US 11,988,161 B2
Systems and methods for providing redundant pulse-width modulation (PWM) throttle control
Gary Chiu, San Francisco, CA (US); and Nathan Berg, Sunnyvale, CA (US)
Assigned to Kodiak Robotics, Inc., Mountain View, CA (US)
Filed by Kodiak Robotics, Inc., Mountain View, CA (US)
Filed on Sep. 12, 2022, as Appl. No. 17/931,177.
Prior Publication US 2024/0084750 A1, Mar. 14, 2024
Int. Cl. F02D 41/00 (2006.01); F02D 9/02 (2006.01); F02D 11/10 (2006.01); F02D 41/20 (2006.01); F02D 41/22 (2006.01)
CPC F02D 41/0002 (2013.01) [F02D 11/10 (2013.01); F02D 11/106 (2013.01); F02D 41/20 (2013.01); F02D 41/221 (2013.01); F02D 2009/022 (2013.01); F02D 2011/102 (2013.01); F02D 2011/103 (2013.01); F02D 2041/2027 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for providing redundant pulse-width modulation (PWM) throttle control, comprising:
a manual throttle controller configured to generate a manual PWM throttle control signal; and
an automated throttle control system, comprising:
a plurality of automated throttle controllers, each of the plurality of automated throttle controllers being configured to independently control a throttle of a vehicle, and each comprising:
a processor configured to generate and output an automated PWM throttle control signal;
a first double pole double throw (DPDT) relay that, when engaged, is configured to receive and output the manual PWM throttle control signal; and
a second DPDT relay, configured to:
receive and output the automated PWM throttle control signal to an engine, when the second DPDT relay is engaged; and
receive and output the manual PWM throttle control signal to the engine, when the second DPDT relay is disengaged,
wherein:
the plurality of automated throttle controllers includes at least a primary throttle controller and a backup throttle controller, and
at any given time, the automated throttle control system is configured to output, to the engine, one of the following:
the manual PWM throttle control signal;
the automated PWM throttle control signal generated by the primary throttle controller; and
the automated PWM throttle control signal generated by the backup throttle controller.