Systems and methods for distributed system state estimation

Abstract

The invention relates to a system and method for distributed system state estimation. A method for distributed system state estimation includes receiving a quality indicator and a partially redundant classifier from each of a plurality of signal paths associated with a computing system. The method further includes generating a communication interface qualifier and a system redundancy diagnostic condition based on the quality indicator and the partial redundancy classifier; receiving system availability information of at least one component associated with the respective signal path; and determining a redundancy topology classification and a redundancy state. The method further includes receiving resource availability status information for the respective signal path; and generating a redundant system response for the respective signal path based on the resource availability condition information for the respective signal path, the redundant topology classification for the respective signal path, and the redundant state for the respective signal path.

Description

Technical Field

[0001] The present disclosure relates to distributed computing systems, and in particular to systems and methods for distributed system state estimation. Background Art

[0002] Vehicles (such as cars, trucks, sport utility vehicles, crossovers, minivans, boats, aircraft, all-terrain vehicles, recreational vehicles, or other suitable forms of transportation) typically include various systems, such as a steering system (which may include an electric power steering (EPS) system, a steer-by-wire (SbW) steering system, a hydraulic steering system, or other suitable steering system) and / or other suitable systems (e.g., such as a braking system, a propulsion system, etc.). Such systems of a vehicle typically control various aspects of vehicle steering (e.g., including providing steering assistance to an operator of the vehicle, controlling steerable wheels of the vehicle, etc.), vehicle propulsion, vehicle braking, etc. Summary of the invention

[0003] The present disclosure generally relates to steering systems.

[0004] One aspect of the disclosed embodiment includes a method for state estimation of a distributed system. The method includes receiving a quality indicator and a partial redundancy classifier from each of a plurality of signal paths associated with a computing system. The method also includes generating a communication interface qualifier and a system redundancy diagnostic status for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier. The method also includes: receiving system availability information of at least one component associated with the corresponding signal path; and determining a redundancy topology classification and a redundancy status for the corresponding signal path based on the system availability information of the at least one component associated with the corresponding signal path, the communication interface qualifier of the corresponding signal path, and the system redundancy diagnostic status of the corresponding signal path. The method also includes: receiving resource availability status information for the corresponding signal path; and generating a redundant system response for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundancy topology classification of the corresponding signal path, and the redundancy status of the corresponding signal path.

[0005] Another aspect of the disclosed embodiment includes a system for state estimation of a distributed system. The system includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a quality indicator and a partial redundancy classifier from each of a plurality of signal paths associated with a computing system; generate a communication interface qualifier and a system redundancy diagnostic status for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier; receive system availability information of at least one component associated with a corresponding signal path; determine a redundancy topology classification and a redundancy status for the corresponding signal path based on the system availability information of the at least one component associated with the corresponding signal path, the communication interface qualifier of the corresponding signal path, and the system redundancy diagnostic status of the corresponding signal path; receive resource availability status information for the corresponding signal path; and generate a redundant system response for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundancy topology classification of the corresponding signal path, and the redundancy status of the corresponding signal path.

[0006] Another aspect of the disclosed embodiment includes a device for distributed system state estimation. The device includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a quality indicator and a partial redundancy classifier from each of a plurality of signal paths associated with a vehicle; generate a communication interface qualifier and a system redundancy diagnostic status for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier; receive system availability information of at least one component associated with the corresponding signal path; determine a redundant topology classification and a redundant state for the corresponding signal path based on the system availability information of the at least one component associated with the corresponding signal path, the communication interface qualifier of the corresponding signal path, and the system redundancy diagnostic status of the corresponding signal path; receive resource availability status information for the corresponding signal path; generate a redundant system response for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundant topology classification of the corresponding signal path, and the redundant state of the corresponding signal path; and selectively control at least one component of the vehicle based on the redundant system response in response to a detected condition.

[0007] These and other aspects of the disclosure are disclosed in the following detailed description of the embodiments, the appended claims and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The present disclosure is best understood through the following detailed description when read in conjunction with the accompanying drawings. It is emphasized that, according to common practice, the various features of the drawings are not drawn to scale. Instead, the sizes of the various features are arbitrarily enlarged or reduced for clarity.

[0009] Figure 1 A vehicle in accordance with the principles of the present disclosure is generally shown.

[0010] Figure 2 A controller according to the principles of the present disclosure is generally shown.

[0011] Figure 3 A signal path processing flow according to the principles of the present disclosure is generally shown.

[0012] Figure 4 An alternative signal path processing flow in accordance with the principles of the present disclosure is generally shown.

[0013] Figure 5 A distributed system state estimation system architecture according to the principles of the present disclosure is generally shown.

[0014] Figure 6 is a flow chart generally illustrating a distributed system state estimation method according to the principles of the present disclosure.

[0015] Implementation method

[0016] The following discussion is directed to various embodiments of the present disclosure. Although one or more of these embodiments may be preferred, the disclosed embodiments should not be interpreted or otherwise used as limiting the scope of the present disclosure, including the claims. In addition, it will be understood by those skilled in the art that the following description has a wide range of applications, and the discussion of any embodiment is intended only to be an exemplary discussion of that embodiment, and is not intended to imply that the scope of the present disclosure, including the claims, is limited to that embodiment.

[0017] As described above, vehicles (such as automobiles, trucks, SUVs, crossovers, minivans, boats, airplanes, ATVs, recreational vehicles, or other suitable forms of transportation) typically include various systems, such as a steering system (which may include an EPS steering system, an SbW steering system, a hydraulic steering system, or other suitable steering systems) and / or other suitable systems (e.g., such as a braking system, a propulsion system, etc.). Such systems of a vehicle typically control various aspects of vehicle steering (e.g., including providing steering assistance to an operator of the vehicle, controlling steerable wheels of the vehicle, etc.), vehicle propulsion, vehicle braking, etc.

[0018] Typically, a key aspect of a steering system is the efficient and safe control of a synchronous brushless DC (BLDC) motor. The dynamic development of autonomous control forces and the growing emphasis on road safety may include implementing mechanisms to increase the reliability of function delivery. The natural direction is to use redundant and distributed systems to provide functions to mitigate the consequences of failures of individual redundant entities.

[0019] Therefore, systems and methods (such as those described herein) configured to provide distributed system state estimation features may be desirable. In some embodiments, the systems and methods described herein may be configured to control standby redundancy (e.g., applied to a steering system, any other suitable system of a vehicle, and / or any other computing system).

[0020] The systems and methods described herein may be configured to provide a standardized control process to manage different levels of standby redundancy, such as Figure 3 The systems and methods described herein may be configured to enable system-wide awareness determination of each redundant entity.

[0021] In some embodiments, the systems and methods described herein may be configured to use a unified core architecture solution (e.g., Figure 5 ), while omitting external supervisor (eg, hardware) units. For example, the inferred, verified situational image of the redundant system can be used by the application layer to optimally use the available distributed resources.

[0022] refer to Figure 4 , the systems and methods described herein may be configured to provide mechanisms for dynamically adjusting and reconfiguring system responses to provide expansion of functionality (e.g., steering assistance and / or other suitable functionality) availability, detection of control path failures, and aggregation of fault state preconditions.

[0023] The systems and methods described herein may be configured to provide inferences about system perception. The systems and methods described herein may be configured to determine (e.g., or infer, predict, etc.) redundant system states based on reliable information and inferred credibility diagnostics. The systems and methods described herein may be configured to determine local system state redundant entities individually. The systems and methods described herein may be configured to analyze information including path availability and capabilities, which combine to define a system capability pool. The systems and methods described herein may be configured to exchange and compare processed information between redundant entities for inferring cross-checks. The systems and methods described herein may be configured to execute predefined (e.g., based on the role of an entity) diagnostic scenarios in response to inconsistencies in information.

[0024] The systems and methods described herein may be configured to ensure that various control paths (eg, entities) are fully capable and operational and assigned corresponding functionality at system startup (eg, which may be referred to as redundant system startup).

[0025] The systems and methods described herein may be configured to use the acquired system awareness to dynamically infer the current redundant system control topology including predefined roles and prevent control conflicts at the redundant entity level.

[0026] Also refer to Figure 5 , the systems and methods described herein may be configured to decompose redundant system state estimation into three functions: redundant diagnostics; redundant state estimation; and redundant state control.

[0027] The systems and methods described herein can be configured to provide redundancy diagnostics that can include quantifying the availability and performance of interconnect channels and verifying the consistency of redundancy state inferences between processing entities that constitute a redundant system. The systems and methods described herein can be configured to receive inputs including quality indicators of the interconnect and partial redundancy classifiers. The systems and methods described herein can be configured to provide outputs including communication interface qualifiers and system redundancy diagnostic status information.

[0028] The systems and methods described herein may be configured to provide a redundancy state estimate that may include a classification of the redundancy capabilities of the execution system. Additionally or alternatively, the systems and methods described herein may be configured to support runtime coordination and initialization between processing paths. The systems and methods described herein may be configured to receive inputs including system availability, communication interface qualifiers, and system redundancy diagnostic status information. The systems and methods described herein may be configured to provide outputs including redundancy topology classifications and redundancy state (e.g., global system state) information.

[0029] The systems and methods described herein may be configured to provide redundant state control, which may include determining the operational state of each processing path and providing the operational state information to application-specific functions. The systems and methods described herein may be configured to receive inputs including redundant topology classification information, redundant state (e.g., global system state), and resource availability status information. The systems and methods described herein may be configured to provide outputs including redundant system response information.

[0030] In some embodiments, the systems and methods described herein may be configured as a system-level supervisor and / or observer and situational awareness center that generates the necessary system awareness for application purposes. The systems and methods described herein may be configured to provide a unified and scalable core architectural approach and / or solution that combines the following: system-level redundancy and redundant system status determination; cross-check diagnostic mechanisms for connected redundant entities; explicit, configurable system responses to redundant entity disagreements about system status; system capability pools based on definitions of individual redundant entity capabilities; and / or distributed, unified software solutions.

[0031] In some embodiments, the systems and methods described herein may be configured to provide distributed system state estimation. The systems and methods described herein may be configured to receive quality indicators and partially redundant classifiers from each of a plurality of signal paths associated with a computing system. The computing system may be associated with one or more vehicle systems of a vehicle (such as a steering system, a braking system, and / or any other suitable vehicle system). The steering system may include an EPS steering system, a SbW steering system, a hydraulic steering system, or other suitable steering systems. The signal paths in the plurality of signal paths may be associated with torque scaling, torque rate, damping, mode enablement, and the like.

[0032] The systems and methods described herein may be configured to generate a communication interface qualifier and a system redundancy diagnostic condition for each of a plurality of signal paths based on the quality indicator and the partial redundancy classifier.

[0033] The systems and methods described herein may be configured to receive system availability information of at least one component associated with a corresponding signal path. The systems and methods described herein may be configured to determine a redundancy topology classification and a redundancy state for a corresponding signal path based on the system availability information of at least one component associated with the corresponding signal path, a communication interface qualifier of the corresponding signal path, and a system redundancy diagnostic status of the corresponding signal path.

[0034] The systems and methods described herein may be configured to receive resource availability status information for a corresponding signal path. The systems and methods described herein may be configured to generate a redundant system response for the corresponding signal path based on the resource availability status information for the corresponding signal path, the redundant topology classification of the corresponding signal path, and the redundant state of the corresponding signal path.

[0035] The systems and methods described herein may be configured to selectively control at least one component of a computing system based on redundant system responses in response to a detected condition.

[0036] Figure 1 A vehicle 10 in accordance with the principles of the present disclosure is generally shown. The vehicle 10 may include any suitable vehicle, such as a car, a truck, a sport utility vehicle, a minivan, a crossover, any other passenger vehicle, any suitable commercial vehicle, or any other suitable vehicle. Although the vehicle 10 is illustrated as a passenger vehicle having wheels and used on a road, the principles of the present disclosure may be applied to other vehicles, such as airplanes, ships, trains, drones, or other suitable vehicles.

[0037] The vehicle 10 includes a body 12 and a hood 14. A passenger compartment 18 is at least partially defined by the body 12. Another portion of the body 12 defines an engine compartment 20. The hood 14 is movably attached to a portion of the body 12 such that when the hood 14 is in a first or open position, the hood 14 provides access to the engine compartment 20, and when the hood 14 is in a second or closed position, the hood 14 covers the engine compartment 20. In some embodiments, the engine compartment 20 may be disposed at the rear of the vehicle 10 (compared to what is generally shown).

[0038] The passenger compartment 18 may be disposed rearward of the engine compartment 20, but in embodiments where the engine compartment 20 is disposed at the rear of the vehicle 10, the passenger compartment 18 may be disposed forward of the engine compartment 20. The vehicle 10 may include any suitable propulsion system, including: an internal combustion engine; one or more electric motors (e.g., an electric vehicle); one or more fuel cells; a hybrid (e.g., a hybrid vehicle) propulsion system including a combination of an internal combustion engine, one or more electric motors; and / or any other suitable propulsion system.

[0039] In some embodiments, the vehicle 10 may include a gasoline engine or a gasoline fuel engine, such as a spark ignition engine. In some embodiments, the vehicle 10 may include a diesel fuel engine, such as a compression ignition engine. The engine compartment 20 accommodates and / or surrounds at least some components of the propulsion system of the vehicle 10. Additionally or alternatively, a propulsion control device (e.g., an accelerator actuator (e.g., an accelerator pedal), a brake actuator (e.g., a brake pedal), a steering wheel, and other such components) are disposed in the passenger compartment 18 of the vehicle 10. The propulsion control device may be actuated or controlled by an operator of the vehicle 10 and may be directly connected to corresponding components of the propulsion system, such as a throttle, brake, axle, vehicle transmission, etc., respectively. In some embodiments, the propulsion control device may transmit a signal to a vehicle computer (e.g., drive-by-wire), which in turn may control corresponding propulsion components of the propulsion system. Thus, in some embodiments, the vehicle 10 may be an autonomous vehicle.

[0040] In some embodiments, the vehicle 10 includes a transmission that is connected to the crankshaft via a flywheel or a clutch or a fluid coupling. In some embodiments, the transmission includes a manual transmission. In some embodiments, the transmission includes an automatic transmission. In the case of an internal combustion engine or a hybrid vehicle, the vehicle 10 may include one or more pistons that operate in conjunction with the crankshaft to generate force that is transmitted to one or more axles through the transmission, which causes the wheels 22 to rotate. When the vehicle 10 includes one or more electric motors, the vehicle battery and / or fuel cell provides energy to the electric motors to rotate the wheels 22.

[0041] The vehicle 10 may include an automatic vehicle propulsion system, such as cruise control, adaptive cruise control, automatic braking control, other automatic vehicle propulsion systems, or combinations thereof. The vehicle 10 may be an autonomous or semi-autonomous vehicle, or another suitable type of vehicle. The vehicle 10 may include additional features or fewer features than those generally shown and / or disclosed herein.

[0042] In some embodiments, the vehicle 10 may include an Ethernet component 24, a controller area network (CAN) bus 26, a media oriented system transport component (MOST) 28, a FlexRay component 30 (e.g., a wire control system, etc.), and a local interconnect network component (LIN) 32. The vehicle 10 may use the CAN bus 26, the MOST 28, the FlexRay component 30, the LIN 32, other suitable networks or communication systems, or a combination thereof, to communicate various information from sensors, such as within or outside the vehicle, to various processors or controllers, such as within or outside the vehicle. The vehicle 10 may include additional features or fewer features than those generally shown and / or disclosed herein.

[0043] In some embodiments, the vehicle 10 may include a steering system, such as an EPS system, a steer-by-wire steering system (e.g., which may include or be in communication with one or more controllers that control components of the steering system without using a mechanical connection between a steering wheel of the vehicle 10 and the wheels 22), a hydraulic steering system (e.g., which may include a magnetic actuator incorporated into a valve assembly of the hydraulic steering system), or other suitable steering systems.

[0044] The steering system may include an open-loop feedback control system or mechanism, a closed-loop feedback control system or mechanism, or a combination thereof. The steering system may be configured to receive various inputs, including but not limited to: steering wheel position, input torque, one or more wheel positions, other suitable inputs or information, or a combination thereof.

[0045] Additionally or alternatively, the input may include steering wheel torque, steering wheel angle, motor speed, vehicle speed, estimated motor torque command, other suitable input, or a combination thereof. The steering system may be configured to provide steering functionality and / or control to the vehicle 10. For example, the steering system may generate an assist torque based on various inputs. The steering system may be configured to selectively control the motor of the steering system using the assist torque to provide steering assistance to the operator of the vehicle 10.

[0046] In some embodiments, the vehicle 10 may include a controller, such as controller 100. Figure 2. The controller 100 may include any suitable controller, such as an electronic control unit or other suitable controller. For example, the controller 100 may be configured to control various functions of the steering system and / or various functions of the vehicle 10. The controller 100 may include a processor 102 and a memory 104. The processor 102 may include any suitable processor, such as those described herein. Additionally or alternatively, in addition to the processor 102 or in addition to the processor 102, the controller 100 may include any suitable number of processors. The memory 104 may include a single disk or multiple disks (e.g., a hard disk drive), and include a storage management module that manages one or more partitions within the memory 104. In some embodiments, the memory 104 may include flash memory, semiconductor (solid-state) memory, etc. The memory 104 may include a random access memory (RAM), a read-only memory (ROM), or a combination thereof. The memory 104 may include instructions that, when executed by the processor 102, cause the processor 102 to at least control various aspects of the vehicle 10.

[0047] The controller 100 may receive one or more signals from various measuring devices or sensors 106, which indicate sensed or measured characteristics of the vehicle 10. The sensor 106 may include any suitable sensor, measuring device, and / or other suitable mechanism. For example, the sensor 106 may include one or more torque sensors or devices, one or more steering wheel position sensors or devices, one or more motor position sensors or devices, one or more position sensors or devices, one or more radar sensors or devices, one or more lidar sensors or devices, one or more sonar sensors or devices, one or more image capture sensors or devices, other suitable sensors or devices, or a combination thereof. The one or more signals may indicate steering wheel torque, steering wheel angle, motor speed, vehicle speed, other suitable information, or a combination thereof.

[0048] The controller 100 may be configured to provide a distributed system state estimate. For example, the controller 100 may receive a quality indicator and a partially redundant classifier from each of a plurality of signal paths associated with a computing system. The computing system may be associated with one or more vehicle systems of the vehicle 10, such as a steering system, a braking system, and / or any other suitable vehicle system. The steering system may include an EPS steering system, a SbW steering system, a hydraulic steering system, or other suitable steering systems. A signal path in the plurality of signal paths may be associated with torque scaling, torque rate, damping, mode enablement, and the like.

[0049] The controller 100 may generate a communication interface qualifier and a system redundancy diagnostic status for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier.

[0050] The controller 100 may receive system availability information of at least one component associated with the corresponding signal path. The controller 100 may determine a redundancy topology classification and a redundancy state for the corresponding signal path based on the system availability information of at least one component associated with the corresponding signal path, a communication interface qualifier of the corresponding signal path, and a system redundancy diagnostic status of the corresponding signal path.

[0051] The controller 100 may receive resource availability status information for the corresponding signal path. The controller 100 may generate a redundant system response for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundant topology classification of the corresponding signal path, and the redundant state of the corresponding signal path.

[0052] The controller 100 may selectively control at least one component of the computing system based on a redundant system response in response to the detected condition.

[0053] In some embodiments, the controller 100 can perform the methods described herein. However, the methods described herein performed by the controller 100 are not meant to be limiting, and any type of software executed on a controller or processor can perform the methods described herein without departing from the scope of the present disclosure. For example, a controller (such as a processor executing software within a computing device) can perform the methods described herein.

[0054] Figure 6 A distributed system state estimation method 300 according to the principles of the present disclosure is generally shown. At 302, the method 300 receives a quality indicator and a partially redundant classifier from each of a plurality of signal paths associated with a computing system. For example, the controller 100 may receive a quality indicator and a partially redundant classifier from each of a plurality of signal paths associated with a computing system.

[0055] At 304, the method 300 generates a communication interface qualifier and a system redundancy diagnostic status for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier. For example, the controller 100 may generate a communication interface qualifier and a system redundancy diagnostic status for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier.

[0056] At 306, the method 300 receives system availability information of at least one component associated with the corresponding signal path. For example, the controller 100 may receive system availability information of at least one component associated with the corresponding signal path.

[0057] At 308, the method 300 determines a redundant topology classification and a redundant state for the corresponding signal path based on system availability information of at least one component associated with the corresponding signal path, a communication interface qualifier of the corresponding signal path, and a system redundancy diagnostic status of the corresponding signal path. For example, the controller 100 may determine a redundant topology classification and a redundant state for the corresponding signal path based on system availability information of at least one component associated with the corresponding signal path, a communication interface qualifier of the corresponding signal path, and a system redundancy diagnostic status of the corresponding signal path.

[0058] At 310, the method 300 receives resource availability status information for the corresponding signal path. For example, the controller 100 can receive resource availability status information for the corresponding signal path.

[0059] At 312, the method 300 generates a redundant system response for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundant topology classification of the corresponding signal path, and the redundant state of the corresponding signal path. For example, the controller 100 may generate a redundant system response for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundant topology classification of the corresponding signal path, and the redundant state of the corresponding signal path.

[0060] In some embodiments, a method for distributed system state estimation includes: receiving a quality indicator and a partial redundancy classifier from each of a plurality of signal paths associated with a computing system. The method also includes: generating a communication interface qualifier and a system redundancy diagnostic status for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier. The method also includes: receiving system availability information of at least one component associated with the corresponding signal path; and determining a redundancy topology classification and a redundancy status for the corresponding signal path based on the system availability information of the at least one component associated with the corresponding signal path, the communication interface qualifier of the corresponding signal path, and the system redundancy diagnostic status of the corresponding signal path. The method also includes: receiving resource availability status information for the corresponding signal path; and generating a redundant system response for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundancy topology classification of the corresponding signal path, and the redundancy status of the corresponding signal path.

[0061] In some embodiments, the method further comprises: selectively controlling at least one component of the computing system based on the redundant system response in response to the detected condition. In some embodiments, the computing system is associated with one or more vehicle systems of a vehicle. In some embodiments, the one or more vehicle systems of the vehicle include at least a steering system. In some embodiments, the steering system includes an electric power steering system. In some embodiments, the steering system includes a steer-by-wire steering system. In some embodiments, the steering system includes a hydraulic steering system. In some embodiments, the one or more vehicle systems include at least a braking system. In some embodiments, at least one of the plurality of signal paths is associated with torque scaling. In some embodiments, at least one of the plurality of signal paths is associated with torque rate.

[0062] In some embodiments, a system for distributed system state estimation includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a quality indicator and a partial redundancy classifier from each of a plurality of signal paths associated with a computing system; generate a communication interface qualifier and a system redundancy diagnostic status for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier; receive system availability information of at least one component associated with a corresponding signal path; determine a redundancy topology classification and a redundancy status for the corresponding signal path based on the system availability information of the at least one component associated with the corresponding signal path, the communication interface qualifier of the corresponding signal path, and the system redundancy diagnostic status of the corresponding signal path; receive resource availability status information for the corresponding signal path; and generate a redundant system response for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundancy topology classification of the corresponding signal path, and the redundancy status of the corresponding signal path.

[0063] In some embodiments, the instructions further cause the processor to selectively control at least one component of the computing system based on the redundant system response in response to the detected condition. In some embodiments, the computing system is associated with one or more vehicle systems of a vehicle. In some embodiments, the one or more vehicle systems of the vehicle include at least a steering system. In some embodiments, the steering system includes an electric power steering system. In some embodiments, the steering system includes a steer-by-wire steering system. In some embodiments, the steering system includes a hydraulic steering system. In some embodiments, the one or more vehicle systems include at least a braking system. In some embodiments, at least one of the plurality of signal paths is associated with torque scaling.

[0064] In some embodiments, a device for distributed system state estimation includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a quality indicator and a partial redundancy classifier from each of a plurality of signal paths associated with a vehicle; generate a communication interface qualifier and a system redundancy diagnostic status for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier; receive system availability information of at least one component associated with the corresponding signal path; determine a redundant topology classification and a redundant state for the corresponding signal path based on the system availability information of the at least one component associated with the corresponding signal path, the communication interface qualifier of the corresponding signal path, and the system redundancy diagnostic status of the corresponding signal path; receive resource availability status information for the corresponding signal path; generate a redundant system response for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundant topology classification of the corresponding signal path, and the redundant state of the corresponding signal path; and selectively control at least one component of the vehicle based on the redundant system response in response to a detected condition.

[0065] The above discussion is intended to illustrate the principles and various embodiments of the present disclosure. Once the above disclosure is fully understood, many changes and modifications will become apparent to those skilled in the art. It is intended that the appended claims be interpreted as covering all such changes and modifications.

[0066] The word "example" is used herein to mean used as an example, instance or illustration. Any aspect or design described herein as an "example" is not necessarily to be interpreted as being more preferred or advantageous than other aspects or designs. On the contrary, the use of the word "example" is intended to present the concept in a specific way. As used in this application, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clearly seen from the context, "X includes A or B" is intended to represent any natural inclusive arrangement. That is, if X includes A; X includes B; or X includes both A and B, then "X includes A or B" is satisfied in any of the foregoing cases. In addition, the article "a / an" used in this application and the appended claims should generally be interpreted as meaning "one or more", unless otherwise specified or clearly pointed to the singular form from the context. In addition, unless so described, the use of the term "embodiment" or "one embodiment" throughout the text is not intended to represent the same embodiment or embodiment.

[0067] The implementation of the systems, algorithms, methods, instructions, etc. described herein may be implemented in hardware, software, or any combination thereof. Hardware may include, for example, a computer, an intellectual property (IP) core, an application specific integrated circuit (ASIC), a programmable logic array, an optical processor, a programmable logic controller, microcode, a microcontroller, a server, a microprocessor, a digital signal processor, or any other suitable circuit. In the claims, the term "processor" shall be understood to include any of the foregoing hardware, alone or in combination. The terms "signal" and "data" may be used interchangeably.

[0068] As used herein, the term module may include a packaged functional hardware unit designed to be used with other components, a set of instructions executable by a controller (e.g., a processor executing software or firmware), a processing circuit configured to perform a specific function, and a self-contained hardware or software component that interfaces with a larger system. For example, a module may include an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), an electrical circuit, a digital logic circuit, an analog circuit, a combination of discrete circuits, gate circuits and other types of hardware, or a combination thereof. In other embodiments, a module may include a memory that stores instructions executable by a controller to implement the features of the module.

[0069] Furthermore, in one aspect, for example, the systems described herein may be implemented using a general purpose computer or general purpose processor with a computer program that, when executed, implements any corresponding method, algorithm, and / or instruction described herein. Additionally or alternatively, for example, a special purpose computer / processor may be utilized that may include other hardware for implementing any method, algorithm, or instruction described herein.

[0070] In addition, all or part of the embodiments of the present disclosure may take the form of a computer program product that can be accessed from, for example, a computer-usable or computer-readable medium. A computer-usable or computer-readable medium can be, for example, any device that can tangibly contain, store, communicate, or transmit a program for use by or in conjunction with any processor. The medium can be, for example, an electronic, magnetic, optical, electromagnetic device, or a semiconductor device. Other suitable media may also be used.

[0071] The above embodiments, implementations and aspects have been described to allow easy understanding of the present disclosure and are not intended to limit the present disclosure. On the contrary, the present disclosure is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, which scope should be given the broadest interpretation to cover all such modifications and equivalent structures permitted by law.

Claims

1. A method for state estimation of a distributed system, the method comprising: receiving a quality indicator and a partial redundancy classifier from each of a plurality of signal paths associated with a computing system; generating a communication interface qualifier and a system redundancy diagnostic condition for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier; receiving system availability information of at least one component associated with a corresponding signal path; determining a redundancy topology classification and a redundancy state for the corresponding signal path based on the system availability information of the at least one component associated with the corresponding signal path, a communication interface qualifier of the corresponding signal path, and a system redundancy diagnostic status of the corresponding signal path; receiving resource availability status information for the corresponding signal path; and A redundant system response is generated for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundant topology classification of the corresponding signal path, and the redundant status of the corresponding signal path.

2. The method according to claim 1, further comprising: In response to the detected condition, at least one component of the computing system is selectively controlled based on the redundant system response.

3. The method according to claim 1, wherein: The computing system is associated with one or more vehicle systems of a vehicle.

4. The method according to claim 3, wherein: The one or more vehicle systems of the vehicle include at least a steering system.

5. The method according to claim 4, wherein: The steering system includes an electric power steering system.

6. The method according to claim 4, wherein: The steering system comprises a steer-by-wire steering system.

7. The method according to claim 4, wherein: The steering system includes a hydraulic steering system.

8. The method according to claim 3, wherein: The one or more vehicle systems include at least a braking system.

9. The method according to claim 1, wherein: At least one signal path of the plurality of signal paths is associated with torque scaling.

10. The method according to claim 1, wherein: At least one signal path of the plurality of signal paths is related to a torque rate.

11. A system for distributed system state estimation, the system comprising: processor; as well as a memory comprising instructions that, when executed by the processor, cause the processor to: receiving a quality indicator and a partial redundancy classifier from each of a plurality of signal paths associated with a computing system; generating a communication interface qualifier and a system redundancy diagnostic condition for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier; receiving system availability information of at least one component associated with a corresponding signal path; determining a redundancy topology classification and a redundancy state for the corresponding signal path based on the system availability information of the at least one component associated with the corresponding signal path, a communication interface qualifier of the corresponding signal path, and a system redundancy diagnostic status of the corresponding signal path; receiving resource availability status information for the corresponding signal path; and A redundant system response is generated for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundant topology classification of the corresponding signal path, and the redundant status of the corresponding signal path.

12. The system according to claim 11, wherein: The instructions further cause the processor to: in response to the detected condition, selectively control at least one component of the computing system based on the redundant system response.

13. The system according to claim 11, wherein: The computing system is associated with one or more vehicle systems of a vehicle.

14. The system according to claim 13, wherein: The one or more vehicle systems of the vehicle include at least a steering system.

15. The system of claim 14, wherein: The steering system includes an electric power steering system.

16. The system of claim 14, wherein: The steering system comprises a steer-by-wire steering system.

17. The system of claim 4, wherein: The steering system includes a hydraulic steering system.

18. The system of claim 13, wherein: The one or more vehicle systems include at least a braking system.

19. The system of claim 11, wherein: At least one signal path of the plurality of signal paths is associated with torque scaling.

20. A device for distributed system state estimation, the device comprising: processor; as well as a memory comprising instructions that, when executed by the processor, cause the processor to: receiving a quality indicator and a partial redundancy classifier from each of a plurality of signal paths associated with a vehicle; generating a communication interface qualifier and a system redundancy diagnostic condition for each of the plurality of signal paths based on the quality indicator and the partial redundancy classifier; receiving system availability information of at least one component associated with a corresponding signal path; determining a redundancy topology classification and a redundancy state for the corresponding signal path based on the system availability information of the at least one component associated with the corresponding signal path, a communication interface qualifier of the corresponding signal path, and a system redundancy diagnostic status of the corresponding signal path; receiving resource availability status information for the corresponding signal path; generating a redundant system response for the corresponding signal path based on the resource availability status information of the corresponding signal path, the redundant topology classification of the corresponding signal path, and the redundant status of the corresponding signal path; and In response to the detected condition, at least one component of the vehicle is selectively controlled based on the redundant system response.

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