CONTROL SYSTEM AND METHOD OF OPERATION FOR A VEHICLE CORNER MODULE - Patent application

Abstract

A control system for a vehicle is provided, the vehicle including a plurality of vehicle corner modules (VCMs), each VCM including at least two of a drive subsystem, a steering subsystem, and a brake subsystem. The control system includes a network of VCM-controllers, the VCM-controllers mounted in different respective VCMs and operatively linked to each of the subsystems of the respective VCMs to receive sensor data and to regulate the operation of the subsystems in response to incoming signals received from outside the respective VCM. The control system provides a fault-free mode of operation defined by the absence of a control system failure, the VCM-controller of a first VCM being programmed to control at least one subsystem in a second VCM when operating in the fault-free mode of operation.

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATIONS] This patent application claims the benefit of U.S. Provisional Patent Application No. 63 / 144,313, filed February 1, 2021, the entire contents of which are incorporated herein by reference.

[0002] The present invention relates to a vehicle corner module (VCM) for coordinating the motion of a host vehicle, and more particularly to a VCM including its on-board mechanical and electrical subsystems. [Background technology]

[0003] Over more than a century of development and refinement of on-board systems has resulted in sophisticated designs that integrate and centralize the management of various mechanical and electrical subsystems. Available control systems are limited to managing individual functions and are unable to integrate or combine the management of multiple subsystems.

[0004] Newly envisioned vehicle platforms designed for electric propulsion can include modular, axle-less wheel assemblies (Vehicle Corner Modules, or VCMs) that require independent functional subsystems such as drivetrain, braking, and steering subsystems mounted to each individual wheel. These designs require new control models to safely manage the vehicle's motion under both non-fault and fault conditions. Summary of the Invention

[0005] According to an embodiment of the present invention, a control system for a vehicle is disclosed. The vehicle includes a plurality of vehicle corner modules (VCMs), each VCM including at least two subsystems selected from a group of subsystems consisting of a drive subsystem, a steering subsystem, and a brake subsystem. The control system includes a network of VCM-controllers, each VCM-controller (i) mounted in a different corresponding VCM of the plurality of VCMs and (ii) operatively linked to each of the at least two subsystems of its corresponding VCM to receive sensor data and adjust the operation of the subsystems in response to incoming signals received from outside its corresponding VCM. In a fault-free mode of operation defined by the absence of control system failures, each VCM controller adjusts the operation of a first of the at least two subsystems in its own corresponding VCM and in at least one other VCM in response to incoming signals.

[0006] In some embodiments, the fault-free operating mode may be characterized in that operation of a second of the at least two subsystems in its own respective VCM is coordinated by a VCM-controller of a different VCM that is not its own respective VCM.

[0007] According to an embodiment of the present invention, a control system for a vehicle is disclosed. The vehicle includes a plurality of vehicle corner modules (VCMs), each VCM including at least two subsystems selected from a group of subsystems consisting of a drive subsystem, a steering subsystem, and a brake subsystem. The control system includes a network of VCM-controllers, each VCM-controller (i) mounted in a different VCM of the plurality of VCMs and (ii) operatively linked to each of the at least two subsystems of the corresponding VCM to receive sensor data and adjust the operation of the subsystems in response to an incoming signal received from outside the corresponding VCM. In a fault-free operating mode defined by the absence of a control system failure, at least one of the at least two subsystems in each corresponding VCM is adjusted by a VCM-controller of a different VCM that is not the corresponding VCM in response to an incoming signal.

[0008] According to an embodiment of the present invention, a control system for a vehicle is disclosed. The vehicle includes a plurality of vehicle corner modules (VCMs), each VCM including at least two subsystems selected from a group of subsystems consisting of a drive subsystem, a steering subsystem, and a brake subsystem. The control system includes a network of VCM-controllers, each VCM-controller (i) mounted in a different VCM of the plurality of VCMs, and (ii) operatively linked to each of the at least two subsystems of its respective VCM to receive sensor data and adjust the operation of the subsystems in response to an incoming signal received from outside its respective VCM. In a fault-free operating mode defined by the absence of a control system fault, each VCM controller adjusts the operation of a first subsystem of at least two subsystems in its own respective VCM and in at least one other VCM in response to an incoming signal, the fault-free operating mode being characterized in that the operation of a second subsystem of the at least two subsystems in its own respective VCM is adjusted by a VCM-controller of a different VCM that is not its own respective VCM.

[0009] For any of the control systems disclosed herein, in a first fault-handling operating mode, each VCM-controller installed in a VCM that includes the second subsystem can coordinate operation of the second subsystem in its own respective VCM, and / or in the first fault-handling operating mode, a VCM-controller of a different VCM that is not its own respective VCM can be characterized as being unable to coordinate operation of the second subsystem in its own respective VCM.

[0010] For any of the control systems disclosed herein, in a second fault-handling operating mode, a VCM-controller of a given VCM can coordinate operation of a given subsystem of at least two subsystems in a different VCM that is not the given VCM, and / or in the second fault-handling operating mode, a VCM-controller of the different VCM can be unable to coordinate operation of the given subsystem in the different VCM.

[0011] For any of the control systems disclosed herein, in a third fault handling operating mode, a VCM controller of a given VCM can coordinate operation of at least two corresponding subsystems in a different VCM that is not the given VCM, and / or in the third fault handling operating mode, a VCM controller of the different VCM can be characterized as being unable to coordinate operation of one or more subsystems of the at least two subsystems in the different VCM.

[0012] For any of the control systems disclosed herein, in a fourth fault handling operating mode, a VCM-controller of a given VCM can coordinate operation of at least two subsystems within the given VCM, and / or in the fourth fault handling operating mode, a plurality of VCM-controllers of a different corresponding VCM other than the given VCM can be characterized as being unable to coordinate operation of a corresponding one of the at least two subsystems within the corresponding VCM.

[0013] For any of the control systems disclosed herein, the first subsystem may be selected according to an operational profile assigned to the corresponding VCM.

[0014] For any of the control systems disclosed herein, the incoming signal may be selected from the group of signals consisting of electrical signals, electronic signals, and optically transmitted signals.

[0015] Any of the control systems disclosed herein may incorporate any or all of the features of the four disclosed fault handling operating modes in any combination.

[0016] According to an embodiment of the present invention, a vehicle is disclosed, which may include any of the control systems disclosed herein.

[0017] According to an embodiment of the present invention, a controller for installation in a vehicle corner module (VCM) is disclosed, the VCM including at least two subsystems selected from a group of subsystems consisting of a drive subsystem, a steering subsystem, and a braking subsystem, the controller including: (a) a communication arrangement for establishing electronic communication with (i) corresponding controllers of other VCMs for participating in a networked VCM-controller control system network, and (ii) each of the at least two subsystems in the VCM and in the at least one other VCM; (b) one or more processors; and (c) a computer readable medium storing program instructions that, when executed by the one or more processors, cause the one or more processors to adjust operation of a first of the at least two subsystems in the VCM and in the at least one other VCM in response to an incoming signal received from outside the VCM in the absence of a control system fault condition.

[0018] In some embodiments, the VCM may have a second subsystem of at least two subsystems present, and when the stored program instructions are executed by one or more processors, operation of the second subsystem is not coordinated by one or more processors in the absence of a control system failure indicating a different networked VCM-controller will be unable to coordinate operation of the second subsystem in the VCM. In some embodiments, the VCM may have a second subsystem of at least two subsystems present, and when the stored program instructions are executed by one or more processors, operation of the second subsystem is not coordinated by one or more processors, provided that a controller receives a control system indication that a different networked VCM-controller is able to coordinate operation of the second subsystem in the VCM.

[0019] In some embodiments, the computer-readable medium may further store program instructions that, when executed by one or more processors, cause the one or more processors to adjust operation of the second subsystem within the VCM in response to a control system fault indicating that a different VCM-controller will be unable to adjust operation of the second subsystem within the VCM.

[0020] In some embodiments, the computer-readable medium may further store program instructions that, when executed by one or more processors, cause the one or more processors to coordinate operation of a given subsystem of at least two subsystems in the different VCM in response to a control system failure indicating that a corresponding VCM controller of a different VCM, including a corresponding networked VCM-controller, is unable to coordinate operation of the given subsystem in the different VCM.

[0021] In some embodiments, the computer-readable medium may further store program instructions that, when executed by one or more processors, cause the one or more processors to coordinate operation of at least two corresponding subsystems in the different VCMs in response to a control system failure indicating that a corresponding VCM-controller of a different VCM, including a corresponding networked VCM-controller, is unable to coordinate operation of one or more of the at least two subsystems in the different VCMs.

[0022] In some embodiments, the computer-readable medium may further store program instructions that, when executed by one or more processors, cause the one or more processors to coordinate operation of at least two subsystems in the VCM in response to a control system failure indicating that other VCM-controllers in a network of VCM-controllers will be unable to coordinate operation of either of the at least two subsystems in the VCM.

[0023] In some embodiments, the incoming signal may be selected from the group of signals consisting of electrical signals, electronic signals, and optically transmitted signals.

[0024] In an embodiment, a controller may include any or all of the disclosed program instructions in any combination.

[0025] According to embodiments of the present invention, a control system may include any of the controllers disclosed herein, hi some embodiments, a vehicle may include such a control system.

[0026] According to embodiments of the present invention, the VCM may include any of the controllers disclosed herein, hi some embodiments, a vehicle may include at least one pair of such VCMs.

[0027] According to embodiments of the present invention, a vehicle may include any of the controllers disclosed herein.

[0028] According to an embodiment, a method of operating a vehicle is disclosed, the vehicle including (i) at least one pair of vehicle corner modules (VCMs) and (ii) a network of networked VCM-controllers, each VCM including at least two subsystems selected from a group of subsystems consisting of a drive subsystem, a steering subsystem, and a brake subsystem, each VCM-controller (A) mounted in a different respective VCM and (B) in electronic communication with each of the at least two subsystems of the respective VCM and with other VCM-controllers of the network of VCM-controllers. The method includes the steps of receiving an incoming signal from outside the respective VCM, monitoring the incoming signal for a control system fault, and, in response to the incoming signal, adjusting the operation of a first of the at least two subsystems in its own respective VCM and in at least one other VCM including the respective networked VCM-controller in the absence of a control system fault, the steps being performed by the first VCM-controller of the network of VCM-controllers.

[0029] In some embodiments, the method may further include receiving a second incoming signal from outside the corresponding VCM, monitoring the second incoming signal for a control system fault, and / or in response to the second incoming signal, adjusting operation of a second of the at least two subsystems in the corresponding VCM of the first VCM-controller in the absence of a control system fault, wherein these steps are performed by a second VCM-controller of the network of VCM-controllers.

[0030] In some embodiments, the method may further include detecting an indication of a control system fault in an incoming signal that disables a second VCM-controller from regulating operation of the second subsystem within the VCM, and / or regulating operation of the second subsystem within the VCM in response to the indication of the control system fault, these steps being performed by the first VCM-controller.

[0031] In some embodiments, the method may further include detecting, in an incoming signal, an indication of a control system fault that renders a different networked VCM-controller unable to coordinate operation of a given subsystem of at least two subsystems in its respective VCM, and / or adjusting operation of the given subsystem in the respective VCM in response to the indication of the control system fault, these steps being performed by the first VCM-controller.

[0032] In some embodiments, the method may further include detecting, in an incoming signal, an indication of a control system fault that renders a different networked VCM-controller unable to coordinate operation of one or more of the at least two subsystems in its respective VCM, and / or coordinating operation of the at least two subsystems in the respective VCM in response to the indication of the control system fault, wherein these steps are performed by the first VCM-controller.

[0033] In some embodiments, the method may further include detecting an indication of a control system fault in an incoming signal that renders other VCM-controllers in the network of VCM-controllers unable to coordinate operation of any of the at least two subsystems in the VCM, and / or responsive to the indication of the control system fault, coordinating operation of the at least two subsystems in the VCM, wherein these steps are performed by the first VCM-controller.

[0034] In some embodiments of the method, the incoming signal may be selected from the group of signals consisting of electrical signals, electronic signals, and optically transmitted signals.

[0035] In embodiments, the method may include any or all of the method steps disclosed herein in any combination. [Brief description of the drawings]

[0036] The invention will now be further described, by way of example, with reference to the accompanying drawings, in which: Dimensions of components and features shown in the figures have been chosen for convenience and clarity of presentation and are not necessarily drawn to scale.

[0037] [Figure 1] FIG. 1 is a schematic diagram of a vehicle including a communication bus, multiple VCMs, and a control system in accordance with an embodiment of the present invention. [Diagram 2] 2 illustrates details of a portion of the communication bus of FIG. 1 in accordance with an embodiment of the present invention. [Diagram 3] 2 illustrates a network of VCM-controllers for the vehicle of FIG. 1 in accordance with an embodiment of the present invention. [Figure 4] FIG. 2 is a schematic diagram of a VCM-controller including a function control module according to an embodiment of the present invention. [Figure 5A] FIG. 2 is a schematic diagram of a VCM including multiple subsystems, in accordance with an embodiment of the present invention. [Figure 5B]FIG. 2 is a schematic diagram of a VCM including multiple subsystems, in accordance with an embodiment of the present invention. [Figure 5C] FIG. 2 is a schematic diagram of a VCM including multiple subsystems, in accordance with an embodiment of the present invention. [Figure 6] FIG. 1 shows a block diagram of a vehicle including four VCMs and four corresponding VCM-controllers, in accordance with an embodiment of the present invention. [Figure 7A] FIG. 2 is a block diagram of a pair of VCM-controllers operating in the absence of a control system fault, according to an embodiment of the present invention. [Figure 7B] FIG. 2 is a block diagram of a pair of VCM-controllers operating in the absence of a control system fault, according to an embodiment of the present invention. [Figure 8A] FIG. 2 is a block diagram of a pair of VCM-controllers operating in the presence of a control system fault, according to an embodiment of the present invention. [Figure 8B] FIG. 2 is a block diagram of a pair of VCM-controllers operating in the presence of a control system fault, according to an embodiment of the present invention. [Figure 8C] FIG. 2 is a block diagram of a pair of VCM-controllers operating in the presence of a control system fault, according to an embodiment of the present invention. [Figure 9A] FIG. 2 is a schematic diagram of a VCM-controller according to an embodiment of the present invention. [Figure 9B] FIG. 2 is a schematic diagram of a VCM-controller according to an embodiment of the present invention. [Figure 10A] FIG. 2 is a schematic diagram of a VCM-controller according to an embodiment of the present invention. [Figure 10B] FIG. 2 is a schematic diagram of a VCM-controller according to an embodiment of the present invention. [Figure 10C] FIG. 2 is a schematic diagram of a VCM-controller according to an embodiment of the present invention. [Figure 10D] FIG. 2 is a schematic diagram of a VCM-controller according to an embodiment of the present invention. [Figure 11A] 2 illustrates a flowchart of method steps for operating a vehicle in the absence of a control system failure, according to an embodiment of the present invention. [Figure 11B] 2 illustrates a flowchart of method steps for operating a vehicle in the absence of a control system failure, according to an embodiment of the present invention. [Figure 12A] 2 illustrates a flowchart of method steps for operating a vehicle in the presence of a control system fault, in accordance with an embodiment of the present invention. [Figure 12B] 2 illustrates a flowchart of method steps for operating a vehicle in the presence of a control system fault, in accordance with an embodiment of the present invention. [Figure 12C] 2 illustrates a flowchart of method steps for operating a vehicle in the presence of a control system fault, in accordance with an embodiment of the present invention. [Figure 12D] 2 illustrates a flowchart of method steps for operating a vehicle in the presence of a control system fault, in accordance with an embodiment of the present invention.

[0038] It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, dimensions of some elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0039] The present invention will now be described, by way of example only, with reference to the accompanying drawings. Referring now in detail to the drawings, it will be emphasized that the specific details shown are presented by way of example only for the purpose of describing preferred embodiments of the invention and for the reason of providing what is believed to be the most useful and readily understandable explanation of the principles and conceptual aspects of the invention. In this regard, no attempt has been made to show the structural details of the invention in more detail than is necessary for a fundamental understanding of the invention, and the description taken together with the drawings will make clear to those skilled in the art how some forms of the invention may be embodied in practice. Throughout the drawings, like reference numerals are generally used to designate like elements.

[0040] NOTE: Throughout this disclosure, subscripted reference numbers (e.g., 101 or 10 A ) is used to designate multiple separate appearances of a single type of element, whether in a drawing or not. For example, 101 is a single appearance (of multiple appearances) of element 10. The same element may alternatively be referred to without a subscript (e.g., 10, not 101) when not referring to a specific one of multiple appearances, i.e., referring to the type in general.

[0041] Various terms are presented herein for convenience. To the extent that definitions are provided, either expressly or implicitly, here or elsewhere in this application, such definitions will be understood to be consistent with the use of the defined terms by those of ordinary skill in the relevant art. Moreover, such definitions are intended to be interpreted in the broadest possible sense consistent with such usage.

[0042] According to an embodiment of the present invention, an apparatus, system, and method for operation of a vehicle in a fault-free state, i.e., a state in which a control system fault has not been identified and / or communicated, and a fault-handling state, i.e., a state in which a control system fault has been identified and / or communicated, are disclosed. The apparatus and method include a control system, a network of controllers, and individual controllers. The method is suitable for being performed by the disclosed apparatus and system.

[0043] More specifically, the embodiments relate to the operation of a vehicle including a plurality of vehicle corner modules. Unless otherwise indicated, as used herein, "vehicle corner module" or "VCM" refers to an assembly for supporting the wheels of a vehicle and for coordinating the motion of the vehicle according to any of the embodiments disclosed herein. The VCM assembly includes (non-exhaustively) components such as a steering system, a suspension system, a braking system including a hydraulic subsystem, a gear assembly, a drive motor, a drive shaft, a wheel hub assembly, a controller, a communication arrangement, and electrical wiring. In some embodiments, the VCM includes wheels and tires. The VCM can be mounted to a "reference frame" of the vehicle, such as a chassis or similar vehicle frame or platform, but the mounting does not necessarily have to be "as a unit". When the VCM is described as being mounted to a vehicle, the VCM is mounted to the reference frame. The VCM may include a "subframe" to which some or all of the VCM components are mounted or otherwise attached, such that the subframe mediates between the reference frame and the various VCM components. The term "subframe" should be understood to mean any rigid frame or one or more structural elements in fixed combination. The prefix "sub" is intended to distinguish the subframe from the main frame or reference frame of the vehicle. The VCM may or may not include one or more electric motors and / or the wheels themselves (and tires).

[0044] As used herein and in the appended claims, the term "vehicle" is understood to refer to an electric vehicle having one or more wheels. Non-limiting examples of vehicles according to this definition are vehicles with power provided by an on-board engine, and "electric vehicles" that are powered by one or more electric motors and on-board batteries or other energy storage devices when traveling. Batteries do not need to be associated with or attached to the vehicle except when the vehicle is in motion. The term "vehicle" should also be understood to encompass a "vehicle platform" that includes at least a chassis (or other "frame of reference" to which a VCM can be mounted) and one or more wheels. A "vehicle platform" does not necessarily include all of the accessories necessary for the transportation of passengers and / or cargo, such as body components and interior fittings, at the time the vehicle platform is provided.

[0045] As disclosed herein, the operation of a vehicle, including coordinating the operation of one or more subsystems that perform operational functions, can be controlled and / or managed by one or more VCM-controllers. A VCM-controller is a controller installed on a VCM and programmed to coordinate the operation of at least one of the functional subsystems in at least its own VCM. Some VCM-controllers are programmed to coordinate the operation of multiple functional subsystems in a VCM or all functional subsystems in a VCM, i.e., have access to program instructions executable by one or more processors of the VCM-controller. As will be further described, in some embodiments of the present invention, a VCM-controller can be additionally programmed to coordinate the operation of at least one of the functional subsystems in one or more other VCMs. In an embodiment, a VCM-controller can be additionally programmed to coordinate the operation of multiple functional subsystems in one or more other VCMs or all functional subsystems in one or more other VCMs.

[0046] As used herein, the phrase "coordinating operation" means performing control functions including, but not limited to, activating, deactivating, modulating, and managing physical and / or electrical and / or electronic functions. Coordinating operation may also include monitoring the operation and / or performance of a functional subsystem and actively performing or modifying a control function in response to information received from monitoring. Coordinating operation may also include any or all of performing test procedures of the regulated or controlled subsystem, collecting operation and maintenance data of the regulated or controlled subsystem, and maintaining and communicating status information of the regulated or controlled subsystem.

[0047] The term "controller" as used herein means a computing device configured to monitor, control, regulate, and / or operate one or more components, systems, or subsystems. A controller is understood to include (but is not exhaustive of) any or all of one or more processors, one or more computer-readable media, e.g., temporary and / or non-transitory storage media (e.g., media containing program instructions executed by one or more processors), communication arrangements, one or more power sources and / or connections to power sources, and firmware and / or software. When used herein in hyphenated form, such as vehicle-controller or VCM-controller, the term means a controller for controlling a vehicle and / or vehicle components and / or subsystems, or a controller for controlling a VCM and / or VCM components and / or subsystems, respectively. Unless otherwise specified, the controller is located in the controlled element (vehicle, VCM, etc.). For example, a VCM-controller is located in or on a VCM that is the primary VCM for control by that VCM-controller. The controller (and control unit) can be pre-programmed, for example, by having program instructions stored on a computer-readable medium for execution by one or more processors of the controller. Thus, a controller "configured" to perform a function is herein equivalent to the controller being programmed to perform that function, i.e., having access to program instructions stored therein for execution. According to an embodiment, the VCM-controller can coordinate the operation of a function, e.g., a function performed by a mechanical and / or electrical subsystem of the VCM. Such coordination can be of the VCM-controller's "its respective VCM" or of another VCM (or VCMs) with which the VCM-controller is in electronic communication. Such electronic communication can be with the VCM-controller of the other VCM and / or any system or subsystem of the other VCM.Coordinating the operation of a function (or similarly, a subsystem configured to perform such a function) can include the full range of operations associated with that function. In a non-limiting example, drive functions performed by a drive subsystem can include starting, accelerating, maintaining speed, decelerating (e.g., using engine mass or in coordination with other subsystems, such as, for example, a braking subsystem), and stopping. A VCM-controller can include multiple control modules, such as control modules programmed to control specific functions, such as braking and steering.

[0048] In an embodiment, the vehicle can be fully controlled through all aspects of vehicle operation with all computational work being performed by one or more computational units of the VCM, i.e., the VCM-controller. The VCM can also actively communicate with at least one other VCM as well as the vehicle platform. The VCMs of a vehicle may all be of the same type, or the same type at the front of the vehicle and a different type at the rear. In some other examples, the VCMs on one side may be of the same type and the VCMs on the other side of the vehicle may be of a different type. For example, in a particular type of vehicle, the front VCM may be steerable and motorized while the rear VCM may not have steering and / or motorization capabilities. In another example, the VCMs may differ from each other by the sensors attached. In such an embodiment, a VCM with more sensors can communicate relevant data to other VCMs that do not have these sensors. In another example, the VCMs may differ from each other by having different performance profiles (e.g., size, response, power).

[0049] As used herein, "communication arrangement" or similar terms such as "communication method" refer to any wired or wireless connection over which data communication can take place. Non-limiting and non-exhaustive examples of suitable technologies for providing communication arrangements include short-range point-to-point communication systems such as IrDA, Radio Frequency Identification (RFID), TransferJet, wireless USB, Dedicated Short Range Communications (DSRC), or near-field wireless communication, wireless networks (including sensor networks) such as ZigBee (registered trademark), EnOcean, Wi-Fi, Bluetooth (registered trademark), TransferJet, Ultra-wideband, and wired communication bus technologies such as Controller Area Network (CAN) bus, Fieldbus, FireWire (registered trademark), HyperTransport, InfiniBand, and the like. As used herein, "establishing a communication link" refers to initiating and / or maintaining data communication between two or more processing units (e.g., controllers, computers, processors, etc.) according to any of the communication protocols supported by the two or more communication nodes.

[0050] As used throughout this disclosure and the appended claims, "electrical signal" or similar terms such as "electrical input" mean electrical and / or electronic, including the transmission of electrical current, either direct or alternating current, electronic information, or any combination of electrical and electronic signals and information. As used throughout this disclosure and the appended claims, the term "signal" without a modifier (e.g., "electrical") means electrical signals, electronic signals, and / or optically transmitted signals, but does not include mechanically transmitted "signals" (e.g., instructions). Examples of electrical signals included in the definition of "signal" include any or any combination of voltage, current, power, resistance, and capacitance transmitted or propagated to reach the VCM (including, in some examples, the VCM-controller). By their nature, electrical signals (except electronic signals) are transmitted via physical connections. Examples of electronic signals include any type or form of data communication transmitted by wire or wirelessly and may include, but are not limited to, specific or implicit commands to operate, adjust, or shut down a VCM system or subsystem, sensor data and / or status, alarm / fault indications including fault condition status and commands, periodic, scheduled, and / or special status requests and messages, test messages, diagnostic requests and results. Examples of optically transmitted signals include, but are not limited to, the examples of electronic signals described above, although transmitted at least in part over an optical communications infrastructure.

[0051] The term "control system" as used herein means a networked system including multiple controllers that are coordinated and / or networked. In one example, the control system can include a network of VCM-controllers including all VCM-controllers of the vehicle. In another example, the control system can further include a vehicle-controller. In other examples, the control system can further include other controllers such as a power management system, a battery management system, or a thermal management system. An autonomous computer can be present and in data communication with the control system.

[0052] According to an embodiment, the control system can be configured such that during normal operation, i.e., in the absence of a control system failure, a first VCM-controller coordinates the operation of a first functional subsystem in its own respective VCM and in at least one other VCM. At the same time, a second VCM-controller coordinates the operation of a second functional subsystem in the VCM of the second VCM-controller and in its respective VCM of the first VCM-controller. According to the inventors' discovery, such a configuration improves the overall performance of the control system by enabling a VCM-controller to control a given vehicle function (e.g., steering or braking) across multiple VCMs. In the event of a control system failure, an appropriate and timely response is required to maintain the continued safe operation of the vehicle. The control system failure can include a controller failure or a communication failure. The response can be based on whether the affected subsystem is a fail-safe system or a fail-operation system. The response can be selected to ensure that redundant components, such as control modules, are enabled for a fault-tolerant time interval.

[0053] Reference is now made to the drawings, and in particular to FIG. 1. The vehicle 100 includes a communication bus 154 connecting the respective VCM-controllers 50 together. In some embodiments, the communication bus 154 may further enable communication between the vehicle-controller 115 and any one or more (or all) of the VCM-controllers 50. An example of the communication bus 153 or 154 is a multi-master serial bus configured as a controller area network (CAN) bus. In some embodiments (not shown), physically separate and / or assigned, e.g., permanently or temporarily assigned, communication channels may be implemented between specific endpoints along the bus or as extensions of the bus. For example, the VCM-controller may have such a "direct channel" communication with a sensor located within the respective VCM. As shown in the example of FIG. 1, the vehicle 100 may include multiple pairs of opposing VCMs 150, i.e., opposing wheels. In other examples (not shown), the vehicle may include only a single pair of VCMs, and the vehicle's other wheels (if any) may be implemented in other ways, e.g., using conventional arrangements of steering, drive, brake, and / or suspension systems. FIG. 1 shows four VCM-controllers 50 all interconnected by a communication bus 154. L1 , 50 R1 , 50 L2 , 50 R2 , and a control system 30 including a vehicle controller 115.

[0054] FIG. 2 shows a VCM-controller 50 L1 , 50 R1 , 50 L2 , and 50 R2 2, they are shown interconnected by a communication bus 154, other communication arrangements are possible, e.g., between each pair of VCM-controllers, i.e., L1 -50 R1 , 50 L1 -50 R2 , 50 L1 -50 R2 , 50L2 -50 R1 , 50 L2 -50 R2 , and 50 R1 -50 R2 A direct communication link (not shown) between them is also suitable.

[0055] FIG. 3 illustrates a portion of a communication bus 154 according to some embodiments, in which the driver controller 130 and the main autonomous computer 120 are in electronic communication with other entities on the communication bus. In other examples, either the driver controller 130 or the main autonomous computer 120 are in electronic communication with other entities on the communication bus. Non-limiting examples of information communicated by the driver controller 130 may include steering commands encoded from a driver operated steering device, such as a steering wheel, braking commands encoded from a driver operated braking device, such as a brake pedal, and acceleration information encoded from a driver operated acceleration device, such as an accelerator pedal (accelerator). In various exemplary implementations of the invention, instructions sent to the VCM (including the VCM-controller) may be generated by the driver controller 130, the autonomous computer 120, or any combination of both. A first non-limiting example of a combination includes instructions for a first function propagated by the driver controller 130 and instructions for a second function propagated by the autonomous computer 120. A second non-limiting example of a combination includes instructions for a given function being propagated at one time by autonomous computer 120 during a first operating mode, e.g., highway driving, and at another time by driver control device 130 during a second operating mode, e.g., city driving or emergency mode driving.

[0056] 4, a schematic diagram of a control module architecture according to one embodiment is shown, but not necessarily a hardware architecture, as a control module may include any combination of hardware, software, and firmware. The VCM 150 includes a group of subsystem control modules 40 including a suspension control module 41, a brake control module 42, a transmission control module 43, and a steering control module 44. In other embodiments, one or more of the control modules 41, 42, 43, 44 may not be present. In yet other embodiments, the VCM controller 50 is adapted to communicate with all other VCM subsystem control modules 40 and the VCM sensors 155. Additionally, the VCM controller 50 may be in active communication with one or more control modules onboard the vehicle platform, such as the vehicle controller 115 of FIG. 1.

[0057] According to some embodiments, one or more of the groups of control modules 40 are designed to have integrated components and functions. In some embodiments, the integration of the control modules is done by sharing processing algorithms with shared operating parameters (e.g., rotation speed). In some embodiments, the integrated control units share a power source. In some embodiments, the integrated control units receive inputs from a common set of sensors (e.g., sensors included in the VCM sensors 155). In some embodiments, the integrated control units are housed in a common machine compartment. In some embodiments, the integration of the control units 40 reduces the size of the control units located in the VCM 150. In some implementations of the VCM-controller 50, one or more of the individual control units 40 comprise separate physical entities. In other implementations, one or more of the individual control units 40 comprise different sets of software instructions that are stored in and executed by the VCM-controller.

[0058] Referring to FIG. 5A, the VCM 150 according to the embodiment includes multiple subsystems, each of which includes mechanical and / or electrical components and is designed to perform a function (or a group of related functions). Each subsystem is in mechanical and / or electrical contact or connection with the subframe 161 and the wheel interface 175. The wheel interface 175 is used to mount a wheel assembled to the VCM 150. The wheel interface 175 may include, but is not limited to, a wheel hub, upright, knuckle, spindle, and / or brake system support. The multiple subsystems of each VCM 150 are selected from the following four subsystems:

[0059] a. Steering Subsystem 200. The steering subsystem 200 may include any or all of the mechanical and / or electrical components required for steering, i.e., turning the wheels of the vehicle about a steering axis, including, but not limited to, a steering motor, a steering actuator, a steering rod, a steering system controller or control unit, a steering inverter, and a wheel angle sensor. In an embodiment, the VCM-controller 50 of the VCM 150 receives steering commands as signals from the vehicle, e.g., electronic or optically transmitted signals from a driver-operated steering mechanism or an autonomous steering unit, and executes said commands in response to said commands, e.g., by adjusting the current and voltage transmitted to the steering actuator and / or sending higher level commands to the steering-system controller, e.g., by causing movement of the steering rod via the steering actuator to cause rotation of the wheels. The steering motor, actuator, and / or inverter may receive power from an external power source ("external" meaning outside the VCM), such as a battery pack mounted to the chassis of the vehicle. The steering system control module 44 may receive power from the power source 59 of the VCM-controller 50 or an external power source, if applicable.

[0060] b. Drive System 180. Drive system 180 may include any or all of the mechanical and / or electrical components necessary to operate a drive shaft to rotate the wheels of the vehicle to drive the vehicle. Drive system 180 includes, but is not limited to, an electric drive motor, a drive shaft rotated by the motor, a gear assembly (optionally including a single gear or multi-gear transmission) for transmitting the rotation to the wheels, and sensors such as wheel speed sensors (in a non-limiting example, a rotary encoder). In some embodiments, the drive motor is included in the VCM, and in some embodiments, the drive motor is on the vehicle, e.g., mounted to the chassis. In an embodiment, the VCM controller 50 of VCM 150 is configured to adjust the output of the motor and / or the rotational speed of the wheels and / or the selection of the transmission gear in response to commands received via an electrical input from the vehicle (e.g., a driver-operated drive mechanism (e.g., accelerator pedal) or an autonomous driving unit). In an embodiment, the commands include, for example, current and voltage for operating the electric drive motor. In an embodiment, the drive subsystem 180 can be used in a regenerative braking scheme where the drive motor acts as a generator when the vehicle decelerates. The regenerated power can be stored in an on-board energy storage device. In one example, when the driver releases the accelerator pedal (the autonomous driving system stops powering the drive wheels), the regenerative braking scheme starts to regenerate electrical energy generated by the deceleration of the vehicle, i.e., by the rotation of the generator being converted into mechanical resistance through the drive train. In another example, the regenerative braking is augmented by friction braking, i.e., normal operation of the brake system 176, in response to the driver pressing the brake pedal (or receiving a brake application command from the autonomous driving computer). In such an example, a portion of the energy used to brake the vehicle is lost to heat in a "normal" friction braking arrangement, and at least a portion of the energy is recovered as stored electrical energy.In an embodiment, the "cooperation" of the drive system 180 and the brake subsystem 176 in combining regenerative and friction braking can be controlled by the VCM-controller 50. In yet another example where the VCM-controller is configured (e.g., programmed) to control multiple subsystems to cooperate with each other, the steering subsystem 200 can be used to assist braking, i.e., cooperate with the brake system, whether steering symmetrically by rotating the wheels in tandem in the same direction, for example by rotating the wheels to increase friction with the road, or steering asymmetrically, where the opposing wheels do not rotate in tandem. In a similar example, the VCM-controller controls the steering subsystem 200 in conjunction with the brake system to reduce the effect of brake pull due to steering, a phenomenon also known as "brake steer" or "steering drift". In yet another example, the VCM-controller coordinates the drive system (for regenerative braking), the brake system (for friction braking), and the steering system (for "braking due to steering") to achieve a desired braking effect.

[0061] c. Brake System 176. Brake system 176 can include any or all of the mechanical and electrical components for actuating a brake assembly (e.g., brake disc, brake caliper, etc.), and optionally includes one or more of a VCM-mounted hydraulic system, a VCM-mounted vacuum boost system, or a hybrid brake assist system incorporating a pressurized gas accumulator and brake actuator. In an embodiment, the VCM controller 50 of VCM 150 is configured to regulate the output of the brake system, e.g., cause braking action, in response to commands received from the vehicle, e.g., via electrical input from a driver-operated brake mechanism (e.g., brake pedal) or an autonomous brake unit.

[0062] d. Suspension System 240. Suspension system 240 may optionally include an active suspension system controllable by VCM-controller 50 of VCM 150 (e.g., via a suspension-system control unit). In some exemplary embodiments, the vehicle is not equipped with a controllable suspension system and there are only three functional subsystems controlled in accordance with the embodiments disclosed herein. In some other exemplary embodiments, control of the controllable suspension system is part of a group of control functions that may include any controllable function not included in control of the drive / transmission system, steering system, or braking system.

[0063] In some embodiments, the plurality of VCM subsystems in any given VCM 150 includes all three or all four of the subsystems in paragraphs a.-d. In other embodiments, the plurality of VCM subsystems in a given VCM 150 or in each VCM 150 of a given pair of opposing VCMs 150 may include two selected subsystems or three selected subsystems. In the non-limiting example of FIG. 5B, an exemplary VCM 150 installed as a right front VCM 150 of a vehicle. RF The VCM 150 includes a steering subsystem 200, a braking subsystem 176, and an active suspension system 240. In the non-limiting example of FIG. 5C, the VCM 150 is installed as the right rear VCM 150 of the vehicle. RR include drive subsystem 180 and brake subsystem 176. In both examples, the included subsystems may be arranged such that they are entirely contained within / on the VCM, with all mechanical and electrical components required for the appropriate function mounted on the VCM 150, and electrical transmission and communication arrangements communicated from the vehicle to the VCM-controller and / or the appropriate subsystems (e.g., controllers, motors, and / or actuators). Communication of the electrical transmission and communication arrangements may be via a subframe 161 mounted to the "host" vehicle.

[0064] Referring now to FIG. 6, a block diagram of an exemplary implementation of various embodiments of the present invention is shown. In this figure, VCM 150 R1 is a part of the front right VCM150, VCM150 L1 is a part of the front left VCM150, VCM150 R2 is a part of the rear right VCM150, VCM150 L2 represents some components of the rear left VCM 150. In each of the four VCMs, the corresponding VCM-controller 50 is shown to include four functional modules: steer, brake, drive, and chassis, which in this case are implemented as software modules, i.e., groups of program instructions, in the corresponding VCM-controller 50. The "chassis" module is reserved for functional control of VCM functions not included in the first three modules. In one example, the chassis module may include control of a controllable suspension system. Although each VCM-controller 50 includes four functional modules, one module (the module shown in the largest box of each VCM block in FIG. 6) is given priority in each VCM-controller. In the non-limiting example of FIG. 6, the steer module (i.e., steering control module 44) is controlled by the right front VCM 150. R1 1, the rear VCM 150 is shown in the largest box in the VCM box of the vehicle, and indicates that each of the VCMs 150 in the vehicle, and more specifically, each of the VCMs 150 in the vehicle having the steering subsystem 200, is designated to control the steering subsystem 200. R2 and 150 L2 Each of the VCM-controllers 50 of the right front VCM 150 includes a steering module, as shown in FIG. 6. According to an embodiment, a function control module can be included in the VCM-controller 50 of the VCM 150 that does not include a corresponding subsystem, in order to provide redundancy for controlling the function in case of a control system failure. As shown in FIG. 6, the right front VCM 150 R1 Like the steering module in the VCM-controller, the left front VCM150 L1The brake module (i.e., brake control module 42) is the designated master controller for brake functions across all VCMs and includes the right rear VCM 150. R2 The drive module (i.e., drive / transmission control module 43) is the designated master controller for drive / transmission functions across all VCMs, and includes the left rear VCM 150. L2 The so-called chassis module is the designated master controller for other controllable functions such as a controllable suspension system, etc. Also shown in Figure 6 is an example of redundant power supplies and communications between the VCMs 150.

[0065] From the non-limiting example of FIG. 6, it can be seen that each VCM-controller can control functional subsystems within its own respective VCM and control the same subsystems in at least one other VCM via various communication arrangements. The nature of this arrangement means that within any given VCM, there may be functional subsystems that are controlled by VCM-controllers of different VCMs. In the example of FIG. 6, the left front VCM 150 L1 The steering system is mainly right front VCM150 R1 In other examples, not all VCM-controllers operate in this manner, and only some of the vehicle's VCM-controllers are designated or configured to control functional subsystems in other VCMs and / or have functional subsystems in their own respective VCMs that are controlled by different VCM-controllers.

[0066] The above arrangement may be useful in "normal", e.g. non-emergency or non-fault conditions, when all VCM-controllers and communication arrangements of the vehicle are operating normally. It is desirable to design the control system to incorporate redundancy for each control function, with VCM-controllers appropriately configured (e.g. programmed) to provide redundancy in the event of a fault condition that renders the VCM-controller unable to perform one or more control functions. The term "disabled" means that the VCM-controller is unable to perform a function due to a controller failure or (additionally or alternatively) a communication path failure. The disabled state may be of short duration and can be recovered from, e.g. by self-diagnosis and / or restart, or it may be of long duration and cannot be recovered from without maintenance of the disabled components (e.g. VCM-controllers or communication arrangements / buses).

[0067] The VCM-controller may identify a control system failure or receive an indication of another VCM-controller being unable to perform one or more control functions in any of a number of different ways. In an embodiment, the VCM-controller may monitor incoming signals from outside the VCM (from the vehicle, e.g., from an autonomous computer, driver control device, or vehicle-controller, and / or from other VCM-controllers in other VCMs) for control system failures. For example, a sudden cessation of a signal from another VCM-controller, e.g., a signal controlling the operation of a functional subsystem, may trigger a response by the VCM-controller to take over the control function of that functional subsystem, since it can no longer rely on the other VCM-controller to perform its job. Alternatively, the VCM-controller may be configured (e.g., programmed) to allow the other VCM-controller to perform a control function unless actively notified. Additionally or alternatively, the VCM-controller may receive a signal that actively indicates the existence of a fault condition and that the VCM-controller must take over one or more control functions in its own respective VCM or other VCMs. Conversely, a VCM-Controller can relinquish control of the subsystem to another VCM-Controller upon receiving a signal indicating that the other VCM-Controller is capable of performing the control function, where "capable" means the opposite of "disabled" as explained above.

[0068] As used herein, the term "receive an indication" and similar terms such as "receive a signal indicative of" do not necessarily imply that a signal-based command or data transmission communicates the details of the "indication." The term broadly means receiving, detecting, accessing, or calculating (e.g., deriving) information that was not available prior to the controller receiving the "indication." As various non-limiting examples of "receiving an indication," the VCM-controller or any module thereof may detect a lack of response in other modules or components, or alternatively detect a response in other modules or components, detect the cessation, establishment / re-establishment, or presence of a data stream, e.g., a data stream including control information and / or sensor information, or detect or determine the validity or invalidity of a command function within the VCM-controller or from another VCM-controller via a subcomponent of the VCM-controller, such as an instruction-input controller (e.g., an input "selector") or an instruction-output controller (e.g., an output "stage").

[0069] 7A and 7B, two VCM-controllers 50 are members of a network of VCM-controllers operating together in a control system, operating in a fault-free state. A , 50 B Each of the two VCM-controllers includes a control module 401, 402, 403 for controlling a corresponding function (e.g., function 1, function 2) in the VCM. The first VCM-controller 50 A has a function 1 designated, selected or assigned as its main function, which is controlled by the control module 401. In parallel, the second VCM-controller 50 Bhas function 2 designated, selected or assigned as its primary function, controlled as indicated by control module 402 as first and greatest. A respective input selector module 46 is configured to determine whether an internal command is valid, e.g., whether a given VCM connector can issue a command to a corresponding functional subsystem. A respective output stage module 48 is effective to receive the valid command passed by the input selector and route said command to an appropriate functional subsystem, e.g., within its own respective VCM and / or a different VCM that is not the respective VCM.

[0070] FIG. 7A shows the control / instruction path for controlling Function 1. The first VCM-controller 50A issues instructions for Function 1, which are passed to the first input selector module 46. A As shown by the solid line from the control module 401 of function 1, the first VCM-controller 50 A The instruction is input to the first input selector module 46 A (a) a first output stage module 48 for controlling the operation of a subsystem of function 1 within a first VCM (its own corresponding VCM); A , and (b) a second input selector module 46 B the latter transmits the verified instructions to the second output stage module 48 for controlling the operation of the subsystems of Function 1 in the second VCM. B In particular, the second VCM-controller 50 B The control module 401 for function 1 in may or may not attempt to issue instructions to the subsystem for function 1, and paths are shown with dashed lines marked "inactive / don't care", but if such an instruction is issued, output stage 48 A or 48 B is not acceptable in either case.

[0071] FIG. 7B shows the control / command path for controlling Function 2. Second VCM-Controller 50 B issues instructions for function 2, which are passed to the second input selector module 46 B As shown by the solid line from the control module 402 of function 2, the first VCM-controller 50 B The instruction is input to the second input selector module 46 B (a) a second output stage module 48 for controlling the operation of a subsystem of function 2 within a second VCM (its own corresponding VCM); B and (b) a first input selector module 46 A the latter transmits the verified command to the first output stage module 48 for controlling the operation of the subsystems of Function 1 in the first VCM. A In particular, the first VCM-controller 50 A The control module 402 for function 2 in may or may not attempt to issue instructions to the subsystem for function 2, and paths are shown with dashed "inactive / don't care" lines, but if such an instruction is issued, output stage 48 B or 48 A is not acceptable in either case.

[0072] Control System Failure

[0073] Control system failures include unforeseen circumstances such as partial and complete failure of controllers, such as the VCM-controller, electronic and physical failure of the communication infrastructure, etc. Each of the following four illustrative use case examples involves a different control system failure and includes an exemplary solution according to one or more embodiments of the present invention. Each exemplary solution illustrates a particular aspect of the control system disclosed herein, as a non-limiting example of an embodiment.

[0074] Use Case Example 1: A first VCM-controller in a first VCM receives an indication of a control system failure where a second VCM-controller controlling a given functional subsystem in the first VCM "normally", i.e. in the absence of a control system failure, suddenly and without warning becomes unable or incapable of performing a given control function in the first VCM. The first VCM-controller may or may not be aware of the root cause of the problem (e.g., controller failure or communication failure). The first VCM-controller, which is performing a control function of a different functional subsystem in the first VCM, takes over the control function of said given functional subsystem in the first VCM, which was previously controlled by the second VCM-controller. Additional actions may be performed by the control system to ensure continued safe operation and / or safe stopping of the vehicle.

[0075] Use case example 2: A first VCM-controller receives an indication of a control system failure whereby a second VCM-controller suddenly and without warning becomes unable or incapable of performing a given control function in the second VCM, i.e., the control of a given functional control system that the second VCM-controller controlled in the second VCM until the control system failure occurred. The first VCM-controller takes over the control function of said given functional subsystem in the second VCM from the suddenly incapacitated second VCM-controller, regardless of whether it was previously performing said given control function in the first VCM or in any other VCM. Additional actions may be performed by the control system to ensure continued safe operation and / or safe stopping of the vehicle.

[0076] Use Case Example 3. A first VCM-controller receives an indication of a control system fault in which a second VCM-controller suddenly and without warning becomes unable or incapable of performing at least one and possibly all of the control functions in the second VCM. The first VCM-controller takes over control functions of all functional subsystems in the second VCM. Additional actions may be taken by the control system to ensure continued safe operation and / or safe stopping of the vehicle.

[0077] Use Case Example 4. A first VCM-Controller receives an indication of a control system failure that causes all other VCM-Controllers that were responsible for controlling functional subsystems in the first VCM to be unable or incapable of performing such control functions in the first VCM. The first VCM-Controller may or may not be aware of the root cause of the problem (e.g., whether it is a controller failure, a communication failure, or a combination of both). The first VCM-Controller takes over the control functions of all functional subsystems in the first VCM (i.e., its respective VCM). Additional actions may be taken by the control system to ensure continued safe operation and / or safe shutdown of the vehicle.

[0078] Please refer to Figures 8A to 8C.

[0079] FIG. 8A illustrates the VCM-controller 50 of FIGS. 7A-7B in response to a control system failure in a scenario similar to use case example 1 described above. A and 50 B 1 shows a first non-limiting example of a response by the first VCM-controller 50 in response to an exemplary control system fault. A has experienced a controller level software failure and the first VCM-controller 50 A The instruction for function 1 issued by input selector 46 is invalid. A , 46 BThe responses, e.g., pre-programmed responses or responses obtained by applying programmed machine learning techniques to historical events and / or third party events to derive an appropriate response, may be established by one or both of the second VCM-controller 50. B The problem is that the second VCM-controller 50 must take over control of function 1 in both VCMs. B issues a control instruction for function 1, which is the currently (solid line) active control path, and the control instruction for function 1 is (a) the second input selector module 46 B is recognized as valid by the output stage module 46 for execution in the second VCM. B (b) the first (and software-faulted) VCM-controller 50 A Input selector 46 A and from there to the corresponding output stage 46 B and executed by VCM.

[0080] FIG. 8B illustrates the VCM-controller 50 of FIGS. 7A-7B for a control system failure in a second scenario similar to use case example 1 above. A and 50 B 4 shows a similar example of a response by the second VCM-controller 50 in response to an exemplary control system fault. B has experienced a fault with respect to the control module 402 of function 2. A response, for example a pre-programmed response or a response obtained by applying programmed machine learning techniques to historical events and / or third party events to derive an appropriate response, is provided to the first VCM-controller 50 A The first VCM-controller 50 must take over control of function 2 in both VCMs. A issues a control instruction for function 2, which is the currently (solid line) active control path, and the control instruction for function 2 is (a) a second input selector module 46 A is recognized as valid by the output stage module 46 for execution in the first VCM. A(b) the second (and failed) VCM-controller 50 B Input selector 46 B and from there to the corresponding output stage 46 B and executed by VCM.

[0081] FIG. 8C shows the VCM-controller 50 A However, the controller 401 and the input selector 46 of the function 1 A and output stage 46 B Responses, e.g., pre-programmed responses or responses obtained by applying pre-programmed machine learning techniques to historical events and / or third party events to derive appropriate responses, are provided to the second VCM-controller 50. B The problem is that the VCM-controller 50 must take over control of Function 1 in its own VCM. B (VCM-Controller 50 A The VCM-controller 50 tries to take over control of function 1 in another VCM (of the VCM 50), but is unable to do so. Without "help" from the other controller, the VCM-controller 50 B In one example, function 1 is a brake function, and the VCM-controller 50 B can contribute to safe braking of the vehicle by using the electric drive motor to slow down and spin the wheels to a stop. In another example (not shown), redundant actuators and / or communication paths to the actuators can be provided.

[0082] Discussion on VCM-controller

[0083] In an embodiment, each VCM of a vehicle includes a VCM-controller configured to perform control functions with respect to functional subsystems within the VCM and / or within other VCMs, where "configured" means that the controller includes hardware, software, and / or firmware components for performing the control functions. The VCM-controller may include program instructions stored in or accessible from the controller to perform the control functions, for example, or may be programmed to apply machine learning techniques to sensor data, historical events, and / or third party events to derive a set of appropriate control function instructions. The VCM-controller may be a member of a network of VCM-controllers and may be programmed to function as part of a control system as described above, and the program instructions executable by the processor of the VCM-controller may be directed to perform control functions according to various embodiments of the control system disclosed herein. When replacing a VCM-controller, for example for maintenance or upgrade, the replacement VCM-controller may replace the replaced VCM-controller as a member of the network of VCM-controllers in performing the control functions of the vehicle's control system.

[0084] 9A, a VCM-controller 50 according to an embodiment is shown in a schematic diagram to illustrate selected hardware components. The exemplary VCM-controller 50 of FIG. 9A includes one or more computer processors 55, a computer-readable storage medium 58, a communication module 57, and a power source 59. The computer-readable storage medium 58 may include temporary and / or non-transitory storage devices according to desired functionality and design choices, and may include one or more storage units. In an embodiment, the storage medium 58 may be used to store program instructions in firmware and / or software for execution by the one or more processors 55 of the VCM-controller 50, store historical operating data, maintenance data, and / or ownership data associated with the VCM and / or one or more of its subsystems and components. The communication module 57 is configured to establish communication links with the on-board vehicle controller 115 via communication arrangement 71, to other VCM-controllers 50 (e.g., VCM-controllers 50 of VCM 150 of the same vehicle 100) via communication arrangement 72, to an external computer 75 via communication arrangement 74, to VCM subsystems 200, 180, 176 (and optionally 240) including the respective subsystem control units via communication arrangement 70, and to sensors 155 (e.g., sensors 155 located in / on VCM 150) via communication arrangement 73. In an embodiment, not all VCM-controllers 50 include all of the components shown in FIG.

[0085] The storage medium 58 of an exemplary VCM-controller 50 is shown in Figure 9B and includes program instructions 60 related to operation of the VCM 150 on the vehicle 100. In the example shown in Figure 9B, the program instructions 60 include a single group of program instructions GPI01 for execution by one or more processors 55 of the VCM-controller 50.

[0086] - Program instructions GPI01 for coordinating the operation of the subsystems in the VCM and in at least one other VCM in the absence of a control system fault condition. The control function (coordinating the operation of the subsystems) is executed in response to a signal received from outside the VCM. In an embodiment, the instructions of GPI01 may include the coordination of the operation of a first subsystem of the VCM and exclude the coordination of the operation of a second subsystem of the VCM, since under "normal" conditions the second subsystem is controlled by a different VCM-controller in the VCM. In some embodiments, the instructions of GPI01 may include instructions for coordinating the operation of the second subsystem, but such instructions are not executed in the absence of a control system fault indicating that a different networked VCM-controller will be unable to coordinate the operation of said second subsystem in the VCM. In some embodiments, the instructions of GPI01 may include instructions for coordinating the operation of the second subsystem, but such instructions are not executed in the absence of a control system indication that a different networked VCM-controller will be unable to coordinate the operation of said second subsystem in the VCM.

[0087] In various embodiments, as shown in FIG. 10A , the program instructions 60 stored in the storage medium 58 of the exemplary VCM-controller 50 may further include a group of additional program instructions GPI 102 for execution by one or more processors 55 of the VCM-controller 50.

[0088] - Program instructions GPI02 for regulating the operation of a second subsystem in the VCM. In an embodiment, the program instructions of GPI02 are executed in response to an indication of a control system failure in which a different VCM-controller (the one that controlled the second subsystem in the VCM before the control system failure occurred) is unable to perform its function. Program instructions GPI02 correspond to the control system failure use case example 1 described above.

[0089] In various embodiments, as shown in FIG. 10B, the program instructions 60 stored in the storage medium 58 of the exemplary VCM-controller 50 may further include a group of additional program instructions GPI103 for execution by one or more processors 55 of the VCM-controller 50.

[0090] - Program instructions GPI03 for coordinating the operation of a given functional subsystem in a different VCM. In an embodiment, the program instructions of GPI03 are executed in response to an indication of a control system fault whereby a corresponding VCM-controller of a different VCM that controlled said given functional subsystem in the different VCM before the control system fault occurred is now unable to perform its function. Program instructions GPI03 correspond to the control system fault use case example 2 described above.

[0091] In various embodiments, as shown in FIG. 10C , the program instructions 60 stored in the storage medium 58 of the exemplary VCM-controller 50 may further include a group of additional program instructions GPI 104 for execution by one or more processors 55 of the VCM-controller 50.

[0092] - Program instructions GPI04 for coordinating operation of a corresponding subsystem in a different VCM. In an embodiment, the program instructions of GPI04 are executed in response to an indication of a control system failure indicating that a corresponding VCM-controller of a different VCM will be unable to coordinate operation of at least one subsystem in the different VCM. In some embodiments, the corresponding VCM-controller of a different VCM is unable to coordinate operation of all subsystems in the different VCM before the control system failure occurs. In some embodiments, the corresponding VCM-controller of a second different VCM controlled at least one subsystem in the different VCM before the control system failure occurs. In some such embodiments, the program instructions of GPI04 can be executed in response to an indication of a control system failure indicating that a VCM-controller of a second different VCM will be unable to perform at least one control function. Program instructions GPI04 correspond to use case example 3 of a control system failure described above.

[0093] In various embodiments, as shown in FIG. 10D , the program instructions 60 stored in the storage medium 58 of the exemplary VCM-controller 50 may further include a group of additional program instructions GPI 105 for execution by one or more processors 55 of the VCM-controller 50.

[0094] - Program instructions GPI05 for coordinating the operation of all subsystems in the VCM. In embodiments, the program instructions of GPI05 are executed in response to an indication of a control system failure that results in the inability of other VCM-Controllers to coordinate the operation of any subsystems in the VCM. In some embodiments, one or more other VCM-Controllers (all members of a network of VCM-Controllers) were controlling at least one subsystem in the VCM before the control system failure occurred. Program instructions GPI05 correspond to use case example 4 of the control system failure described above.

[0095] According to an embodiment, program instructions 60 stored on storage medium 58 may include, in addition to program instructions for GPI01, any one or more of the following group of program instructions GPI02, GPI03, GPI04 or GPI05 in any combination.

[0096] Discussion of methods

[0097] 11A, a method of operating a vehicle 100, for example the vehicle 100 of FIG. 1, including a plurality of VCMs 150, each including at least two functional subsystems as disclosed above, is disclosed. According to the method, the vehicle 100 includes a network 30 of VCM-controllers 50. As shown in the flow chart of FIG. 11A, the method includes first method steps S01, S02, and S03 executed by a first VCM-controller 50.

[0098] In step S01, an incoming signal is received from outside the VCM in question.

[0099] - Step S02 monitors the incoming signal for control system faults.

[0100] - In step S03, in response to the incoming signal, adjust operation of a first subsystem within its own respective VCM and within at least one other VCM in the absence of a control system fault.

[0101] In some embodiments, the method further comprises second method steps S11, S12, and S13 performed by a second VCM-controller 50, as shown in FIG. 11B.

[0102] In step S11, a second incoming signal is received from outside the corresponding VCM.

[0103] - In step S12, the second incoming signal is monitored for control system faults.

[0104] - In step S13, in response to the incoming signal, in the absence of a control system fault, adjust the operation of a second subsystem within the corresponding VCM of the first VCM-controller.

[0105] In some embodiments, the method further comprises third method steps S21 and S22 performed by the first VCM-controller 50, as shown in FIG. 12A.

[0106] - In step S21, in the incoming signal, an indication of a control system fault that renders the second VCM-controller unable to regulate the operation of said second subsystem within the VCM (of the first VCM-controller) is detected.

[0107] - Step S22, in response to an indication of a control system fault, adjust operation of the second subsystem within the VCM.

[0108] The third method steps S21 and S22 correspond to the control system failure use case example 1 described above.

[0109] In some embodiments, the method further comprises fourth method steps S31 and S32 performed by the first VCM-controller 50, as shown in FIG. 12B.

[0110] - Step S31 detects in the incoming signals an indication of a control system fault that renders the different networked VCM-controllers unable to coordinate the operation of certain subsystems within their respective VCMs.

[0111] - In step S32, in response to an indication of a control system fault, adjust operation of said given subsystem in a corresponding VCM (of a different networked VCM-controller).

[0112] The fourth method steps S31 and S32 correspond to the control system failure use case example 2 described above.

[0113] In some embodiments, the method further comprises fifth method steps S41 and S42 performed by the first VCM-controller 50, as shown in FIG. 12C.

[0114] - In step S41, an indication of a control system fault that renders a different networked VCM-controller unable to coordinate the operation of one or more subsystems within its respective VCM is detected in an incoming signal.

[0115] - In step S42, in response to an indication of said control system fault, coordinate operation of at least two subsystems within the corresponding VCM (of different networked VCM-controllers).

[0116] The fifth method steps S41 and S42 correspond to the control system failure use case example 3 described above.

[0117] In some embodiments, the method further comprises sixth method steps S51 and S52 performed by the first VCM-controller 50, as shown in FIG. 12D.

[0118] - Step S51 detects in the incoming signal an indication of a control system fault that would render the other VCM-controller unable to regulate the operation of any subsystem within the VCM.

[0119] - Step S52, in response to the indication of a control system fault, coordinate operation of at least two subsystems within the VCM.

[0120] The sixth method steps S51 and S52 correspond to the control system failure use case example 4 described above.

[0121] According to an embodiment, the method may include, in addition to the first method step, any one or more of the second, third, fourth, fifth and sixth method steps in any combination.

[0122] First additional argument

[0123] Embodiments of the present disclosure are particularly directed to the following inventive concepts:

[0124] Invention concept 1: A control system for a vehicle, the vehicle including a plurality of vehicle corner modules (VCMs), each VCM including at least two subsystems selected from a group of subsystems consisting of a drive subsystem, a steering subsystem, and a braking subsystem, the control system including a network of VCM-controllers, each VCM-controller (i) mounted within a different corresponding VCM of the plurality of VCMs, and (ii) operatively linked to each of the at least two subsystems of its corresponding VCM to receive sensor data and adjust operation of the subsystems in response to incoming signals received from outside its corresponding VCM, and in a fault-free operating mode defined by the absence of a control system fault, each VCM controller adjusts operation of a first of the at least two subsystems in its own corresponding VCM and in at least one other VCM in response to an incoming signal.

[0125] Inventive concept 2: The control system described in inventive concept 1, characterized in that the fault-free operating mode is characterized in that the operation of a second subsystem of the at least two subsystems in its own corresponding VCM is coordinated by a VCM-controller of a different VCM other than its own corresponding VCM.

[0126] Inventive concept 3: A control system for a vehicle, the vehicle including a plurality of vehicle corner modules (VCMs), each VCM including at least two subsystems selected from a group of subsystems consisting of a drive subsystem, a steering subsystem, and a braking subsystem, the control system including a network of VCM-controllers, each VCM-controller (i) mounted in a different corresponding VCM of the plurality of VCMs, and (ii) operatively linked to each of the at least two subsystems of its corresponding VCM to receive sensor data and adjust the operation of the subsystems in response to an incoming signal received from outside its corresponding VCM, and in a fault-free operating mode defined by the absence of a control system fault, at least one subsystem of the at least two subsystems in each corresponding VCM is adjusted in response to an incoming signal by a VCM-controller of a different VCM that is not the corresponding VCM.

[0127] Inventive concept 4: A control system for a vehicle, the vehicle comprising a plurality of vehicle corner modules (VCMs), each VCM comprising at least two subsystems selected from a group of subsystems consisting of a drive subsystem, a steering subsystem, and a brake subsystem, the control system comprising a network of VCM-controllers, each VCM-controller (i) mounted in a different VCM among the plurality of VCMs, and (ii) operatively linked to each of the at least two subsystems of its respective VCM to receive sensor data and adjust the operation of the subsystems in response to an incoming signal received from outside its respective VCM, wherein in a fault-free operating mode defined by the absence of a control system fault, each VCM-controller adjusts the operation of a first of at least two subsystems in its own respective VCM and in at least one other VCM in response to an incoming signal, the fault-free operating mode being characterized in that the operation of a second of the at least two subsystems in its own respective VCM is adjusted by a VCM-controller of a different VCM that is not its own respective VCM.

[0128] Inventive concept 5: A control system according to any of the preceding inventive concepts, characterized in that in a first fault-handling operating mode, each VCM-controller installed in a VCM including the second subsystem adjusts the operation of the second subsystem in its own corresponding VCM, and in the first fault-handling operating mode, a VCM-controller of a different VCM that is not its own corresponding VCM is unable to adjust the operation of the second subsystem in its own corresponding VCM.

[0129] Inventive concept 6: A control system according to any of the preceding inventive concepts, characterized in that in a second fault-handling operating mode, a VCM-controller of a given VCM coordinates the operation of a given subsystem among at least two subsystems in a different VCM other than the given VCM, and in the second fault-handling operating mode, the VCM-controller of the different VCM becomes unable to coordinate the operation of the given subsystem in the different VCM.

[0130] Inventive concept 7: A control system according to any of the preceding inventive concepts, characterized in that in a third fault-handling operating mode, the VCM-controller of a given VCM coordinates the operation of at least two corresponding subsystems in a different VCM other than the given VCM, and in the third fault-handling operating mode, the VCM-controller of the different VCM becomes unable to coordinate the operation of one or more of the at least two subsystems in the different VCM.

[0131] Inventive concept 8: A control system according to any of the preceding inventive concepts, characterized in that in a fourth fault handling operating mode, a VCM controller of a given VCM coordinates the operation of at least two subsystems within the given VCM, and in the fourth fault handling operating mode, a plurality of VCM-controllers of different corresponding VCMs other than the given VCM become unable to coordinate the operation of a corresponding subsystem of the at least two subsystems within the corresponding VCM.

[0132] Inventive concept 9: A control system according to any of the preceding inventive concepts, wherein the first subsystem is selected according to an operational profile assigned to the corresponding VCM.

[0133] Inventive concept 10: A control system according to any of the preceding inventive concepts, wherein the incoming signal is selected from a group of signals including electrical signals, electronic signals, and optically transmitted signals.

[0134] Inventive concept 11: A vehicle including a control system according to any of the preceding inventive concepts.

[0135] Inventive concept 12: A controller for onboard a vehicle corner module (VCM), the VCM including at least two subsystems selected from a group of subsystems consisting of a drive subsystem, a steering subsystem, and a braking subsystem, the controller including: a. a communications arrangement for establishing electronic communications with (i) corresponding controllers of other VCMs to participate in a networked VCM-controller control system network, and (ii) each of the at least two subsystems in the VCM and in the at least one other VCM; b. one or more processors; and c. a computer readable medium storing program instructions that, when executed by the one or more processors, cause the one or more processors to adjust operation of a first of the at least two subsystems in the VCM and in the at least one other VCM in response to an incoming signal received from outside the VCM in the absence of a control system fault condition.

[0136] Inventive concept 13: The controller of inventive concept 12, wherein when a second subsystem of at least two subsystems is present within the VCM and the stored program instructions are executed by one or more processors, operation of the second subsystem is not coordinated by one or more processors when there is no control system failure indicating that a different networked VCM-controller would be unable to coordinate operation of the second subsystem within the VCM.

[0137] Inventive concept 14: The controller of inventive concept 12, wherein when a second of at least two subsystems is present within the VCM and the stored program instructions are executed by one or more processors, operation of the second subsystem is not coordinated by one or more processors, provided that the VCM-controller receives a control system indication that a different networked VCM-controller is capable of coordinating operation of the second subsystem within the VCM.

[0138] Inventive concept 15: The controller of inventive concept 13 or 14, wherein the computer readable medium further stores program instructions which, when executed by one or more processors, cause the one or more processors to adjust operation of the second subsystem in the VCM in response to a control system fault indicating that a different VCM-controller will be unable to adjust operation of the second subsystem in the VCM.

[0139] Inventive concept 16: The controller described in any of inventive concepts 12 to 15, wherein the computer-readable medium further stores program instructions which, when executed by one or more processors, cause the one or more processors to coordinate operation of a given subsystem among at least two subsystems in the different VCM in response to a control system failure indicating that a corresponding VCM controller of a different VCM, including a corresponding networked VCM-controller, is unable to coordinate operation of the given subsystem in the different VCM.

[0140] Inventive concept 17: The controller according to any one of inventive concepts 12 to 16, wherein the computer readable medium further stores program instructions which, when executed by one or more processors, cause the one or more processors to coordinate operation of at least two corresponding subsystems in the different VCMs in response to a control system failure indicating that a corresponding VCM controller of a different VCM, including a corresponding networked VCM-controller, is unable to coordinate operation of one or more of the at least two subsystems in the different VCMs.

[0141] Inventive concept 18: The controller according to any of inventive concepts 12 to 17, wherein the computer-readable medium further stores program instructions which, when executed by one or more processors, cause the one or more processors to coordinate operation of at least two subsystems in the VCM in response to a control system failure indicating that other VCM-controllers in the network of VCM-controllers are unable to coordinate operation of any of the at least two subsystems in the VCM.

[0142] Inventive concept 19: A controller according to any of inventive concepts 12-18, wherein the incoming signal is selected from a group of signals including electrical signals, electronic signals, and optically transmitted signals.

[0143] Inventive concept 20: A VCM including a controller according to any one of inventive concepts 12 to 19.

[0144] Inventive concept 21: A control system for a vehicle, comprising a controller according to any one of inventive concepts 12-19.

[0145] Inventive concept 22: A vehicle including at least one pair of VCMs as described in inventive concept 20.

[0146] Inventive concept 23: A vehicle including a control system as described in inventive concept 21.

[0147] Inventive concept 24: A method of operating a vehicle, the vehicle comprising (i) at least one pair of vehicle corner modules (VCMs) and (ii) a network of networked VCM-controllers, each VCM comprising at least two subsystems selected from a group of subsystems consisting of a drive subsystem, a steering subsystem, and a braking subsystem, each VCM-controller (A) mounted within a different respective VCM and (B) in electronic communication with each of the at least two subsystems of its respective VCM and with other VCM-controllers of the network of VCM-controllers, the method comprising the steps of receiving an incoming signal from outside its respective VCM, monitoring the incoming signal for a control system fault, and in response to the incoming signal, adjusting operation of a first of the at least two subsystems in its own respective VCM and in at least one other VCM including the respective networked VCM-controller in the absence of a control system fault, the steps being performed by the first VCM-controller of the network of VCM-controllers.

[0148] Inventive concept 25: A method as recited in inventive concept 24, further comprising the steps of receiving a second incoming signal from outside the corresponding VCM, monitoring the second incoming signal for a control system fault, and in response to the second incoming signal, adjusting operation of a second subsystem of at least two subsystems in the corresponding VCM of the first VCM-controller in the absence of a control system fault, wherein these steps are performed by a second VCM-controller of the network of VCM-controllers.

[0149] Inventive concept 26: A method as described in inventive concept 25, further comprising the steps of detecting in an incoming signal an indication of a control system fault that disables a second VCM-controller from regulating operation of the second subsystem within the VCM, and responsive to the indication of the control system fault, regulating operation of the second subsystem within the VCM, wherein these steps are performed by the first VCM-controller.

[0150] Inventive concept 27: A method according to any of inventive concepts 24 to 26, further comprising the steps of detecting in an incoming signal an indication of a control system fault that renders a different networked VCM-controller unable to coordinate operation of a given subsystem of at least two subsystems in its corresponding VCM, and in response to said indication of control system fault, adjusting operation of said given subsystem in said corresponding VCM, wherein these steps are performed by said first VCM-controller.

[0151] Inventive concept 28: A method according to any of inventive concepts 24 to 27, further comprising the steps of detecting in an incoming signal an indication of a control system fault that renders a different networked VCM-controller unable to coordinate operation of one or more of the at least two subsystems in its corresponding VCM, and in response to said indication of control system fault, coordinating operation of the at least two subsystems in said corresponding VCM, wherein these steps are performed by said first VCM-controller.

[0152] Inventive concept 29: A method according to any of inventive concepts 24 to 28, further comprising the steps of detecting in an incoming signal an indication of a control system fault that disables other VCM-controllers of the network of VCM-controllers from coordinating operation of any of at least two subsystems in the VCM, and in response to the indication of the control system fault, coordinating operation of at least two subsystems in the VCM, wherein these steps are performed by the first VCM-controller.

[0153] Inventive concept 30: A method according to any of inventive concepts 24 to 29, wherein the incoming signal is selected from a group of signals including electrical signals, electronic signals, and optically transmitted signals.

[0154] Second additional argument

[0155] Embodiments of the present disclosure may further relate to any combination of any one or more of the following inventive concepts, including combinations with any of the inventive concepts of the first additional discussion.

[0156] Inventive concept 31: A control system for a vehicle, the vehicle including a plurality of vehicle corner modules (VCMs), each VCM including at least two subsystems selected from a drive subsystem, a steering subsystem, and a braking subsystem, the control system including a network of VCM-controllers, each VCM-controller (i) mounted within a different corresponding VCM of the plurality of VCMs, and (ii) operatively linked to each of the at least two subsystems of its corresponding VCM to receive sensor data and adjust the operation of the subsystems in response to incoming signals received from outside its corresponding VCM, (i) the control system provides a fault-free operating mode defined by an absence of control system failure, and (ii) the VCM-controller of a first VCM is programmed to control at least one subsystem in a second VCM when operating in the fault-free operating mode.

[0157] Inventive concept 32: A control system as described in inventive concept 31, in which in a fault-free operating mode, each VCM controller responds to incoming signals to coordinate operation of a first of at least two subsystems in its own respective VCM and a first of at least two respective subsystems in at least one other VCM.

[0158] Inventive concept 33: The control system described in inventive concept 31, wherein the fault-free operating mode is characterized in that the operation of a second subsystem of the at least two subsystems in its own corresponding VCM is coordinated by a VCM-controller of a different VCM that is not its own corresponding VCM.

[0159] Inventive concept 34: A control system as described in inventive concept 31, wherein in the fault-free operating mode, at least one of the at least two subsystems in each corresponding VCM is regulated by a VCM-controller of a different VCM that is not the corresponding VCM in response to an incoming signal.

[0160] Inventive concept 35: A control system as described in inventive concept 31, characterized in that in a first fault handling operating mode, a VCM-controller installed in the second VCM regulates the operation of a given subsystem in the second VCM, and in the first fault handling operating mode, the VCM-controller of the first VCM is unable to regulate the operation of the second subsystem in the second VCM.

[0161] Inventive concept 36: A control system as described in inventive concept 31, characterized in that in a second fault-handling operating mode, a VCM-controller of a given VCM coordinates the operation of a given subsystem among at least two subsystems in a different VCM other than the given VCM, and in the second fault-handling operating mode, the VCM-controller of the different VCM becomes unable to coordinate the operation of the given subsystem in the different VCM.

[0162] Inventive concept 37: The control system described in inventive concept 31, characterized in that in a third fault-handling operating mode, a VCM controller of a given VCM coordinates the operation of at least two corresponding subsystems in a different VCM other than the given VCM, and in the third fault-handling operating mode, the VCM controller of the different VCM becomes unable to coordinate the operation of one or more of the at least two corresponding subsystems in the different VCM.

[0163] Inventive concept 38: A control system as described in inventive concept 31, characterized in that in a fourth fault handling operating mode, a VCM controller of a given VCM coordinates the operation of at least two subsystems within the given VCM, and in the fourth fault handling operating mode, a plurality of VCM-controllers of different corresponding VCMs other than the given VCM become unable to coordinate the operation of a corresponding subsystem of the at least two subsystems within the corresponding VCM.

[0164] Inventive concept 39: The control system of inventive concept 31, wherein the first subsystem is selected according to an operational profile assigned to the corresponding VCM.

[0165] Inventive concept 40: A controller for onboard a vehicle corner module (VCM), the VCM including at least two subsystems selected from a drive subsystem, a steering subsystem, and a braking subsystem, the controller including: a. a communications arrangement for establishing electronic communications with (i) corresponding controllers of other VCMs to participate in a networked VCM-controller control system network, and (ii) each of the at least two subsystems in the VCM and in at least one other VCM; b. one or more processors; and c. a computer readable medium storing program instructions that, when executed by the one or more processors, cause the one or more processors to coordinate operation of a first of the at least two subsystems in the VCM and a first of the at least two corresponding subsystems in at least one other VCM in response to an incoming signal received from outside the VCM in the absence of a control system fault condition.

[0166] Inventive concept 41: A controller as described in inventive concept 40, wherein when a second subsystem of at least two subsystems is present within the VCM and there is no control system fault indicating that a different networked VCM-controller would be unable to coordinate operation of the second subsystem within the VCM, when the stored program instructions are executed by one or more processors, operation of the second subsystem is not coordinated by one or more processors.

[0167] Inventive concept 42: A controller as described in inventive concept 40, wherein, when the stored program instructions are executed by one or more processors, operation of the second subsystem is not coordinated by one or more processors, provided that a second subsystem of at least two subsystems is present within the VCM and the VCM-controller receives a control system indication that a different networked VCM-controller is capable of coordinating operation of the second subsystem within the VCM.

[0168] Inventive concept 43: The computer readable medium further stores program instructions which, when executed by one or more processors, cause the one or more processors to adjust operation of the second subsystem within the VCM in response to a control system fault indicating that a different VCM-controller will be unable to adjust operation of the second subsystem within the VCM.

[0169] Inventive concept 44: The controller as described in inventive concept 40, wherein the computer readable medium further stores program instructions which, when executed by one or more processors, cause the one or more processors to coordinate operation of a given subsystem of at least two subsystems in the different VCM in response to a control system fault indicating that a corresponding VCM controller of a different VCM, including a corresponding networked VCM-controller, is unable to coordinate operation of the given subsystem in the different VCM.

[0170] Inventive concept 45: The controller of inventive concept 40, wherein the computer readable medium further stores program instructions which, when executed by one or more processors, cause the one or more processors to coordinate operation of at least two relevant subsystems in the different VCMs including a corresponding networked VCM-controller in response to a control system fault indicating that a corresponding VCM controller of the different VCM will be unable to coordinate operation of one or more of the relevant subsystems in the different VCMs.

[0171] Inventive concept 46: The controller of inventive concept 40, wherein the computer readable medium further stores program instructions which, when executed by one or more processors, cause the one or more processors to coordinate operation of at least two subsystems in the VCM in response to a control system fault indicating that other VCM-controllers in the network of VCM-controllers will be unable to coordinate operation of either of the at least two subsystems in the VCM.

[0172] Inventive concept 47: A control system for a vehicle including the controller of inventive concept 40.

[0173] Inventive concept 48: A method of operating a vehicle, the vehicle comprising (i) at least one pair of vehicle corner modules (VCMs) and (ii) a network of networked VCM-controllers, each VCM comprising at least two subsystems selected from a drive subsystem, a steering subsystem, and a braking subsystem, each VCM-controller (A) mounted within a different respective VCM and (B) in electronic communication with each of the at least two subsystems of its respective VCM and with other VCM-controllers of the network of VCM-controllers, the method comprising the steps of receiving an incoming signal from outside its respective VCM, monitoring the incoming signal for a control system fault, and in response to the incoming signal, adjusting operation of at least one subsystem in a second VCM that is not its own respective VCM in the absence of a control system fault, the steps being performed by a first VCM-controller of the network of VCM-controllers.

[0174] Inventive concept 49: The method of inventive concept 48, wherein the coordinating includes coordinating operation of a first of at least two subsystems in the respective VCM and a first of at least two subsystems in at least one other VCM that includes a respective networked VCM-controller.

[0175] Inventive concept 50: A method as claimed in inventive concept 49, further comprising the steps of receiving a second incoming signal from outside the corresponding VCM, monitoring the second incoming signal for a control system fault, and in response to the second incoming signal, adjusting operation of a second subsystem of at least two subsystems in the corresponding VCM of the first VCM-controller in the absence of a control system fault, wherein these steps are performed by a second VCM-controller of the network of VCM-controllers.

[0176] Inventive concept 51: A method as described in inventive concept 50, further comprising the steps of detecting an indication of a control system fault in an incoming signal that disables a second VCM-controller from regulating operation of the second subsystem within the VCM, and responsive to the indication of the control system fault, regulating operation of the second subsystem within the VCM, wherein these steps are performed by the first VCM-controller.

[0177] Inventive concept 52: The method of inventive concept 48 further comprising the steps of detecting in an incoming signal an indication of a control system fault that renders a different networked VCM-controller unable to coordinate operation of a given subsystem of at least two subsystems in its corresponding VCM, and in response to said indication of control system fault, coordinating operation of said given subsystem in said corresponding VCM, wherein these steps are performed by said first VCM-controller.

[0178] Inventive concept 53: The method of inventive concept 48 further comprising the steps of detecting, in an incoming signal, an indication of a control system fault that renders a different networked VCM-controller unable to coordinate operation of one or more of the at least two subsystems in its corresponding VCM, and in response to said indication of control system fault, coordinating operation of the at least two subsystems in said corresponding VCM, wherein these steps are performed by said first VCM-controller.

[0179] Inventive concept 54: The method of inventive concept 48 further comprising the steps of detecting in an incoming signal an indication of a control system fault that renders other VCM-controllers of the network of VCM-controllers unable to regulate operation of any of the at least two subsystems in the VCM, and regulating operation of the at least two subsystems in the VCM in response to the indication of the control system fault, wherein these steps are performed by the first VCM-controller.

[0180] The present invention has been described using detailed descriptions of embodiments, but these embodiments are described by way of example and are not intended to limit the scope of the invention. The described embodiments include different features, not all of which are required in all embodiments of the invention. In some embodiments of the invention, only some of the features or possible combinations of features are used. Those skilled in the art to which the invention pertains will envision embodiments of the invention that include variations of the described embodiments and different combinations of the features described in the described embodiments.

[0181] In the description and claims of this disclosure, the verbs "comprise" and "have" and their conjugations each refer to the object(s) of the verb and not necessarily an exhaustive list of the subject or members, components, elements or parts of the subject of the verb. As used herein, the singular forms "a," "an," and "the" include the plural unless the context clearly dictates otherwise. For example, "a marking" or "at least one marking" can include a plurality of markings.

Claims

[Claim 1] 1. A control system for a vehicle, comprising: the vehicle includes a plurality of vehicle corner modules (VCMs), each VCM including at least two of a drive subsystem, a steering subsystem, and a braking subsystem, the control system including a network of VCM-controllers; A control system for a vehicle, wherein each VCM-controller is (i) mounted and installed within a different corresponding VCM of the plurality of VCMs, and (ii) operatively linked to each of at least two subsystems of its corresponding VCM to receive sensor data and to adjust operation of the subsystems in response to incoming signals received from outside its corresponding VCM.

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