Description:FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
The Patent Rules, 2003
COMPLETE SPECIFICATION
(See sections 10 & rule 13)
1. TITLE OF THE INVENTION
MULTIFUNCTION DRIVE-BY-WIRE CONTROL SYSTEM AND METHOD WITH INTEGRATED PROCESSOR AND INTERFACES
2. APPLICANT (S)
S. No. NAME NATIONALITY ADDRESS
1 NMICPS Technology Innovation Hub On Autonomous Navigation Foundation IN C/o Indian Institute of Technology Hyderabad, Kandi, Sangareddy, Telangana– 502284, India.
2 Indian Institute Of Technology Hyderabad IN Kandi, Sangareddy, Telangana– 502284, India.
3. PREAMBLE TO THE DESCRIPTION
COMPLETE SPECIFICATION

The following specification particularly describes the invention and the manner in which it is to be performed.

FIELD OF INVENTION:
[001] The present invention relates to the field of autonomous vehicles. The present invention in particular relates to a multifunction drive-by-wire (DBW) control system and method with integrated processor and interfaces.
DESCRIPTION OF THE RELATED ART:
[002] The fourth industrial revolution is a fourth major industrial era since the industrial revolution of 18th century, which is characterized by cyber-physical systems. It is marked by emerging technology breakthroughs in number of fields, including autonomous vehicles. Vehicles relying on automation can be classified as semi-autonomous and autonomous. With technological revolution in integrated circuits, the sophistication of automation has increased in many folds. Drive-By-Wire system (DBW), also referred as Steer-By-Wire in automotive industry is the use of electrical or electro-mechanical systems for performing vehicle functions traditionally achieved by mechanical linkages/operations. Though there are multifold improvements the automotive industry, traditional physical or dimensional constraint in the vehicle still remain one of the major constraints.
[003] The present technologies around Drive-By-Wire system is technically complex, occupies more space, uses pneumatic options and few technologies use electronic systems with limitation of smaller size. The Drive-By-Wire technology for auto steering and auto braking is currently through various actuators, making it very complex.
[004] Reference may be made to the following:
[005] IN Publication No. 201841042450 relates to a system and/or a method for integrated auto-steering apparatus, auto braking apparatus and auto-acceleration apparatus to facilitate actuating brake and turning steering wheel without a driver. The invention made as a part of drive-by-wire system to make the system retrofit using a spur gear train connected through a motor to make steering automatic, and using an electric actuator to make braking automatic, and integrating all the apparatus though a programmable logic controller to achieve navigation of autonomous vehicle. The complete system design fits at the steering column and the brake pedal to imitate exact behavior of human with sensor feedback system.
[006] Publication No. WO2022063331 relates to a V2X-based formation driving networked intelligent passenger vehicle, comprising a sensing and positioning device, a V2X information interconnection system, and a chassis domain controller that are connected to an automatic driving domain controller. The automatic driving domain controller determines a formation driving state according collected multi-source information, and outputs the path tracking target speed and acceleration. The sensing and positioning device comprises an environmental sensing unit and a positioning and navigation unit. The V2X information interconnection system broadcasts passenger vehicle status information to other formation vehicles. The chassis domain controller used for path tracking control of the networked passenger vehicle controls the acceleration via a CAN bus-driven electronic throttle, and the deceleration via a motor braking and a service braking.
[007] IN Publication No. 202341079931 relates to a cost effective retrofitting drive by wire kit for autonomous electric vehicles. The invention is a drive-by-wire (DBW) system which is flexible to adapt in any vehicle which makes the proposed kit as unique DBW solution for autonomous vehicles. Enhanced the system reliability by incorporating redundancy and fault-tolerance strategies, ensures safe operation even in the presence of component failures.
[008] Publication No. US2024001924 relates to a vehicle control system for a vehicle. The vehicle control system may be configured to adjust a normal component of a wheel force at one or more wheels of the vehicle and steer one or more rear wheels of the vehicle to improve vehicle dynamics during a road event (e.g., braking event, steering event). The vehicle control system may generate cues to a user to provide an appropriate input based on reference road information, forward-looking road information, and/or vehicle sensor data.
[009] IN Publication No. 960/CHENP/2007 relates to a control device for a vehicle is equipped with a vehicle model motion determining means for determining a motion of a vehicle (a vehicle model motion) on a vehicle model expressing the dynamic characteristics of a vehicle on the basis of drive manipulated variables, such as an angle of steering by a driver, and a state amount error reaction control means for determining control inputs to an actuator control means of the actual vehicle (a means for manipulating an actuator device of an actual automobile) and the vehicle model motion determining means according to a feedback law on the basis of a difference between a state amount of a vehicle model motion (model state amounts, such as a position or a posture of a vehicle) and a state amount of a motion of the actual vehicle (a state amount error). Based on a state amount error, not only a motion of an actual vehicle but also a vehicle model motion is manipulated, thereby enhancing robustness against disturbance factors or their changes while conducting actuator operation control that is suited to a behavior of the actual vehicle as much as possible.
[010] Publication No. US2014188343 relates to a vehicle control system which can ensure high reliability, real-time processing, and expandability with a simplified ECU configuration and a low cost by backing up an error through coordination in the entire system without increasing a degree of redundancy of individual controllers beyond the least necessary level. The vehicle control system comprises a sensor controller for taking in sensor signals indicating a status variable of a vehicle and an operation amount applied from a driver, a command controller for generating a control target value based on the sensor signals taken in by the sensor controller, and an actuator controller for receiving the control target value from the command controller and operating an actuator to control the vehicle, those three controller being interconnected via a network.
[011] Publication No. WO2023205770 relates to a redundant sensing system that includes a first sensor, a second sensor, and an electronic control unit. The first sensor is configured to output a first data indicative of a position data and the second sensor is configured to output a second data indicative of the position data. The electronic control unit is configured to determine whether the first data is within a first predetermined threshold range. When the first data is outside of the first predetermined threshold range, determine whether the second data is within a second predetermined threshold range. The electronic control unit is configured to control the redundant sensing system to operate with the second sensor when the first data is outside of the first predetermined threshold range and the second data is within the second predetermined threshold range.
[012] Publication No. US2021261160 relates to systems and methods for reducing second order dynamics delays in a control subsystem (e.g. throttle, braking, or steering) in an autonomous driving vehicle (ADV). A control input is received from an ADV perception and planning system. The control input is translated in a control command to a control subsystem of the ADV. A reference actuation output is obtained from a storage of the ADV.
[013] Publication No. US2021108719 relates to a vehicle control apparatus includes a learning control portion configured to execute a learning control operation, and to limit a learning value obtained through the learning control operation, by a guard value, and an update control portion configured to obtain a new guard value from an external device, and to update the guard value to the new guard value. The update control portion limits the learning value by the new guard value, prior to execution of the learning control operation, such that the learning value is rewritten, by the update control portion, to a value within a new guard-value range defined by the new guard value in a case in which the learning value is deviated from the new guard-value range, and such that the learning value is kept unchanged by the update control portion in a case in which the learning value is within the new guard-value range.
[014] Publication No. US2021094568 relates to a driving assistance control section of a vehicle control apparatus has an operation state of a driver's vehicle transition from a stop state to a start-stand-by state keeping a second assistance state, if an accelerating operation larger than a predetermined first threshold acceleration is performed and there is an ahead-located vehicle, and has the driving assistance state transition from the second assistance state to a first assistance state and has the operation state transition from the stop state to the start-stand-by state if an accelerating operation larger than a predetermined second threshold acceleration is performed over a longer time than a predetermined threshold duration and there is an ahead-located vehicle, if follow-up running control is being performed in the second assistance state in which it is not necessary for a driver to hold a steering wheel to continue to have a driving assistance function performed.
[015] Publication No. KR20220059667 relates to an electronic steering apparatus for a vehicle and a control method thereof. The electronic steering apparatus for a vehicle of the present invention comprises: a reaction motor installed at one side of a steering wheel to generate reaction torque in accordance with the rotation of the steering wheel; a steering motor connected to a rack to realize steering control; a driving control unit receiving the vehicle speed, the steering angle and the current steering angle to calculate a target steering angle for the location follow-up control in order to drive the steering motor; and a reaction control unit which receives the vehicle speed and the steering angle to calculate a first reaction based on the dynamics of a vehicle, calculates a second reaction based on the steering angle and the control electricity amount for controlling the steering motor inputted from the driving control unit, and drives the reaction motor based on the ultimate reaction torque which is calculated by applying an exponential soothing filter to the first reaction and the second reaction in accordance with the differential value between the first reaction and the second reaction, and a weighted value which is set based on the yaw rate. Therefore, reaction response can be improved.
[016] Publication No. US2024127633 relates to methods for dynamic orchestration of modems in an autonomous vehicle, which can include an SoC determining performance parameters from a plurality of modems and controlling communication of data between ECUs and the modems. Some methods described also include an SoC acting as a forwarding daemon, communicating with a switch, and or providing configuration data. Systems and computer program products are also provided.
[017] Publication No. KR20200141728 relates to an electronic steering device of a vehicle and a control method thereof. According to the present invention, the electronic steering device of a vehicle comprises: a reaction motor installed at one side of a steering wheel to generate reaction torque by rotation of the steering wheel; a steering motor connected to a rack to realize steering manipulation; a motor position sensing unit for detecting a rotational position of the steering motor to measure a current steering angle; a position controller for receiving a vehicle's speed, a command steering angle, and the current steering angle, and applying a position control error amount to calculate a target steering angle; a steering control unit for driving the steering motor in accordance with the target steering angle output from the position controller; and a reaction control unit for receiving the vehicle's speed and a steering angular speed to generate reaction torque in accordance with the driver's steering state, and compensating for the reaction torque in accordance with the position control error amount to drive the reaction motor on the basis of final reaction torque. Accordingly, a driver can feel a road by compensating for a reaction.
[018] Publication No. US2013110365 relates to an electronic control unit senses an abnormality of an encoder, the control unit rotates a rotor of an electronic motor unit through execution of an open-loop drive control operation in presence of an output of a signal from a range selector to shift a shift range of an automatic transmission to a target range and sets a range shifting operation prohibiting period after the shifting of the shift range of the automatic transmission to the target range to prohibit a new range shifting operation of the automatic transmission throughout the range shifting operation prohibiting period.
[019] Publication No. CN100545771 relates to a vehicle control device includes a sensor controller which uses the network connection to obtain sensor signals that represent the state quantity of a vehicle and the manipulated variable of a driver, a command controller which generates the control target value according to the sensor signals which are obtained by the sensor controller and an actuator controller which receives the control target value from the command controller to actuate the actuator for controlling the vehicle.
[020] Publication No. US2022017108 relates to an in-vehicle control system capable of reducing an increase in cost accompanying advancement of a fallback operation. Therefore, the in-vehicle control system includes: a plurality of control circuits and respectively including control units that perform data communication with each other; an external environment recognition sensor a5; and a plurality of wirings and connecting the external environment recognition sensor a5 and the plurality of control circuits.
[021] Publication No. JP6407732 relates to a vehicle control device capable of reducing the complexity of a communication system and increasing redundancy without pressing the mounting position of the vehicle control device.
[022] Publication No. US2023278549 relates to a vehicle control system includes an on-vehicle sensor for outputting a piece of information regarding an object around an own vehicle and a piece of information regarding a travel state of the own vehicle, a driving assistant ECU which has, as a risk reduction function, at least one of a lane departure prevention function and an emergency stop function, and a switching apparatus for enabling and disabling the risk reduction function.
[023] Publication No. JP2023132081 relates to a vehicle which can execute automatic steering control, capable of satisfying both difficulty in erroneous determination of steering inclusion of a driver and ease of control state transition. A vehicle includes a steering device, a torque sensor, and an electronic control unit. The steering device includes: a rack shaft connected with a wheel; a steering shaft connecting a steering wheel with the rack shaft; and a steering actuator having an electric motor connected with the rack shaft or the steering shaft through a motion conversion mechanism.
[024] Publication No. CN116620266 relates to a vehicle control method and a vehicle. The method comprises the steps that based on a first preset condition, whether an interface of a vehicle control unit of a vehicle is available or not is judged; judging whether the interface of the electronic stability control system of the vehicle is available or not based on a second preset condition; in response to the availability of the interface of the vehicle control unit and the availability of the interface of the electronic stability control system, sending automatic parking function enabling to the vehicle control unit and the electronic stability control system based on a third preset condition; the vehicle is controlled based on the enabling of the automatic parking function. The technical problem that the efficiency of automatic parking of the vehicle is low in the prior art is solved.
[025] Publication No. CN116142236 relates to a vehicle control method and system, electronic equipment and a storage medium. The method comprises the steps of obtaining a to-be-processed data set, wherein the to-be-processed data set comprises at least one piece of to-be-processed data; determining an algorithm model corresponding to each piece of to-be-processed data, wherein the algorithm model comprises at least one operator; distributing each operator to a corresponding calculation unit according to a predetermined operator distribution strategy; operating the corresponding operators through the calculation units to process the to-be-processed data, and determining a model processing result; and automatic driving control is carried out on the vehicle according to the processing results of the models, the safety problem of automatic driving is solved, operators are split through an operator distribution strategy, different operators are adaptively distributed to corresponding calculation units for data processing, the processing performance of vehicle hardware can be reasonably distributed, and the processing efficiency of the vehicle hardware is improved.
[026] Publication No. CN115428054 relates to an electronic control device that is mounted in a vehicle, performs automatic driving control using map information, and is provided with: a storage unit that stores basic map data; a communication unit that communicates with a data center and acquires map data managed by the data center as external map data; and a processing unit that determines a control mode of the automatic driving control on the basis of the acquired external map data, and executes the automatic driving control on the basis of the determined control mode, position information of the vehicle, the basic map data, and the external map data.
[027] IN Publication No. 202014014602 relates to a vehicle control device is applied to a vehicle including at least a shift control system configured to switch a shift range. The vehicle control device is configured to control the vehicle to perform autonomous driving travel without depending on an operation of a driver in at least one driving operation.
[028] Publication No. US2022324478 relates to an electronic control device is mounted on a vehicle and executes automatic driving control using a plurality of pieces of map information. Each piece of the map information includes one or more pieces of partial data corresponding to a predetermined geographical area and being information of a predetermined attribute related to a road of the predetermined geographical area.
[029] Publication No. US2021188241 relates to a hybrid vehicle includes: an engine; a battery; a power converter; a relay; a first controller; and a second controller. The second controller is configured to control the engine and the power converter according to allowable charging power and allowable discharging power received from the first controller. The second controller has, as control modes, a normal mode in which the relay is closed and the battery and the power converter are electrically connected and a battery less drive mode in which the relay is opened to cause the hybrid vehicle to move with the battery electrically disconnected from the power converter.
[030] Publication No. US2020293034 relates to methods and apparatus for controlling an autonomous vehicle. The control device includes an interface that establishes a connection to an autonomous vehicle, a processor that processes inputs and generates control commands to control at least one function of the autonomous vehicle, and an input arrangement with at least one control element that is assigned to a function of the autonomous vehicle.
[031] Publication No. US2024067143 relates to a method of adaptively changing brake force distribution in a vehicle may include detecting vehicle parameters during operation of the vehicle, based on the detected vehicle parameters, determining downhill travel of the vehicle while braking and steering inputs are applied to the vehicle as an enabling condition, and responsive to detection of a trigger comprising detection of an under steer condition while the enabling condition is satisfied, executing a brake force distribution modification defining a change in distribution of brake forces between a front axle and a rear axle of the vehicle.
[032] Publication No. US2019361439 relates to systems and methods for controlling an autonomous vehicle (AV). A scene understanding module of a high-level controller selects a particular combination of sensorimotor primitive modules to be enabled and executed for a particular driving scenario from a plurality of sensorimotor primitive modules. Each one of the particular combinations of the sensorimotor primitive modules addresses a sub-task in a sequence of sub-tasks that address a particular driving scenario.
[033] Publication No. US2019361454 relates to systems and methods for controlling an autonomous vehicle (AV). A feature map generator module generates a feature map (FM). Based on the FM, a perception map generator module generates a perception map (PM). A scene understanding module selects from a plurality of sensorimotor primitive modules (SPMs), based on the FM, a particular combination of SPMs to be enabled and executed for the particular driving scenario (PDS). Each SPM maps information from either the FM or the PM to a vehicle trajectory and speed profile (VTSP) for automatically controlling the AV to cause the AV to perform a specific driving maneuver.
[034] Patent No. US5625558 relates to a drive-by-wire vehicle engine output control system. The system permits good-response acceleration by a driver's simple and reasonable operation, i.e., by operating an accelerator pedal and also a prompt response even when a sudden load change occurs. Further, the system permits precise speed control by simple equipment even when the deviation of a vehicle speed from a target vehicle speed is large.
[035] Publication No. USRE49258 relates to a vehicle control system has a plurality of subsystem controllers including an engine management system, a transmission controller, a steering controller, a brakes controller and a suspension controller. These subsystem controllers are each operable in a plurality of subsystem modes, and are all connected to a vehicle mode controller which controls the modes of operation of each of the subsystem controllers so as to provide a number of driving modes for the vehicle. Each of the modes corresponds to a particular driving condition or set of driving conditions, and in each mode each of the functions is set to the function in mode most appropriate to those conditions.
[036] Publication No. US2022274609 relates to a vehicle control system includes a central ECU configured to calculate target outputs of actuators, and relay devices each disposed in a communication path between the central ECU and a corresponding actuator among the actuators. The plurality of relay devices includes a specific relay device configured transfer a control signal from the central ECU only to a fixed actuator that is an actuator not related to driving control, braking control, and steering control of a vehicle.
[037] Publication No. US2022266906 relates to a vehicle control system includes a central ECU configured to calculate target outputs of actuators, and relay devices each disposed in a communication path between the central ECU and a corresponding actuator among the actuators. The relay devices include a specific relay device capable of communicating with a specific actuator related to driving control, braking control, or steering control of a vehicle.
[038] Publication No. US2018284759 relates to an electronic control unit for a vehicle for switching vehicle control from an autonomous driving mode includes one or more processors, network interface hardware configured to communicate with a remote server over a network, and one or more memory modules that store logic. The electronic control unit executes logic to determine that the autonomous driving mode of the vehicle will terminate, determine that a driver is unavailable to take immediate control of the vehicle upon termination of the autonomous driving, transfer control of the vehicle to a remote operator over the network interface hardware for a first time period, generate an alert to the driver to take manual control of the vehicle, and transfer control of the vehicle to one of the driver and the autonomous driving mode after the first time period has elapsed.
[039] Publication No. US2023264741 relates to a system includes a processor and a memory in communication with the processor. The memory has a human-machine interface module having instructions that, when executed by the processor, cause the processor to identify, based on sensor data regarding a vehicle and an environment in which the vehicle operates, an event in which the vehicle should perform an autonomous steering maneuver determined by an autonomous driving system.
[040] Publication No. US2018154899 relates to a system for controlling a vehicle navigating a roadway, including a perception module that generates sensor data and outputs a cost map and traffic data associated with traffic objects, a behavior planning module that receives the cost map and the traffic data from the perception module and generates planner primitives, a training module that receives the cost map and the traffic data from the perception module, receives driver input from a vehicle operator, and trains the behavior planning module, a local planning module comprising a set of task blocks that receives the cost map from the perception module and the planner primitives from the behavior planning module, selects a task block, and generates control commands using the selected task block; and a control module comprising an actuation subsystem, wherein the control module receives the control commands from the local planning module and controls the actuation subsystem.
[041] Publication No. US2023264712 relates to a system includes a processor and a memory in communication with the processor. The memory has a human-machine interface module having instructions that, when executed by the processor, cause the processor to identify, influenced by sensor data regarding a vehicle and an environment in which the vehicle operates, an event in which the vehicle should perform an autonomous steering maneuver determined by an autonomous driving system.
[042] Publication No. US2020164770 relates to a vehicle control apparatus disposed in a vehicle and a control method of the vehicle. A vehicle control apparatus according to one embodiment of the present disclosure is a vehicle control apparatus disposed in a vehicle, and comprises: a camera for capturing an image of an object which approaches the vehicle; a seat driving unit for driving a seat disposed in the vehicle; and a processor for sensing information related to the object on the basis of the image captured through the camera and controlling the seat driving unit such that the seat is disposed at a predetermined position, on the basis of the sensed information related to the object.
[043] Publication No. US2022063689 relates to system includes a controller configured to obtain one or more of a route parameter or a vehicle parameter from discrete examinations of one or more of a route or a vehicle system. The route parameter is indicative of a health of the route over which the vehicle system travels. The vehicle parameter is indicative of a health of the vehicle system. The discrete examinations of the one or more of the route or the vehicle system separated from each other by one or more of location or time.
[044] Publication No. US2018251124 relates to a vehicle includes a sensor system outputting one or more signals and an electronic control unit communicatively coupled to the sensor system. The electronic control unit may be configured to detect a target vehicle external to the vehicle based on the one or more signals output by the sensor system, identify the detected target vehicle, determine rating information for at least one of the target vehicle and a driver of the target vehicle, predict at least one action of the target vehicle based on the rating information, and effect one or more changes to the vehicle based on the predicted at least one action of the target vehicle.
[045] Existing DBW control systems often rely on separate electronic control units (ECUs) for different subsystems, such as steering, braking, and throttle control. Having multiple ECUs for different DBW functions can make the overall system architecture more complex, increasing the difficulty of integration, maintenance, and troubleshooting.
[046] Separate ECUs may require additional communication interfaces and protocols to coordinate and synchronize their operations, which can introduce potential bottlenecks and latency issues.
[047] Separate ECUs for each subsystem can lead to redundancies in hardware components, such as processors, memory, and power supplies, resulting in higher overall costs.
[048] As autonomous driving technologies evolve and become more complex, separate ECUs for DBW kit may struggle to accommodate the increasing processing demands and the need for seamless integration of various sensors and actuators.
[049] In order to overcome above listed prior art, the present invention aims to provide a multifunction drive-by-wire control system and method with integrated processor and interface.
OBJECTS OF THE INVENTION:
[050] The principal object of the present invention is to provide a multifunction drive-by-wire control system and method with integrated processor and interface.
[051] Another object of the present invention is to provide a system for seamlessly integrating and controlling the steering, braking, and throttle systems of an autonomous vehicle.
[052] Yet another object of the present invention is to provide drive-by-wire (DBW) control system with integrated and centralized control architecture with multifunction capability
[053] Still another object of the present invention is to provide a drive-by-wire (DBW) control system with advanced safety and redundancy features.
SUMMARY OF THE INVENTION:
[054] The present invention relates to a multifunction drive-by-wire control system and method with integrated processor and interface. The invention provides a multifunction drive-by-wire control system and method with integrated processor and interface. This is a centralized control method seamlessly integrates and controls the steering, braking, and throttle systems of an autonomous vehicle. At the core of the control board is a powerful microprocessor capable of executing the commands based on the inputs from the sensors in real-time. The control board includes a memory module to store the operating system, firmware, and other necessary components. The control board incorporates various interfaces such as motor driver, relay modules, communication modules and so on to use in autonomous vehicles. These interfaces include the digital and analog inputs, as well as specialized interfaces like Ethernet, or others.
[055] The proposed multifunction drive-by-wire control system with an integrated processor and interface offers several key differences and advantages over the existing prior art. Firstly, the invention aims to provide a centralized and integrated control architecture, which is a significant departure from traditional drive-by-wire (DBW) systems that often employ separate electronic control units (ECUs) for steering, braking, and throttle control. By consolidating these functions into a single control unit, the proposed system simplifies the overall system design, reduces redundancies, and facilitates seamless coordination and communication between the various vehicle control subsystems. This integrated approach addresses the complexity, integration challenges, and potential bottlenecks associated with multiple ECUs communicating and synchronizing their operations.
[056] It comprises a single microcontroller and a unified set of interfaces, including digital and analog input interfaces, motor driver interfaces, Ethernet interfaces, and wireless interfaces. This consolidated approach streamlines the system architecture, reduces the need for multiple communication protocols and interfaces, and enables efficient data exchange and connectivity. The integration of wireless interfaces further enhances the system's capabilities by enabling remote monitoring, diagnostics, and over-the-air (OTA) updates, improving flexibility and maintainability.
[057] Moreover, the proposed system includes advanced safety and redundancy features, such as voltage regulators, power filters, and watchdog timers. These components ensure a stable and clean power supply, monitor system operation, and initiate fail-safe procedures when necessary. The incorporation of these safety measures addresses the critical need for reliability and fault tolerance in autonomous driving applications, where system failures can have severe consequences. While some prior art references mention fault-tolerance strategies and redundancy considerations, the claimed invention presents a comprehensive and integrated solution that combines the control of steering, braking, and throttle functions with advanced safety features and seamless integration capabilities. This holistic approach addresses the increasing processing demands and integration challenges associated with the evolution of autonomous driving technologies, positioning the claimed invention as a more robust and efficient solution compared to traditional decentralized DBW systems.
[058] Hence, the advantages of the proposed multifunction drive-by-wire control system is its integrated and centralized control architecture, consolidated interfaces and connectivity options, advanced safety and redundancy features, and the ability to seamlessly integrate and control various vehicle subsystems, making it well-suited for the evolving demands of autonomous driving applications.
BREIF DESCRIPTION OF THE INVENTION
[059] It is to be noted, however, that the appended drawings illustrate only typical embodiments of this invention and are therefore not to be considered for limiting of its scope, for the invention may admit to other equally effective embodiments.
[060] Fig.1 shows block diagram of integrated multifunction drive-by-wire control system.
[061] Fig.2 shows flowchart according to the present invention.
DETAILED DESCRIPTION OF THE INVENTION:
[062] The present invention provides a multifunction drive-by-wire control system and method with integrated processor and interface. This is a centralized control system and method to seamlessly integrate and control the steering, braking, and throttle systems of an autonomous vehicle. At the core of the control board is a powerful microprocessor capable of executing the commands based on the inputs from the sensors in real-time. The control unit includes a memory module to store the operating system, firmware, and other necessary components. The control board incorporates various interfaces such as motor driver, relay modules, communication modules and so on to use in autonomous vehicles. These interfaces include the digital and analog inputs, as well as specialized interfaces like Ethernet, or others.
[063] On the output side, the control board features interfaces to connect and control the actuators responsible for steering, braking, and throttle systems. It includes motor drivers, and other specialized interfaces depending on the actuator types used in the vehicle. The control board is equipped with communication interfaces to enable data exchange with other electronic control units (ECUs) or external systems such as Ethernet or wireless interfaces like Wi-Fi and cellular, allowing for remote monitoring, diagnostics, and software updates. Further, it also includes voltage regulators, power filters, and backup power sources like batteries for power management.
[064] The system comprises a control unit consist of microprocessor (1) for executing complex the task and controlling the DBW kit. Digital input interfaces (2) are provided for connecting sensors with digital outputs (e.g., encoders, switches) and analog input interfaces (3) for connecting sensors with analog outputs (e.g., potentiometers, pressure sensors). Motor driver interfaces (4) (e.g., PWM) controls the steering and throttle actuators. Ethernet interfaces (5) are provided for high-bandwidth data exchange and networking. Wireless interfaces (e.g., Wi-Fi, cellular) (6) are provided for remote monitoring, diagnostics, and over-the-air (OTA) updates. Voltage regulators and power filters (7) provides stable and clean power supply. Watchdog timers (8) monitors the system operation and initiating resets or fail-safe.
[065] The proposed multifunction drive-by-wire control system is an integrated and centralized control architecture for seamlessly controlling the auto-braking, auto-steering, and throttle mechanisms in an autonomous vehicle. The system comprises Central Microcontroller Unit (1) (CMU) which receives input from various sensors (e.g., cameras, LiDAR, radar, wheel speed sensors) to perceive the vehicle's surroundings and driving conditions. Based on the sensor data and the desired driving trajectory, the CMU calculates the required steering angle, braking force, and throttle input.
[066] The CMU is connected to an electric brake actuator system (9), which replaces the traditional hydraulic braking system. The brake actuator system is retrofitted to the vehicle by integrating it with the existing brake calipers and brake lines. The CMU sends commands to the brake actuator system to apply the desired braking force on each wheel, enabling precise control over braking.
[067] The CMU interfaces with an electric power steering (EPS) system (10), which replaces the traditional mechanical steering column. The EPS system consists of an electric motor connected to the steering rack through a gear assembly. The CMU sends commands to the EPS system, controlling the steering motor to achieve the desired steering angle.
[068] The CMU is connected to an electronic throttle control (ETC) system (11), replacing the traditional cable-operated throttle. The ETC system consists of an electric motor that regulates the throttle valve position in the engine's intake system. The CMU sends commands to the ETC system, controlling the throttle valve position to regulate the engine's power output.
[069] Figure 2 shows the flowchart illustrates the following key aspects of the system.
[070] The system receives sensor data from various sources, including digital sensors (e.g., encoders, switches) via digital input interfaces (2) and analog sensors (e.g., potentiometers, pressure sensors) via analog input interfaces (3).
[071] The control unit, featuring a microprocessor (1), processes the sensor data and executes perception, planning, and control algorithms for steering, braking, and throttle control. Output commands: Based on the control method, the system generates output commands for the steering actuator, braking actuator, and throttle actuator, which are transmitted via motor driver interfaces (4). The system facilitates high-bandwidth data exchange and networking through Ethernet interfaces (5), as well as remote monitoring, diagnostics, and over-the-air (OTA) updates via wireless interfaces (6). The system includes voltage regulators and power filters (7) to provide a stable and clean power supply to the components.
[072] Watchdog timers (8) monitor the system operation and initiate resets or fail-safe procedures in case of any issues or failures.
[073] This invention consolidates these functions into a single, integrated control board. This centralized architecture simplifies the overall system, reduces complexity, and enhances coordination between subsystems.
[074] This control unit handles multiple functions, including steering, braking, and throttle control, within a single hardware platform. This multifunction capability streamlines the control architecture and eliminates the need for separate dedicated controllers for each function. In contrast, the Bosch Steering Control Unit is a dedicated control unit specifically for steering systems, lacking the ability to control other functions like braking and throttle. The high-performance integrated processor is capable of executing various DBW functions in real-time. The control unit seamlessly integrate a wide range of sensors (e.g., cameras, radar, lidar, ultrasonic) and actuators (e.g., motors) through various specialized interfaces. It incorporates advanced safety and redundancy features, such as memory modules, power supplies, watchdog timers, error-checking mechanisms, and fail-safe modes.
[075] Thus, control functions for steering, braking, and throttle systems are integrated into a single control board. This invention offers a centralized and integrated solution for autonomous vehicle control. With an integrated processor and shared interfaces, this control board can process the data more efficiently, resulting in improved performance and responsiveness in controlling the vehicle's actuators for steering, braking, and throttle systems. By consolidating multiple functions onto a single control board, this invention can potentially reduce the number of potential points of failure and enable more robust fault-tolerance mechanisms, leading to improved overall reliability of the autonomous vehicle control system. With a centralized control board, the development and testing processes for autonomous vehicle control systems can be streamlined, as various subsystems can be integrated and validated more efficiently on a single platform, reducing development time and costs.
[076] Thus, by consolidating multiple control functions onto a single board, this invention can reduce the amount of wiring and interconnections required, leading to a more compact and space-efficient system suitable for the space constraints of modern vehicles.
[077] This system simplifies the overall system design, reduces redundancies, and enables seamless coordination and control of various vehicle functions, which is crucial for autonomous driving applications. Additionally, the proposed system incorporates advanced safety and redundancy features, ensuring reliable and safe operation even in the presence of component failures or unexpected situations. These features may include redundant sensors, failsafe mechanisms, and fault-tolerant control strategies implemented within the CMU.
[078] Numerous modifications and adaptations of the system of the present invention will be apparent to those skilled in the art, and thus it is intended by the appended claims to cover all such modifications and adaptations which fall within the true spirit and scope of this invention.
, Claims:WE CLAIM:
1. A multifunction drive-by-wire control system and method with integrated processor and interface comprises-
a) A central microcontroller unit (1) characterizing microprocessor (1) for executing complex the task and controlling the DBW kit.
b) Digital input interfaces (2) connecting sensors with digital outputs (e.g., encoders, switches) and analog input interfaces (3) connecting sensors with analog outputs (e.g., potentiometers, pressure sensors).
c) Motor driver interfaces (4) (e.g., PWM) controls the steering and throttle actuators.
d) Ethernet interfaces (5) for high-bandwidth data exchange and networking.
e) Wireless interfaces (e.g., Wi-Fi, cellular) (6) for remote monitoring, diagnostics, and over-the-air (OTA) updates.
f) Voltage regulators and power filters (7) provides stable and clean power supply.
g) Watchdog timers (8) monitors the system operation and initiating resets or fail-safe
h) Electric brake actuator system (9) interfaced to CMU, retrofitted to the vehicle by integrating it with the existing brake calipers and brake lines wherein CMU sends commands to the brake actuator system to apply the desired braking force on each wheel, enabling precise control over braking.
i) Electric power steering (EPS) system (10) interfaced to CMU, wherein the EPS system characterized in that an electric motor connected to the steering rack through a gear assembly and CMU sends commands to the EPS system, controlling the steering motor to achieve the desired steering angle.
j) An electronic throttle control (ETC) system (11) interfaced to CMU, characterized in that an electric motor that regulates the throttle valve position in the engine's intake system wherein CMU sends commands to the ETC system, controlling the throttle valve position to regulate the engine's power output.
2. The multifunction drive-by-wire control system and method with integrated processor and interface, as claimed in claim 1, wherein the control board includes a memory module to store the operating system, firmware, and other necessary components and various interfaces such as motor driver, relay modules, communication modules.
3. The multifunction drive-by-wire control system and method with integrated processor and interface, as claimed in claim 1, wherein the at output side, the control board features interfaces connects and controls the actuators responsible for steering, braking, and throttle systems.