Diagnostic supervisor to determine if a traction system is in a fault condition

1. A method comprising:

receiving, by a steering application executing on a vehicle control module:

a steering control input to control a steered wheel of a vehicle;

based on the steering control input, determining, by the steering application:

a traction threshold value associated with a traction control attribute related to a traction wheel of the vehicle;

receiving by a first diagnostic supervisor executing on the vehicle control module:

a measured value of the traction control attribute, and

the traction threshold value;

when the measured value of the traction control attribute exceeds the traction threshold value, repeatedly calculating, by the first diagnostic supervisor, a respective difference between the traction threshold value and the measured value of the traction control attribute, to generate a set comprising a plurality of the respective differences; and

based on the plurality of respective differences, determining, by the first diagnostic supervisor, a first operating condition of a traction system of the vehicle.

2. The method of claim 1 , comprising:

for each respective difference:

determining if the difference is greater than a difference threshold;

when the difference is greater than the difference threshold, incrementing a first counter value; and

when the difference is less than or equal to the difference threshold, resetting the first counter to a first initial value.

3. The method of claim 2 , comprising:

determining a fault condition of the traction system has occurred when the first counter value is greater than a first counter threshold.

4. The method of claim 2 , wherein the first counter threshold and the difference threshold are based on response characteristics of the traction system to at least one operational input received by the vehicle.

5. The method of claim 1 , wherein the traction threshold value comprises a traction speed limit.

6. The method of claim 1 , comprising:

for each respective difference:

determining if the difference is greater than a difference threshold;

when the difference is greater than the difference threshold, incrementing a first counter value;

when the difference is less than or equal to the difference threshold, resetting the first counter to a first initial value;

determining if the difference is greater than an immediately preceding difference in the set of respective differences;

when the difference is greater than the immediately preceding difference, incrementing a second counter value; and

when the difference is less than or equal to the immediately preceding difference, resetting the second counter value to a second initial value.

7. The method of claim 6 , comprising:

determining a fault condition of the traction system has occurred when either the first counter value is greater than a first counter threshold or the second counter value is greater than a second counter threshold.

8. The method of claim 7 , wherein the first counter threshold, the second counter threshold and the difference threshold are based on response characteristics of the traction system to at least one operational input received by the vehicle.

9. The method of claim 1 , comprising:

for each respective difference:

determining if the difference is greater than a first difference threshold;

when the difference is greater than the first difference threshold, incrementing a first counter value,

when the difference is less than or equal to the first difference threshold, resetting the first counter to a first initial value;

determining if the difference is greater than a second difference threshold;

when the difference is greater than the second difference threshold, incrementing a second counter value; and

when the difference is less than or equal to the second difference threshold, resetting the second counter to a second initial value.

10. The method of claim 9 , comprising:

determining a fault condition of the traction system has occurred when either the first counter value is greater than a first counter threshold or the second counter value is greater than a second counter threshold.

11. The method of claim 10 , wherein the first counter threshold, the second counter threshold, the first difference threshold, and the second difference threshold are based on response characteristics of the traction system to at least one operational input received by the vehicle.

12. A vehicle control system comprising:

a controller comprising:

a first input configured to receive a steering control input to control a steered wheel of a vehicle,

a second input configured to receive a measured value of a traction control attribute related to a traction wheel of the vehicle, and

a third input configured to receive a traction speed control input to control the traction wheel of the vehicle;

a memory coupled with the controller and storing code executable by the controller;

the executable code comprising a steering application configured to:

receive the steering control input to control the steered wheel of the vehicle, and

determine, based on the steering control input, a traction threshold value associated with the traction control attribute related to the traction wheel of the vehicle; and

the executable code comprising a diagnostic supervisor configured to:

a) receive:

a measured value of the traction control attribute, and

the traction threshold value;

b) repeatedly calculate, when the measured value of the traction control attribute exceeds the traction threshold value, and a respective difference between the traction threshold value and the measured value of the traction control attribute, to generate a set comprising a plurality of the respective differences; and

c) determine, based on the plurality of respective differences, a first operating condition of a traction system of the vehicle.

13. The system of claim 12 , wherein the diagnostic supervisor is configured to:

for each respective difference:

determine if the difference is greater than a difference threshold;

when the difference is greater than the difference threshold, increment a first counter value; and

when the difference is less than or equal to the difference threshold, reset the first counter to a first initial value.

14. The system of claim 13 , wherein the diagnostic supervisor is configured to:

determine a fault condition of the traction system has occurred when the first counter value is greater than a first counter threshold.

15. The system of claim 14 , wherein the first counter threshold and the difference threshold are based on response characteristics of the traction system to at least one operational input received by the vehicle.

16. The system of claim 12 , wherein the traction threshold value comprises a traction speed limit.

17. The system of claim 12 , wherein the diagnostic supervisor is configured to:

for each respective difference:

determine if the difference is greater than a difference threshold;

when the difference is greater than the difference threshold, increment a first counter value;

when the difference is less than or equal to the difference threshold, reset the first counter to a first initial value;

determine if the difference is greater than an immediately preceding difference in the set of respective differences;

when the difference is greater than the immediately preceding difference, increment a second counter value; and

when the difference is less than or equal to the immediately preceding difference, reset the second counter value to a second initial value.

18. The system of claim 17 , wherein the diagnostic supervisor is configured to:

determine a fault condition of the traction system has occurred when either the first counter value is greater than a first counter threshold or the second counter value is greater than a second counter threshold.

19. The system of claim 18 , wherein the first counter threshold, the second counter threshold and the difference threshold are based on response characteristics of the traction system to at least one operational input received by the vehicle.

20. The system of claim 12 , wherein the diagnostic supervisor is configured to:

for each respective difference:

determine if the difference is greater than a first difference threshold;

when the difference is greater than the first difference threshold, increment a first counter value; and

when the difference is less than or equal to the first difference threshold, reset the first counter to a first initial value;

determine if the difference is greater than a second difference threshold;

when the difference is greater than the second difference threshold, increment a second counter value; and

when the difference is less than or equal to the second difference threshold, reset the second counter to a second initial value.

21. The system of claim 20 , wherein the diagnostic supervisor is configured to:

determine a fault condition of the traction system has occurred when either the first counter value is greater than a first counter threshold or the second counter value is greater than a second counter threshold.

22. The system of claim 21 , wherein the first counter threshold, the second counter threshold, the first difference threshold, and the second difference threshold are based on response characteristics of the traction system to at least one operation.