Vehicle data health monitoring and recording system for multi-layer control software architecture

A method for monitoring a multi-layer control software architecture of one or more controllers that are part of a monitoring and recording system for a vehicle, the method comprising:

• monitoring, by a health monitoring structure that is part of the multi-layer control software architecture, one or more parameters calculated by each of two or more software layers that are part of the multi-layer control software architecture of the one or more controllers;
• comparing a respective parameter of a respective software layer with a predetermined corresponding performance metric for a required time horizon;
• and
• in response to determining the respective parameter of the respective software layer does not meet the predetermined corresponding performance metric for the required time horizon, generating a trigger that instructs a data recording infrastructure to record the parameters calculated by each of the two or more software layers.

A data health monitoring and recording system for a vehicle, the data health monitoring and recording system comprising:

• a data recording infrastructure;
• and
• one or more controllers in electronic communication with the data recording infrastructure, wherein the one or more controllers include a multi-layer control software architecture including two or more software layers, and wherein each of the two or more software layers includes a respective control layer and a respective estimator layer, the one or more controllers executing instructions to:
• monitor, by a health monitoring structure that is part of the multi-layer control software architecture, one or more parameters calculated by each of the two or more software layers, wherein the health monitoring structure includes a control health monitoring layer corresponding to each of the respective control layers and an estimator health monitoring layer corresponding to each of the respective estimator layers;
• compare a respective parameter calculated by a respective software layer with a predetermined corresponding performance metric for a required time horizon;
• and
• in response to determining the respective parameter of the respective software layer does not meet the predetermined corresponding performance metric for the required time horizon, generate a trigger that instructs the data recording infrastructure to record the parameters calculated by each of the two or more software layers.