomous vehicle, and a fault can be detected in the actuator based upon the correlation.

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 systems are provided for monitoring a vehicle. In one embodiment, a method includes: receiving data including at least one of vehicle parameters and vehicle diagnostic data; determining, by a processor, a vehicle condition based on a model of vehicle health and the received data; determining, by the processor, remaining useful life data associated with the vehicle based on a first statistical model when the vehicle condition is determined to be healthy; determining, by the processor, remaining useful life data associated with the vehicle based on a second statistical model when the vehicle condition is determined to be unhealthy; and selectively generating, by the processor, notification data based on the vehicle condition and the remaining useful life data.

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 method of detecting a ground fault in a faulty electronic control unit. A ground fault detection technique executed by a processor is enabled. The processor determines a message count for each respective electronic control unit transmitted during a ground offset condition over a predetermined time period. The message count includes messages communicated within a communication bus having a measured voltage at least a predetermined voltage value above an expected voltage value. The message counts for each respective electronic control unit are normalized. The faulty electronic control unit is identified as a function of the normalized message counts. A fault signal is output to identify the fault electronic control unit.

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: A vehicle includes an electrically-driven motor configured to actuate a vehicle component and a power source configured to provide power to the motor over an electrical circuit. The vehicle also includes a controller programmed to monitor at least one signal indicative of motor output and store data indicative of a resistance in the circuit. The controller is also programmed to issue a resistance state of health signal in response to the resistance in the circuit exceeding a predetermined resistance threshold.

Abstract: A method of operating an electric power steering system installed on a vehicle. The electric power steering system includes a controller that receives a desired assist torque value and supplies a pulse-width modulation duty cycle to an electric motor. The method includes the step of controlling the electric motor to achieve a nominal value of power steering assist torque when the electrical power available to the motor is sufficient to achieve the nominal value of power steering assist torque. The method further includes the step of controlling the electric motor to achieve a reduced value of power steering assist torque less than the nominal value when the electrical power available to the motor is not sufficient to achieve the nominal value of power steering assist torque.

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: 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 of processing commands in a vehicle includes receiving a communication from a user. The method further includes determining that the communication is related to health of the vehicle. The method further includes monitoring the vehicle based on the communication. Upon the determination that fault mitigation should be performed, the method further includes arranging maintenance services for the vehicle. The received communication is in a form selected from a voice communication or a gesture-based communication.

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: 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.