Gm Global Technolgoy Operations, Inc.

Delphi Technologies, Inc.

Padma Sundaram

Upali Priyantha Mudalige

Rami I Debouk

Keun Jae Kim

Thomas M Forest

Aleksander Boguslaw Hac

Mark A Vernacchia

Orson S Wang

Andrew H Leutheuser

Joseph Gerard D'Ambrosio

Christopher J Trush

David M Nairn

Yulei Chen

Gurmitsingh M Banvait

Mohammed Abdulla Yousuf

Dean C Degazio

Brian N Siskoy

Mahesh Balike

Dong Da

Samuel E Graham

Systems and methods are provided for effecting control through multi-stage voting. A control system may be in communication with an actuator device responsive to a voted command. A multi-stage voting system may be configured to determine the voted command. A set of controllers and a monitor controller may provide commands to the multi-stage voting system. The multi-stage voting system includes logic with a first stage that compares the commands of the set of controllers to each other, and a second stage that compares at least one of those commands to the monitor command. The multi-stage voting system delivers the voted command to the actuator device based on the comparisons made in the first and second stages. The actuator device effects an operation in response to the voted command.

Multi-stage voting control

A method of transmitting data within a vehicle includes: storing two copies of a data message; constructing at an electronic control unit (ECU) a serial bus message that includes one copy of the data message and a message authentication code (MAC) created using a secret key stored at the ECU, a MAC algorithm, and a different copy of the data message; transmitting the serial bus message to a receiving ECU over a vehicle bus; authenticating the serial bus message at the receiving ECU using a copy of the key stored at the receiving ECU by creating a copy of the MAC from the data message included in the serial bus message and the copy of the key; comparing the MAC from the serial bus message with the copy of the MAC created at the receiving ECU; and rejecting or accepting the data message based on the comparison.

Authenticating messages sent over a vehicle bus that include message authentication codes

A control system for an autonomous vehicle includes at least one controller. The controller is programmed to receive first sensor readings from a first group of sensors, provide a first sensor fusion output based on the first sensor readings, the first sensor fusion output including a first detected state of a detected object, receive second sensor readings from a second group of sensors, and provide a second sensor fusion output based on the second sensor readings, the second sensor fusion output including a second detected state of the detected object. The controller is additionally programmed to, in response to the first detected state being outside a predetermined range of the second detected state, generate a diagnostic signal.

Automated co-pilot control for autonomous vehicles

An automotive vehicle includes a vehicle steering system, an actuator configured to control the steering system, a first controller, and a second controller. The first controller is in communication with the actuator. The first controller is configured to communicate an actuator control signal based on a primary automated driving system control algorithm. The second controller is in communication with the actuator and with the first controller. The second controller is configured to, in response to a first predicted vehicle path based on the actuator control signal deviating from a desired route by a threshold distance, control the actuator to maintain a current actuator setting. The second controller is also configured to, in response to the first predicted vehicle path not deviating from the desired route by the threshold distance, control the actuator according to the actuator control signal.

Trajectory integrity co-pilot for autonomous vehicle

A control system for a vehicle includes at least one controller. The controller is programmed to receive first sensor readings from a first group of sensors and provide a first vehicle pose based on the first sensor readings. The first vehicle pose includes a first location and a first orientation of the vehicle. The controller is also programmed to receive second sensor readings from a second group of sensors and provide a second vehicle pose based on the second sensor readings. The second vehicle pose includes a second location and a second orientation of the vehicle. The controller is further programmed to, in response to the first vehicle pose being outside a predetermined range of the second vehicle pose, generate a diagnostic signal.

An automotive vehicle includes a vehicle steering system, an actuator configured to control the steering system, a first controller, and a second controller. The first controller is in communication with the actuator. The first controller is programmed with a primary automated driving system control algorithm and is configured to communicate an actuator control signal based on the primary automated driving system control algorithm. The second controller is in communication with the actuator and with the first controller. The second controller is configured to, in response to a first predicted vehicle path based on the actuator control signal deviating from a current lane, control the actuator to maintain a current actuator setting. The second controller is also configured to, in response to the first predicted vehicle path being within the current lane, control the actuator according to the actuator control signal.

Automated lane keeping co-pilot for autonomous vehicles

An electronic park brake module for use with a vehicle is disclosed herein. In an embodiment, the electronic park brake module includes, but is not limited to, a processor and an electronic memory unit. The processor and the electronic memory unit are configured to cooperate to determine when a user has made a request for dynamic electronic park braking, to determine whether the user has a first intent or a second intent when requesting dynamic electronic park braking, to send a first command causing a first amount of braking force to be applied when the first intent has been determined, and to send a second command causing a second amount of braking force to be applied when the second intent has been determined.

Electronic park brake module and system and method for use

A method applying an electric park brake system of a vehicle includes detecting a park request with a first vehicle control module, and sending a park command, from the first vehicle control module, to both an electric brake control module and a second vehicle control module. Upon the electric brake control module receiving the park command, an actuation signal is sent from the electric brake control module to a motor winding of the electric park brake system. A status actuated signal is sent from the electric brake control module to the second vehicle control module. The status actuated signal indicates that the actuation signal has been sent from the electric brake control module. A position of the motor winding is sensed to determine if the motor winding is actuated. When the motor winding is actuated, a message is displayed to indicate that the electric park brake system is applied.

Method of applying an electric parking brake system in hybrid and electric vehicle propulsion systems

A method includes: receiving classification data for a hazard associated with a system of a vehicle, the classification data indicating a classification of the hazard under standard 26262 of the International Organization for Standardization (ISO); receiving fault tree data for a fault tree of the hazard; analyzing the fault tree data using a fault tree analysis (FTA) application; identifying a minimal cut-set for the hazard; retrieving standards data for the hazard based on the classification of the hazard, the standards data indicating a minimum value for minimal cut-sets under the 26262 standard; comparing a number of elements in the minimal cut-set with the minimum value; and indicating whether the minimal cut-set complies with the 26262 standard based on the comparison.

Vehicle hardware integrity analysis systems and methods

A processor integrity system in a vehicle includes m main processor modules that control at least m respective functions of the vehicle, where m is n integer greater than or equal to one. A monitoring processor module controls at least one function of the vehicle, communicates with the m main processor modules over a distributed vehicle network, selectively transmits a query to at least one of the m main processor modules over the distributed vehicle network, receives an answer from the at least one of the m main processor modules over the distributed vehicle network, that verifies integrity of the at least one of the m main processor modules based on the answer.

Method to ensure safety integrity of a microprocessor over a distributed network for automotive applications

A vehicle stability control system diagnostic strategy, wherein the diagnostic strategy may be adaptively applied based upon the identified maneuver states of the vehicle. The diagnostic architecture contains three vehicle state observers (i.e., models) each based on inputs from only two of the three sensors (yaw rate, lateral acceleration, and hand wheel angle). More particularly, the first observer does not consider lateral acceleration input. The second observer does not consider yaw rate sensor input and the third does not consider hand wheel angle (UWA) sensor input in determining the vehicle state. However, estimated vehicle speed input is used by all the observers. For example, the first observer detects a maneuver state based on yaw rate and HWA and vehicle speed inputs. Then it diagnoses the lateral acceleration sensor failure based on the observer output.

Adaptive maneuver based diagnostics for vehicle dynamics

A control system and a method for validating operation of the control system are provided. The control system has a first controller operably communicating with a second controller. The first and second controllers have first and second read-only memories, respectively. The method includes executing a first software program in the first controller that retrieves a first key value from the second controller. The method further includes retrieving a second key value from a table using the first key value as an index value. The table is stored in a memory that is accessible by the first software program. The method includes executing at least one mathematical operation in the first software program using at least the second key value to obtain a third key value. The method further includes sending the first and third key values from the first controller to the second controller. The method further includes determining a first validation value based on the first key value utilizing the second controller. The method further includes comparing the third key value to the first validation value using the second controller and indicating that the first software program has executed until completion when the third key value is equal to the first validation value.

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West Bloomfield, MI, United States of America

Padma Sundaram