# US 9,434,330 B2 · Method for controlling vehicle driving > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,434,330 B2 - Document ID: US9434330B2 - Status: Granted - Kind: B2 - Application number: 14/266,088 - Filed: 2014-04-30 - Published: 2015-04-30 - Granted: 2016-09-06 - Earliest claimed: 2013-10-24 - Assignees: Hanwha Techwin Co., Ltd. - Applicants: Hanwha Techwin Co., Ltd. - Inventors: Seong Jun Lee - Web page: https://patentgrep.com/patent/US9434330B2 ## CPC - B60L 1/003: {to auxiliary motors, e.g. for pumps, compressors} - B60L 1/006: {to power outlets} - B60L 3/0046: {relating to electric energy storage systems, e.g. batteries or capacitors} - B60L 3/0084: {relating to control modules} - B60L 3/12: Recording operating variables {; Monitoring of operating variables} - B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed - B60L 50/61: by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles - B60L 58/12: responding to state of charge [SoC] - B60L 58/40: for controlling a combination of batteries and fuel cells - B60R 16/0231: {Circuits relating to the driving or the functioning of the vehicle (monitoring tyres B60C23/00; indicating overspeed B60K31/00; for dash boards B60K37/00, B60Q3/10; for indicating emergencies B60Q1/52; brake control systems B60T; registering or indicating the working of vehicles G07C5/00; measuring distance G01C, e.g. combinations of speed and distance G01C23/00; engine indicators G01L; measuring speed or acceleration G01P)} - B60L 2210/10: DC to DC converters - B60L 2210/30: AC to DC converters - B60L 2210/40: DC to AC converters - B60L 2240/12: Speed - B60L 2240/24: Steering angle - B60L 2240/421: Speed - B60L 2240/423: Torque - B60L 2240/545: Temperature - B60L 2240/547: Voltage - B60L 2240/549: Current - B60L 2250/10: by alarm - Y02T 10/62: Hybrid vehicles - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/70: Energy storage systems for electromobility, e.g. batteries - Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors - Y02T 10/72: Electric energy management in electromobility - Y02T 90/12: Electric charging stations - Y02T 90/16: Information or communication technologies improving the operation of electric vehicles - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A method for controlling vehicle driving is provided. The method for controlling vehicle driving enables stable continuation of driving or stable stopping even when a communication fault occurs. The method for controlling vehicle driving includes: determining whether a fault has occurred in a first network between a master controller and a first slave controller; and if it is determined that a fault has occurred in the first network between the master controller and the first slave controller, controlling the master controller to transmit information, which is directed to the first slave controller, a second slave controller through the first network between the master controller and the second slave controller, and controlling the second slave controller to transmit the information received from the master controller to the first slave controller through a second network. ## Claims ### Claim 1 A method for controlling vehicle driving, comprising: determining whether a fault has occurred in a first network between a master controller and a first slave controller; and when it is determined that a fault has occurred in the first network between the master controller and the first slave controller, controlling the master controller to transmit information, which is directed to the first slave controller, to a second slave controller through the first network between the master controller and the second slave controller, and controlling the second slave controller to transmit the information received from the master controller to the first slave controller through a second network, wherein the first slave controller is configured to provide power according to a control from the master controller, and wherein the method further comprises: when it is determined that a fault has occurred in the first network between the master controller and the first slave controller, controlling the first slave controller to switch to a power supply mode and provide the power to the second slave controller regardless of the control of the master controller. ### Claim 2 (depends on 1) The method of claim 1, further comprising: when it is determined that the fault has occurred in the first network between the master controller and the first slave controller, controlling the first slave controller to transmit information, which is directed to the master controller, to the second slave controller through the second network and controlling the second slave controller to transmit the information received from the first slave controller to the master controller through the first network between the second slave controller and the master controller. ### Claim 3 (depends on 1) The method of claim 1, wherein the master controller is configured to transmit information to and receive information from each of the slave controllers through the first network. ### Claim 4 (depends on 1) The method of claim 1, wherein each of the slave controllers is configured to transmit information to and receive information from another slave controller of the slave controllers through the second network. ### Claim 5 (depends on 1) The method of claim 1, further comprising outputting a warning signal indicating that a fault has occurred in the first network when it is determined that a fault has occurred in the first network between the master controller and the first slave controller. ### Claim 6 (depends on 1) The method of claim 1, further comprising: when it is determined that a fault has occurred in the first network between the master controller and the first slave controller, determining whether the fault has been removed in the first network between the master controller and the first slave controller; and when it is determined that the fault has been removed in the first network between the master controller and the first slave controller, controlling the master controller to transmit information to and receive information from the first slave controller through the first network. ### Claim 7 (depends on 1) The method of claim 1, wherein when the first slave controller does not receive information that is transmitted from the master controller, it is determined that the fault has occurred in the first network. ### Claim 8 A method for controlling vehicle driving, comprising: determining whether a fault has occurred in a first network between a master controller and a first slave controller; and when it is determined that a fault has occurred in the first network between the master controller and the first slave controller, controlling the master controller to transmit information, which is directed to the first slave controller, to a second slave controller through the first network between the master controller and the second slave controller, and controlling the second slave controller to transmit the information received from the master controller to the first slave controller through a second network, wherein the method further comprising comprises: when it is determined that a fault has occurred in the first network between the master controller and the first slave controller, determining whether a fault has occurred in the second network between the second slave controller and the first slave controller; and when it is determined that a fault has occurred in the second network between the second slave controller and the first slave controller, controlling the third slave controller to receive the information from the master controller and transmit the information received from the master controller to the first slave controller through the second network between the third slave controller and the first slave controller. ### Claim 9 (depends on 8) The method of claim 8, wherein the first slave controller is configured to provide power according to a control from the master controller, and the third slave controller is configured to control a motor of the vehicle, and wherein the method further comprises: controlling the first slave controller to transmit information to stop acceleration of the vehicle, to the third slave controller through the second network between the first slave controller and the third slave controller. ### Claim 10 (depends on 8) The method of claim 8, wherein the first slave controller is configured to provide power according to a control from the master controller, and the third slave controller is configured to control a motor of the vehicle, and wherein the method further comprises: controlling the first slave controller to receive a driving speed of the vehicle from the third slave controller through the second network between the first slave controller and the third slave controller; and when it is determined that the driving speed of the vehicle is equal to or less than a preset speed, controlling a high voltage power source to be shut off. ### Claim 11 (depends on 8) The method of claim 8, further comprising: when it is determined that a fault has occurred in the second network between the second slave controller and the first slave controller, determining whether the fault has been removed in the second network between the second slave controller and the first slave controller; and when it is determined that the fault has been removed in the second network between the second slave controller and the first slave controller, controlling the second slave controller to transmit information to and receive information from the first slave controller through the second network. ### Claim 12 (depends on 8) The method of claim 8, wherein the first slave controller is configured to provide power according to a control from the master controller, and the third slave controller is configured to control a motor of the vehicle, and wherein the method further comprises: when it is determined that a fault has occurred in the second network between the second slave controller and the first slave controller, determining whether a fault has occurred in the second network between the first slave controller and the third slave controller; and when it is determined that a fault has occurred in the second network between the first slave controller and the third slave controller, controlling the first slave controller shut off any one of power generated in an engine-generator and electrical power output from a battery. ### Claim 13 (depends on 12) The method of claim 12, further comprising, when it is determined that a fault has occurred in the second network between the first slave controller and the third slave controller, and a fault has not occurred in the first network between the first slave controller and the master controller, controlling the first slave controller to transmit information to the master controller through the first network in order to indicate to stop the vehicle. ### Claim 14 (depends on 12) The method of claim 12, further comprising: when it is determined that a fault has occurred in the second network between the first slave controller and the third slave controller, determining that the fault has been removed in the second network between the first slave controller and the third slave controller; and when it is determined that the fault has been removed in the second network between the first slave controller and the third slave controller, controlling the first slave controller to transmit information to and receive information from the third slave controller through the second network. ### Claim 15 (depends on 12) The method of claim 12, further comprising: when it is determined that a fault has occurred in the second network between the first slave controller and the third slave controller, determining how long the fault lasts in the second network between the first slave controller and the third slave controller, when it is determined that the fault lasts for a predetermined time in the second network between the first slave controller and the third slave controller, controlling the first slave controller to shut off one of electrical power generated from an engine-generator and electrical power output from the battery. ### Claim 16 A non-transitory computer readable recording medium having recorded thereon a computer program for implementing: determining whether a fault has occurred in a first network between a master controller and a first slave controller; and when it is determined that a fault has occurred in the first network between the master controller and the first slave controller, controlling the master controller to transmit information, which is directed to the first slave controller, to a second slave controller through the first network between the master controller and the second slave controller, and controlling the second slave controller to transmit the information received from the master controller to the first slave controller through a second network, wherein the first slave controller is configured to provide power according to a control from the master controller, and wherein the method further comprises: when it is determined that the fault has occurred in the first network between the master controller and the first slave controller, controlling the first slave controller to switch to a power supply mode and provide the power to the second slave controller regardless of the control of the master controller. ### Claim 17 system for controlling vehicle driving, comprising: a first network through which a master controller is connected with a plurality of slave controllers; and a second network through which the plurality of slave controllers are connected one another, wherein the master controller is configured to determine whether a fault has occurred in the first network between the master controller and a first slave controller, and, when it is determined that a fault has occurred in the first network between the master controller and the first slave controller, the master controller is configured to transmit information, which is directed to the first slave controller, to a second slave controller through the first network between the master controller and the second slave controller, and the second slave controller is configured to transmit the information received from the master controller to the first slave controller through a second network, wherein the first slave controller is configured to provide power according to a control from the master controller, and wherein when it is determined that the fault has occurred in the first network between the master controller and the first slave controller, the first slave controller is configured to switch to a power supply mode and provide the power to the second slave controller regardless of the control of the master controller. ### Claim 18 (depends on 17) The system of claim 17, wherein, when it is determined that the fault has occurred in the first network between the master controller and the first slave controller, the first slave controller is configured to transmit information, which is directed to the master controller, to the second slave controller through the second network, and the second slave controller is configured to transmit the information received from the first slave controller to the master controller through the first network between the second slave controller and the master controller.