# US 2017/0282911 A1 · Vehicle odometry system

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- Number: US 2017/0282911 A1
- Document ID: US20170282911A1
- Status: Published application
- Kind: A1
- Application number: 15/084,167
- Filed: 2016-03-29
- Published: 2017-10-05
- Earliest claimed: 2016-03-29
- Assignees: Ford Global Technologies, LLC
- Applicants: Ford Global Technologies, LLC
- Inventors: John P. Joyce; Darrel Alan Recker
- Web page: https://patentgrep.com/patent/US20170282911A1

## CPC

- B60W 30/02: Control of vehicle driving stability
- B60T 7/12: for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)}
- B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle}
- B60W 10/184: with wheel brakes
- B60W 10/20: including control of steering systems
- B60W 50/06: Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
- B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)}
- B60T 2201/022: Collision avoidance systems
- B60W 2050/0006: {Digital architecture hierarchy}
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

A current value of a state-of-motion from a second controller can be received by a first controller. The first controller determines a subset of a target value of the state-of-motion to be achieved by a subsystem and transmits a command to a third controller in communication with the subsystem to achieve the subset of the target value of the state-of-motion. The third controller commands the subsystem to approach the subset of the target value of the state-of-motion.

## Claims

### Claim 1

A method of controlling a vehicle comprising:
receiving an identifier and a current value of a state-of-motion from a first controller;
determining a subset of a target value of the state-of-motion to be achieved by a subsystem; and
transmitting the identifier and a command for the subsystem to achieve the subset of the target value of the state-of-motion.

### Claim 2 (depends on 1)

The method of claim 1, further comprising:
receiving an offset value associated with the identifier; and
storing the identifier and the offset value.

### Claim 3 (depends on 1)

The method of claim 1, wherein the subsystem is a brake system.

### Claim 4 (depends on 1)

The method of claim 1, wherein the subsystem is a steering system.

### Claim 5

A method of controlling a vehicle, including a first controller, a second controller, and a third controller in communication with a subsystem, comprising:
receiving, by the first controller from the second controller, a current value of a state-of-motion and an identifier;
determining, by the first controller, a subset of a target value of the state-of-motion to be achieved by the subsystem;
transmitting, by the first controller to the third controller, the identifier and a command for the subsystem to achieve the subset of the target value of the state-of-motion;
receiving, by the third controller from the first controller, the identifier and the command for the subsystem to achieve the subset of the target value of the state-of-motion; and
commanding, by the third controller, the subsystem to approach the subset of the target value of the state-of-motion.

### Claim 6 (depends on 5)

The method of claim 5, further comprising:
determining, by the second controller, whether the current value of the state-of-motion has crossed a boundary condition; and
creating, by the second controller, a replacement identifier and an offset value associated with the replacement identifier.

### Claim 7 (depends on 6)

The method of claim 6, further comprising:
transmitting, by the second controller to the first controller, the replacement identifier and the offset value associated with the replacement identifier;
storing, by the first controller, the replacement identifier and the offset value; and
transmitting, by the first controller to the third controller, the replacement identifier and a command for the subsystem to achieve the subset of the target value of the state-of-motion.

### Claim 8 (depends on 7)

The method of claim 7, further comprising storing, by the first controller, replacement identifiers and offset values associated with the replacement identifiers.

### Claim 9 (depends on 6)

The method of claim 6, further comprising storing, by the second controller, replacement identifiers and offset values associated with the replacement identifiers.

### Claim 10 (depends on 9)

The method of claim 9, further comprising deriving, by the third controller, a subset of an updated target value of the state-of-motion from the original identifier and the subset of the target value of the state-of-motion received from the first controller.

### Claim 11 (depends on 5)

The method of claim 5, wherein the subsystem is a brake system.

### Claim 12 (depends on 5)

The method of claim 5, wherein the subsystem is a steering system.

### Claim 13

A vehicle-control system comprising:
a first controller, comprising a processor and memory;
a second controller, comprising a processor and a memory, in communication with the first controller;
a third controller, comprising a processor and a memory, in communication with the first controller; and
a subsystem in communication with the third controller; wherein
the first controller is programmed to receive from the second controller an identifier and a current value of a state-of-motion, determine a subset of a target value of the state-of-motion to be achieved by the subsystem, and transmit the identifier and a command to the third controller for the subsystem to achieve the subset of the target value of the state-of-motion;
the second controller is programmed to send the identifier and the current value of the state-of-motion to the first controller; and
the third controller is programmed to receive from the first controller the identifier and the command for the subsystem to achieve the subset of the target value of the state-of-motion, and command the subsystem to approach the subset of the target value of the state-of-motion.

### Claim 14 (depends on 13)

The vehicle-control system of claim 13, wherein the second controller is further programmed to transmit an original identifier associated with the state-of-motion to the first controller, determine whether the current value of the state-of-motion has crossed a boundary condition, and create a replacement identifier and an offset value associated with the replacement identifier.

### Claim 15 (depends on 14)

The vehicle-control system of claim 14, wherein:
the second controller is further programmed to transmit the replacement identifier and the offset value associated with the replacement identifier to the first controller; and
the first controller is further programmed to store the replacement identifier and the offset value and transmit to the third controller the replacement identifier and a command to achieve the subset of the target value of the state-of-motion.

### Claim 16 (depends on 15)

The vehicle-control system of claim 15, wherein the first controller is further programmed to store replacement identifiers and offset values associated with the replacement identifiers.

### Claim 17 (depends on 14)

The vehicle-control system of claim 14, wherein the second controller is further programmed to store replacement identifiers and offset values associated with the replacement identifiers.

### Claim 18 (depends on 17)

The vehicle-control system of claim 17, wherein the third controller is further programmed to derive a subset of an updated target value of the state-of-motion from the original identifier and the subset of the target value of the state-of-motion received from the first controller.

### Claim 19 (depends on 13)

The vehicle-control system of claim 13, wherein the subsystem is a brake system.

### Claim 20 (depends on 13)

The vehicle-control system of claim 13, wherein the subsystem is a steering system.