Actuators report availabilities

1. A vehicle control configuration comprising:

a hierarchical control system including an upper hierarchical level and a lower hierarchical level;

the upper hierarchical level communicates to the lower hierarchical level by sending downward signals;

the lower hierarchical level communicates to the upper hierarchical level by sending upward signals;

wherein the downward signals include at least one request for vehicle modification;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the lower hierarchical level is a suspension coordinator subsystem.

2. The vehicle control configuration of claim 1 , wherein:

the upward signals include availabilities of made of operation of the lower hierarchical level.

3. A vehicle control configuration comprising:

a hierarchical control system including an upper hierarchical level and a lower hierarchical level;

the upper hierarchical level communicates to the lower hierarchical level by sending downward signals;

the lower hierarchical level communicates to the upper hierarchical level by sending upward signals;

wherein the downward signals include at least one request for vehicle modification; and

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification;

wherein the upward signals include availabilities of mode of operation of the lower hierarchical level;

wherein the downward signals include a request for mode of operation of the lower hierarchical level; and

wherein the upward signals include a confirmation of the mode of operation.

4. A vehicle control configuration comprising:

a hierarchical control system including an upper hierarchical level and a lower hierarchical level;

the upper hierarchical level communicates to the lower hierarchical level by sending downward signals;

the lower hierarchical level communicates to the upper hierarchical level by sending upward signals;

wherein the downward signals include at least one request for vehicle modification; and

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification;

wherein the downward signals include a request for enablement; and

wherein the upward signals include a confirmation of enablement.

5. A vehicle control configuration comprising:

a hierarchical control system including an upper hierarchical level and a lower hierarchical level;

the upper hierarchical level communicates to the lower hierarchical level by sending downward signals;

the lower hierarchical level communicates to the upper hierarchical level by sending upward signals;

wherein the downward signals include at least one request for vehicle modification;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the downward signals include vehicle state measurements of the vehicle.

6. A vehicle control configuration comprising:

a hierarchical control system including an upper hierarchical level and a lower hierarchical level;

the upper hierarchical level communicates to the lower hierarchical level by sending downward signals;

the lower hierarchical level communicates to the upper hierarchical level by sending upward signals;

wherein the downward signals include at least one request for vehicle modification; and

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the upward signals include vehicle state measurements of actuators controlled by the lower hierarchical level.

7. A vehicle control configuration comprising:

a hierarchical control system including at upper hierarchical level and a lower hierarchical level;

the upper hierarchical level communicates to the lower hierarchical level by sending downward signals;

the lower hierarchical level communicates to the upper hierarchical level by sending upward signals;

wherein the downward signals include at least one request for vehicle modification;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the upward signals include status of the lower hierarchical level independent of the current vehicle behavior.

8. A vehicle control system comprising:

a vehicle motion control subsystem having a control input and a control output;

a suspension coordinator subsystem including a subsystem input and a subsystem output;

wherein the vehicle motion control subsystem outputs downward signals out of the control output to the subsystem input of the suspension coordinator subsystem;

wherein the suspension coordinator subsystem outputs upward signals out of the subsystem output to the control input of the vehicle motion control subsystem;

wherein the downward signals include at least one request for vehicle modification; and

wherein the upward signals include availabilities of the suspension coordinator subsystem independent of the request for vehicle modification.

9. The vehicle control system of claim 8 , wherein:

the upward signals include availabilities of mode of operation of the suspension coordinator subsystem.

10. The vehicle control system of claim 9 , wherein:

the downward signals include a request for mode of operation of the suspension coordinator subsystem; and

the upward signals include a confirmation of the mode of operation.

11. The vehicle control system of claim 8 , wherein:

the downward signals include a request for enablement; and

the upward signals include a confirmation of enablement.

12. The vehicle control system of claim 8 , wherein:

the downward signals include vehicle state measurements of the vehicle.

13. The vehicle control system of claim 8 , wherein:

the upward signals include vehicle state measurements of actuators of the suspension coordinator subsystem.

14. The vehicle control system of claim 8 , wherein:

the upward signals include status of actuators of the suspension coordinator subsystem independent of the current vehicle behavior.

15. A method of controlling a vehicle comprising:

providing the vehicle with a hierarchical control system including an upper hierarchical level and a lower hierarchical level;

communicating downward signals from the upper hierarchical level to the lower hierarchical level;

communicating upward signals from the lower hierarchical level to the upper hierarchical level;

wherein the downward signals Include at least one request for vehicle modification; and

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the lower hierarchical level is a suspension coordinator subsystem.

16. The method of controlling a vehicle of claim 15 , wherein:

the upward signals include availabilities of mode of operation of the lower hierarchical level.

17. A method of controlling a vehicle comprising:

providing the vehicle with a hierarchical control system including an upper hierarchical level and a lower hierarchical level;

communicating downward signals from the upper hierarchical level to the lower hierarchical level;

communicating upward signals from the lower hierarchical level to the upper hierarchical level;

wherein the downward signals include at least one request for vehicle modification;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification;

wherein the upward signals include availabilities of mode of operation of the lower hierarchical level;

wherein the downward signals include a request for mode of operation of the lower hierarchical level; and

wherein the upward signals include a confirmation of the mode of operation.

18. A method of controlling a vehicle comprising:

providing the vehicle with a hierarchical control system including an upper hierarchical level and a lower hierarchical level;

communicating downward signals from the upper hierarchical level to the lower hierarchical level;

communicating upward signals from the lower hierarchical level to the upper hierarchical level;

wherein the downward signals include at least one request for vehicle modification;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification;

wherein the downward signals include request for enablement; and

wherein the upward signals include a confirmation of enablement.

19. A method of controlling a vehicle comprising:

providing the vehicle with a hierarchical control system including an upper hierarchical level and a lower hierarchical level;

communicating downward signals from the upper hierarchical level to the lower hierarchical level;

communicating upward signals from the lower hierarchical level to the upper hierarchical level;

wherein the downward signals include at least one request for vehicle modification;

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the upward signals include vehicle state measurements of actuators controlled by the lower hierarchical level.

20. A method of controlling a vehicle comprising:

providing the vehicle with a hierarchical control system including an upper hierarchical level and a lower hierarchical level;

communicating downward signals from the upper hierarchical level to the lower hierarchical level;

communicating upward signals from the lower hierarchical level to the upper hierarchical level;

wherein the downward signals include at least one request for vehicle modification:

wherein the upward signals include availabilities of the lower hierarchical level independent of the request for vehicle modification; and

wherein the upward signals include status of the lower hierarchical level independent of the current vehicle behavior.