Model based diagnostics based on traction model

{
  "publication_number": "US10377388B2",
  "country": "US",
  "kind": "B2",
  "title": "Model based diagnostics based on traction model",
  "abstract": "A traction application executing on a vehicle control module receives a traction speed control input to control a traction wheel of the vehicle. Based on the traction speed control input, the traction application determines a first setpoint value of a control attribute related to the traction wheel. A first diagnostic supervisor receives a measured value of the control attribute related to the traction wheel, and the first setpoint value from the traction application. The first diagnostic supervisor comprises a first model of a traction system of the vehicle. Based on the first setpoint value and the first model, the first diagnostic supervisor calculates a first virtual value of the control attribute related to the traction wheel. Based on the first virtual value and the measured value of the control attribute, the first diagnostic supervisor determines a first operating condition of the traction system of the vehicle.",
  "claims": [
    "1. A method comprising: receiving, by a traction application executing on a vehicle control module of a vehicle: a traction speed control input to control a traction wheel of the vehicle; and a target steering angle; based on the traction speed control input and the target steering angle, determining, by the traction application: a first setpoint value of a control attribute related to the traction wheel; receiving, by a first diagnostic supervisor: a measured value of the control attribute related to the traction wheel, and the first setpoint value, from the traction application; wherein the first diagnostic supervisor comprises a first model of a traction system of the vehicle; based on the first setpoint value and the first model, calculating, by the first diagnostic supervisor a first virtual value of the control attribute related to the traction wheel; based on the first virtual value and the measured value of the control attribute related to the traction wheel, determining, by the first diagnostic supervisor, a first operating condition of the traction system of the vehicle; receiving, by a steering application executing on the vehicle control module: a steering control input to control a steered wheel of the vehicle, and a measured value of a control attribute related to the steered wheel; calculating, by the steering application, a wheel angle command based on the steering control input; determining, by the steering application, a traction speed limit based on the wheel angle command; determining, by the steering application, that the measured value of the control attribute related to the traction wheel of the vehicle is less than the traction speed limit; and setting, by the steering application, the target steering angle to equal: a) the wheel angle command, when the wheel angle command is greater than the measured value of the control attribute related to the steered wheel, and b) the measured value of the control attribute related to the steered wheel, when the wheel angle command is less than or equal to the measured value of the control attribute related to the steered wheel.",
    "2. The method of claim 1, comprising: generating, by the traction application, a second setpoint value of the control attribute related to the traction wheel; receiving, by a second diagnostic supervisor: the second setpoint value, from the traction application, and the measured value of the control attribute related to the traction wheel, from a traction control module; wherein the second diagnostic supervisor comprises a second model of the traction system of the vehicle; based on at least the second setpoint value and the second model, calculating, by the second diagnostic supervisor a second virtual value of the control attribute related to the traction wheel; and based on the second virtual value and the measured value of the control attribute, determining, by the second diagnostic supervisor, a second operating condition of the traction system of the vehicle.",
    "3. The method of claim 1, wherein the control attribute related to the traction wheel comprises one of: a linear speed of the vehicle; a speed of the traction wheel; or a speed of a traction motor coupled with the traction wheel of the vehicle.",
    "4. A method comprising: receiving, by a traction application executing on a vehicle control module of a vehicle: a traction speed control input to control a traction wheel of the vehicle; based on the traction speed control input, determining, by the traction application: a first setpoint value of a control attribute related to the traction wheel; receiving, by a first diagnostic supervisor: a measured value of the control attribute related to the traction wheel, and the first setpoint value, from the traction application; wherein the first diagnostic supervisor comprises a first model of a traction system of the vehicle; based on the first setpoint value and the first model, calculating, by the first diagnostic supervisor a first virtual value of the control attribute related to the traction wheel; and based on the first virtual value and the measured value of the control attribute related to the traction wheel, determining, by the first diagnostic supervisor, a first operating condition of the traction system of the vehicle; receiving, by a steering application executing on the vehicle control module: a steering control input to control a steered wheel of the vehicle; a measured value of a control attribute related to the steered wheel, wherein the control attribute related to the steered wheel comprises a steered wheel angle; and the measured value of the control attribute related to the traction wheel of the vehicle; and based on the steering control input, the measured value of the control attribute related to the steered wheel and the measured value of the control attribute related to the traction wheel, determining, by the steering application: a setpoint value of the control attribute related to the steered wheel.",
    "5. The method of claim 4, comprising: based on the steering control input, the measured value of the control attribute related to the steered wheel and the measured value of the control attribute related to the traction wheel, determining, by the steering application: a target steering angle.",
    "6. The method of claim 5, comprising: calculating, by the steering application, a wheel angle command based on the steering control input.",
    "7. The method of claim 6, comprising: determining, by the steering application, a traction speed limit based on the wheel angle command; and determining, by the steering application, that the measured value of the control attribute related to the traction wheel of the vehicle is less than the traction speed limit.",
    "8. The method of claim 7, comprising: setting the set point value of the control attribute related to the steered wheel to equal the wheel angle command; and setting the target steering angle to equal: a) the wheel angle command, when the wheel angle command is greater than the measured value of the control attribute related to the steered wheel, and b) the measured value of the control attribute related to the steered wheel, when the wheel angle command is less than or equal to the measured value of the control attribute related to the steered wheel.",
    "9. The method of claim 6, comprising: determining, by the steering application, a traction speed limit based on the wheel angle command; determining, by the steering application, a wheel angle limit based on the measured value of the control attribute related to the traction wheel; and determining, by the steering application, that the measured value of the control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit.",
    "10. The method of claim 9, comprising: setting the target steering angle to equal the wheel angle command; and setting the setpoint value of the control attribute related to the steered wheel to equal one of: a) the wheel angle limit, when the wheel angle limit is between the measured value of the control attribute related to the steered wheel and the wheel angle command; b) the measured value of the control attribute related to the steered wheel, when the wheel angle limit is: i) not between the measured value of the control attribute related to the steered wheel and the wheel angle command; and ii) closer to the measured value of the control attribute related to the steered wheel than to the wheel angle command, and c) the wheel angle command, when the wheel angle limit is: i) not between the measured value of the control attribute related to the steered wheel and the wheel angle command; and ii) closer to the wheel angle command than to the measured value of the control attribute related to the steered wheel.",
    "11. The method of claim 1, wherein the traction system comprises a traction control module and a traction motor.",
    "12. The method of claim 11, comprising: transmitting, by the traction application, the first setpoint value to the traction control module.",
    "13. The method of claim 1, comprising: generating, by the traction application, a second setpoint value of the control attribute related to the traction wheel, based on the first setpoint value; receiving, by a second diagnostic supervisor: the second setpoint value, from the traction application, and the measured value of the control attribute related to the traction wheel, from a traction control module; wherein the second diagnostic supervisor comprises a second model of the traction system of the vehicle; based on the second setpoint value, a vehicle battery voltage, the measured value of the control attribute related to the traction wheel and the second model, calculating, by the second diagnostic supervisor a second virtual value of the control attribute related to the traction wheel; and based on the second virtual value and the measured value of the control attribute related to the traction wheel, determining, by the second diagnostic supervisor, a second operating condition of the traction system of the vehicle.",
    "14. A vehicle control system comprising: a first controller comprising: a first memory storing code executable by the first controller; and a first input configured to receive a traction speed control input to control a traction wheel of a vehicle; the executable code comprising a traction application configured to, based on the traction speed control input and a target steering angle, determine: a first setpoint value of a control attribute related to the traction wheel, and the executable code comprising a first diagnostic supervisor configured to: receive: a measured value of the control attribute related to the traction wheel, and the first setpoint value, from the traction application; wherein the first diagnostic supervisor comprises a first model of a traction system of the vehicle; calculate, based on the first setpoint value and the first model, a first virtual value of the control attribute related to the traction wheel; and determine, based on the first virtual value and the measured value of the control attribute related to the traction wheel, a first operating condition of the traction system of the vehicle; a second input configured to receive a steering control input to control a steered wheel of the vehicle; a third input configured to receive a measured value of a control attribute related to the steered wheel; the executable code comprising a steering application configured to: calculate a wheel angle command based on the steering control input; determine a traction speed limit based on the wheel angle command; determine that the measured value of the control attribute related to the traction wheel of the vehicle is less than the traction speed limit; and set the target steering angle to equal: a) the wheel angle command, when the wheel angle command is greater than the measured value of the control attribute related to the steered wheel, and b) the measured value of the control attribute related to the steered wheel, when the wheel angle command is less than or equal to the measured value of the control attribute related to the steered wheel.",
    "15. The system of claim 14, wherein the traction application is further configured to generate a second setpoint value of the control attribute related to the traction wheel, and comprising: a second controller comprising executable code comprising a second diagnostic supervisor configured to: receive: the second setpoint value, from the traction application, and the measured value of the control attribute related to the traction wheel, from a traction control module; wherein the second diagnostic supervisor comprises a second model of the traction system of the vehicle; calculate, based on at least the second setpoint value and the second model, a second virtual value of the control attribute related to the traction wheel; and determine, based on the second virtual value and the measured value of the control attribute, a second operating condition of the traction system of the vehicle.",
    "16. The system of claim 14, wherein the control attribute related to the traction wheel comprises one of: a linear speed of the vehicle; a speed of the traction wheel; or a speed of a traction motor coupled with the traction wheel of the vehicle.",
    "17. A vehicle control system comprising: a first controller comprising: a first memory storing code executable by the first controller; and a first input configured to receive a traction speed control input to control a traction wheel of the vehicle; the executable code comprising a traction application configured to, based on the traction speed control input, determine: a first setpoint value of a control attribute related to the traction wheel, and the executable code comprising a first diagnostic supervisor configured to: receive: a measured value of the control attribute related to the traction wheel, and the first setpoint value, from the traction application; wherein the first diagnostic supervisor comprises a first model of a traction system of the vehicle; calculate, based on the first setpoint value and the first model, a first virtual value of the control attribute related to the traction wheel; and determine, based on the first virtual value and the measured value of the control attribute related to the traction wheel, a first operating condition of the traction system of the vehicle; a second input configured to receive a steering control input to control a steered wheel of the vehicle; a third input configured to receive a measured value of a control attribute related to the steered wheel, wherein the control attribute related to the steered wheel comprises a steered wheel angle; a fourth input configured to receive a measured value of the control attribute related to the traction wheel of the vehicle; and wherein the executable code comprises a steering application configured to, based on the steering control input, the measured value of the control attribute related to the steered wheel and the measured value of the control attribute related to the traction wheel, determine: a second setpoint value of the control attribute related to the steered wheel.",
    "18. The system of claim 17, wherein the steering application is configured to, based on the steering control input, the measured value of the control attribute related to the steered wheel and the measured value of the control attribute related to the traction wheel, determine: a target steering angle.",
    "19. The system of claim 17, wherein the steering application is configured to calculate a wheel angle command based on the steering control input.",
    "20. The system of claim 19, wherein the steering application is configured to: determine a traction speed limit based on the wheel angle command; and determine that the measured value of the control attribute related to the traction wheel of the vehicle is less than the traction speed limit.",
    "21. The system of claim 20, wherein the steering application is configured to: set the set point of the control attribute related to the steered wheel value to equal the wheel angle command; and set the target steering angle to equal: a) the wheel angle command, when the wheel angle command is greater than the measured value of the control attribute related to the steered wheel, and b) the measured value of the control attribute related to the steered wheel, when the wheel angle command is less than or equal to the measured value of the control attribute related to the steered wheel.",
    "22. The system of claim 19, wherein the steering application is configured to: determine a traction speed limit based on the wheel angle command; determine a wheel angle limit based on the measured value of the control attribute related to the traction wheel; and determine that the measured value of the control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit.",
    "23. The system of claim 22, wherein the steering application is configured to: set the target steering angle to equal the wheel angle command; and set the second setpoint value to equal one of: a) the wheel angle limit, when the wheel angle limit is between the measured value of the control attribute related to the steered wheel and the wheel angle command; b) the measured value of the control attribute related to the steered wheel, when the wheel angle limit is: i) not between the measured value of the control attribute related to the steered wheel and the wheel angle command; and ii) closer to the measured value of the control attribute related to the steered wheel than to the wheel angle command, and c) the wheel angle command, when the wheel angle limit is: i) not between the measured value of the control attribute related to the steered wheel and the wheel angle command; and ii) closer to the wheel angle command than to the measured value of the control attribute related to the steered wheel.",
    "24. The system of claim 14, wherein the traction system comprises a traction control module and a traction motor.",
    "25. The system of claim 24, wherein the traction application is further configured to transmit the first setpoint value to the traction control module.",
    "26. The system of claim 14, wherein the traction application is further configured to generate a second setpoint value of the control attribute related to the traction wheel, based on the first setpoint value; and comprising: a second controller comprising: a second input configured to receive the second setpoint value, from the traction application, and a third input configured to receive the measured value of the control attribute related to the traction wheel, from a traction control module; and a second memory storing code executable by the second controller; and the executable code comprising a second diagnostic supervisor configured to: comprise a second model of the traction system of the vehicle; calculate, based on the second setpoint value, a vehicle battery voltage, the measured value of the control attribute related to the traction wheel and the second model, a second virtual value of the control attribute related to the traction wheel; and determine, based on the second virtual value and the measured value of the control attribute related to the traction wheel, a second operating condition of the traction system of the vehicle.",
    "27. A method comprising: receiving, by a traction application executing on a vehicle control module of a vehicle: a traction speed control input to control a traction wheel of the vehicle and a target steering angle; based on the traction speed control input and the target steering angle, determining, by the traction application: a first setpoint value of a control attribute related to the traction wheel; receiving, by a first diagnostic supervisor: a measured value of the control attribute related to the traction wheel, and the first setpoint value, from the traction application; wherein the first diagnostic supervisor comprises a first model of a traction system of the vehicle; based on the first setpoint value and the first model, calculating, by the first diagnostic supervisor a first virtual value of the control attribute related to the traction wheel; based on the first virtual value and the measured value of the control attribute related to the traction wheel, determining, by the first diagnostic supervisor, a first operating condition of the traction system of the vehicle; receiving, by a steering application executing on the vehicle control module: a steering control input to control a steered wheel of the vehicle, and a measured value of a control attribute related to the steered wheel; calculating, by the steering application, a wheel angle command based on the steering control input; determining, by the steering application, a traction speed limit based on the wheel angle command; determining, by the steering application, a wheel angle limit based on the measured value of the control attribute related to the traction wheel; determining, by the steering application, that the measured value of the control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit; setting the target steering angle to equal the wheel angle command; and setting the setpoint value of the control attribute related to the steered wheel to equal one of: a) the wheel angle limit, when the wheel angle limit is between the measured value of the control attribute related to the steered wheel and the wheel angle command; b) the measured value of the control attribute related to the steered wheel, when the wheel angle limit is: i) not between the measured value of the control attribute related to the steered wheel and the wheel angle command; and ii) closer to the measured value of the control attribute related to the steered wheel than to the wheel angle command, and c) the wheel angle command, when the wheel angle limit is: i) not between the measured value of the control attribute related to the steered wheel and the wheel angle command; and ii) closer to the wheel angle command than to the measured value of the control attribute related to the steered wheel.",
    "28. A vehicle control system comprising: a first controller comprising: a first memory storing code executable by the first controller; and a first input configured to receive a traction speed control input to control a traction wheel of the vehicle; the executable code comprising a traction application configured to, based on the traction speed control input and a target steering angle, determine: a first setpoint value of a control attribute related to the traction wheel, and the executable code comprising a first diagnostic supervisor configured to: receive: a measured value of the control attribute related to the traction wheel, and the first setpoint value, from the traction application; wherein the first diagnostic supervisor comprises a first model of a traction system of the vehicle; calculate, based on the first setpoint value and the first model, a first virtual value of the control attribute related to the traction wheel; determine, based on the first virtual value and the measured value of the control attribute related to the traction wheel, a first operating condition of the traction system of the vehicle; a second input configured to receive a steering control input to control a steered wheel of the vehicle; a third input configured to receive a measured value of a control attribute related to the steered wheel; the executable code comprising a steering application configured to: calculate a wheel angle command based on the steering control input; determine a traction speed limit based on the wheel angle command; determine a wheel angle limit based on the measured value of the control attribute related to the traction wheel; determine that the measured value of the control attribute related to the traction wheel of the vehicle is more than or equal to the traction speed limit; set the target steering angle to equal the wheel angle command; and set a second setpoint value of the control attribute related to the steered wheel to equal one of: a) the wheel angle limit, when the wheel angle limit is between the measured value of the control attribute related to the steered wheel and the wheel angle command; b) the measured value of the control attribute related to the steered wheel, when the wheel angle limit is: i) not between the measured value of the control attribute related to the steered wheel and the wheel angle command; and ii) closer to the measured value of the control attribute related to the steered wheel than to the wheel angle command, and c) the wheel angle command, when the wheel angle limit is: i) not between the measured value of the control attribute related to the steered wheel and the wheel angle command; and ii) closer to the wheel angle command than to the measured value of the control attribute related to the steered wheel."
  ],
  "description_excerpt": "The present invention relates generally to diagnostics of a materials handling vehicle, and, more particularly, to utilizing a traction model to perform diagnostics.\n\nForklifts and other types of industrial vehicles are expected to operate under a variety of different conditions. Further, such vehicles typically include a number of different functional systems such as a traction system to control a travelling speed of the vehicle and a steering system to control a direction in which the vehicle travels. For diagnostic purposes, it may be beneficial to monitor different attributes of one or more of the different functional systems while the vehicle is being operated.\n\nOne aspect of the present invention relates to a method that includes receiving, by a traction application executing on a vehicle control module of a vehicle, a traction speed control input to control a traction wheel of the vehicle; and based on the traction speed control input, determining, by the traction application, a first setpoint value of a control attribute related to the traction wheel. The method also includes receiving, by a first diagnostic supervisor: a) a measured value of the control attribute related to the traction wheel, and b) the first setpoint value from the traction application; wherein the first diagnostic supervisor comprises a first model of a traction system of the vehicle.",
  "cpc": [
    "B60W 50/0205",
    "B60W 2050/0037",
    "B60W 2050/021",
    "B60W 2300/121",
    "B60W 2510/20",
    "B60W 2510/244",
    "B60W 2520/10",
    "B60W 2520/26",
    "B60W 2520/28",
    "B60W 2540/10",
    "B60W 2540/18",
    "B60W 2710/20",
    "B60W 2710/207",
    "B60W 2720/24",
    "B60W 2720/26",
    "B60W 30/02",
    "B60W 40/10",
    "B60W 50/0098",
    "B60W 50/045",
    "B60W 50/06",
    "B60W 50/087",
    "B66F 9/06",
    "B66F 9/07568",
    "G05D 1/0223",
    "G07C 5/0808"
  ],
  "ipc": [
    "B60W 30/02",
    "B60W 40/10",
    "B60W 50/00",
    "B60W 50/02",
    "B60W 50/04",
    "B66F 9/06",
    "B66F 9/075",
    "G05D 1/02",
    "G07C 5/08"
  ],
  "assignees": [
    "CROWN EQUIP CORP"
  ],
  "inventors": [
    "MANGETTE STEPHEN T",
    "HAMMER JOE K",
    "BARNHART BRENT A"
  ],
  "filing_date": "2016-08-11",
  "publication_date": "2019-08-13",
  "grant_date": "2019-08-13",
  "priority_date": "2015-08-14",
  "application_number": "US-201615234120-A",
  "family_id": "56738247",
  "citations": [
    "CN1695974A",
    "DE10114600A1",
    "DE102004001318A1",
    "DE102004028828A1",
    "DE102005022089A1",
    "DE102006035863A1",
    "DE102006041254A1",
    "DE102006050506A1",
    "DE102008012007A1",
    "DE102009020157A1",
    "DE102010007615A1",
    "DE102011013248A1",
    "DE102012209788A1",
    "DE102013011883A1",
    "DE10204742A1",
    "DE10204955A1",
    "DE10205632A1",
    "DE10301435A1",
    "DE10354663A1",
    "DE10355933B4",
    "DE10358907A1",
    "DE112009004544T5",
    "DE19702313C1",
    "DE4311485A1",
    "EP0436567A1",
    "EP0436567B1",
    "EP0930216A1",
    "EP0930216B1",
    "EP1089901A1",
    "EP1089901B1",
    "EP1183579A1",
    "EP1183579B1",
    "EP1186459A1",
    "EP1268257A2",
    "EP1268257B1",
    "EP1281600A2",
    "EP1301387A1",
    "EP1301387B1",
    "EP1325857A2",
    "EP1325857B1",
    "EP1360103A1",
    "EP1360103B1",
    "EP1399344A1",
    "EP1399344B1",
    "EP1527980A1",
    "EP1527980B1",
    "EP1594026A2",
    "EP1594026B1",
    "EP1607309A2",
    "EP1741615A1",
    "EP1880919A2",
    "EP1880919B1",
    "EP2145812A2",
    "EP2145812B1",
    "EP2164746A1",
    "EP2164746B1",
    "EP2172359A1",
    "EP2172359B1",
    "EP2218627A1",
    "EP2368785A2",
    "EP2368785B1",
    "EP2374692A2",
    "EP2374692B1",
    "EP2404803A1",
    "EP2483130A1",
    "EP2483130B1",
    "EP2508403A1",
    "EP2551161A2",
    "EP2582564A1",
    "EP2582564B1",
    "EP2613986A1",
    "EP2613986B1",
    "EP2630023A1",
    "EP2630023B1",
    "EP2664515A1",
    "EP2674387A1",
    "EP3078574A1",
    "FR2862594A1",
    "GB2042217A",
    "GB2125577A",
    "GB2370819A",
    "GB2391848A",
    "GB2413547B",
    "GB2425996B",
    "GB2523462A",
    "JP2000142065A",
    "JP2003306160A",
    "JP2005253143A",
    "JP2010095354A",
    "JP2010195118A",
    "JP2012254705A",
    "JP2013126868A",
    "JP5418705B2",
    "JPH11310399A",
    "KR100225961B1",
    "KR20150004511A",
    "US2003079932A1",
    "US2003114970A1",
    "US2005027427A1",
    "US2005072621A1",
    "US2005162114A1",
    "US2006052927A1",
    "US2006065470A1",
    "US2006102397A1",
    "US2006211535A1",
    "US2007007080A1",
    "US2007175693A1",
    "US2007212680A1",
    "US2007225885A1",
    "US2009194358A1",
    "US2009222156A1",
    "US2010025144A1",
    "US2012123614A1",
    "US2012136539A1",
    "US2013138290A1",
    "US2013338886A1",
    "US2014143607A1",
    "US2014163804A1",
    "US2014188324A1",
    "US2014195127A1",
    "US2014277871A1",
    "US2014278021A1",
    "US2015032423A1",
    "US2015090507A1",
    "US2015096826A1",
    "US2015158522A1",
    "US2015274196A1",
    "US2015291155A1",
    "US2015331061A1",
    "US2016016482A1",
    "US2016129803A1",
    "US2016160470A1",
    "US2016264387A1",
    "US2016272081A1",
    "US2016289056A1",
    "US2017001663A1",
    "US2017015330A1",
    "US2017028993A1",
    "US2017028994A1",
    "US2017029023A1",
    "US2018134310A1",
    "US4595433A",
    "US4942529A",
    "US5258914A",
    "US5850616A",
    "US6799652B2",
    "US6807471B2",
    "US6971470B2",
    "US7017689B2",
    "US7023174B2",
    "US7025157B2",
    "US7165643B2",
    "US7278509B2",
    "US7568547B2",
    "US7599776B2",
    "US7661493B2",
    "US7665555B2",
    "US7706947B2",
    "US7784880B2",
    "US7849955B2",
    "US7979189B2",
    "US7980352B2",
    "US8140228B2",
    "US8172033B2",
    "US8230976B2",
    "US8235161B2",
    "US8395491B2",
    "US8412431B2",
    "US8463511B2",
    "US8521384B2",
    "US8649953B2",
    "US8694194B2",
    "US8718890B2",
    "US8731785B2",
    "US8788156B2",
    "US8886378B2",
    "US8892294B2",
    "US8918263B2",
    "US9082293B2",
    "US9421963B2",
    "US9868445B2",
    "WO0202389A1",
    "WO2004098941A1",
    "WO2011027758A1",
    "WO2012032133A1",
    "WO2013006742A1",
    "WO2013033179A1",
    "WO2014189877A1",
    "WO2015152276A1",
    "WO2015178843A1",
    "WO2015178845A1",
    "WO2017030774A1",
    "WO2017030879A1"
  ]
}