US Patent 11801758 Method and apparatus for controlling distributed propulsion systems

A hierarchical vehicle control system for a vehicle powered by a distributed propulsion system (DPS) comprising plurality of propelling axles driven by plurality of motors and powered by a battery system comprising plurality of battery packs. Said hierarchical vehicle control system comprising a first controller, a second controller that generates axle command signals for operation of the propelling axles, and a third controller that generates motor command signals for operation of the electric motors wherein said third controller further comprising a DPS diagnosis/prognosis module, a DPS fault tolerance module and a power distribution management module.