Method for adjusting the bounds of a diagnostic interval for calculating the lateral inclination angle

Abstract

The invention relates to a method for adjusting the bounds of a diagnostic interval for calculating the lateral inclination angle of a two-wheeled motor vehicle (1), implemented by an electronic control unit (11), comprising the steps of: - in a first diagnostic phase, calculating (E3) a diagnostic value on the basis of predefined measurements of the inclination sensor (111); - storing (E5) the diagnostic value in the memory zone (112); - in the second phase of updating the bounds of the diagnostic interval (E9), checking that the motor (10) of the vehicle (1) is stopped; - comparing (E12) the measured inclination angle with the reference inclination interval; - if the measured inclination angle is within the reference interval of inclination when stopped, modifying the bound of the at least one diagnostic interval corresponding to the sign of the diagnostic value calculated during the first phase.

Description

Method for adapting the limits of a diagnostic interval for calculating the lateral tilt angle DESCRIPTION [Technical field]

[0001] The present invention relates to the field of motorized two-wheeled vehicles and more particularly concerns the measurement of the lateral inclination of the vehicle. [Prior art]

[0002] To improve driver safety, many motorized two-wheeled vehicles are now equipped with systems that can act directly on the operation of the vehicle, without the intervention of the driver, as soon as a critical situation is detected.

[0003] It is well known that manufacturers of motorized two-wheeled vehicles include tilt sensors in their vehicles that measure, among other things, the lateral tilt of the two-wheeler. These sensors are configured to have a maximum tilt threshold above which the vehicle is considered to be falling, triggering the engine to shut off and thus ensuring the rider's safety.

[0004] For example, if this threshold is 60° relative to a vertical direction defined by Earth's gravity, and the effective angle of inclination of the two-wheeler is beyond 60°, the vehicle is considered to be falling and the engine is stopped.

[0005] This device also prevents the engine from starting if the vehicle is inclined beyond this threshold when started by the user.

[0006] The first generation of tilt sensors is mechanical and is attached to the vehicle's chassis. These sensors contain weights (for example, balls) that move according to the vehicle's tilt and close electrical contacts when a specific tilt angle is reached. The inertia of these weights determines the sensor's sensitivity to the vehicle's tilt and, consequently, the accuracy of the angle measurement.

[0007] However, these sensors are bulky and place significant mounting constraints on the vehicle chassis. For these reasons, a new generation of sensors is used, consisting of an electronic control unit that contains a MEMS (Micro Electro Mechanical System) type accelerometer.

[0008] This sensor can be freely positioned within the vehicle, depending on its design. However, depending on its placement, the sensor is subject to wear and tear caused by factors such as high temperatures and vibrations, which are even more pronounced if the sensor is mounted on or near the engine. Electromagnetic interference, caused by vehicle components or external sources, can also disrupt the sensor and lead to wear.

[0009] More specifically, these effects can cause a gradual malfunction of the MEMS accelerometer over time.

[0010] This malfunction can cause a shift in the tilt angle measured by the sensor, potentially triggering the engine shutdown function over time even if the vehicle has an acceptable tilt.

[0011] Accelerometer manufacturers include a self-diagnostic function for the sensor to detect this type of malfunction. The principle of this self-diagnostic function is to control the moving mechanical parts to impose a predetermined movement and compare the measured value after the movement with a range of reference values.

[0012] However, since these reference ranges are provided by the manufacturers, they are calibrated to be usable across a wide range of applications, with broad reference value intervals. Therefore, a malfunction of the accelerometer may remain within the defined tolerance range but still cause a significant error in the tilt angle measurement.

[0013] Therefore, there is a need for a simple and effective solution to remedy at least some of these drawbacks. [Description of the invention]

[0014] To this end, the invention first relates to a method for adapting the terminals of a diagnostic interval for calculating the lateral tilt angle of a two-wheeled motor vehicle, said vehicle comprising an engine and an electronic control unit, said electronic control unit comprising a tilt sensor and a memory area, said memory area comprising at least one diagnostic interval stored in its memory, said diagnostic interval comprising a positive terminal and a negative terminal. negative, a tilt reference range and a tilt threshold, said electronic control unit being configured to calculate the lateral tilt angle of the vehicle from the tilt sensor measurements, to compare the measured tilt angle with the tilt threshold and to send an engine stop command based on the vehicle's tilt if the measured tilt angle is greater than the tilt threshold, said method being implemented by the electronic control unit, carried out in two phases and comprising the steps of:

[0015] - activation, by an action of a vehicle user, of the electronic control unit,

[0016] - in an initial diagnostic phase, calculation of at least one diagnostic value from predefined measurements of the tilt sensor,

[0017] - comparison of at least one calculated diagnostic value with at least one diagnostic interval,

[0018] - if the diagnostic value is outside the diagnostic range, a fault in the tilt sensor is detected.

[0019] - if the diagnostic value is within the diagnostic range, the diagnostic value is stored in the memory area, and the second phase is triggered.

[0020] - In the second phase of updating the diagnostic interval terminals, verify that the vehicle's engine is off.

[0021] - If the engine is off, calculate the vehicle's tilt angle.

[0022] - comparison of the calculated tilt angle with the tilt reference interval,

[0023] - if the calculated tilt angle is within the reference tilt interval at rest, replace the terminal of at least one diagnostic interval corresponding to the sign of the diagnostic value calculated during the first phase with the diagnostic value,

[0024] - if the calculated tilt angle is outside the reference tilt range when stopped, the initial diagnostic range is maintained and an alert is triggered for a vehicle user.

[0025] The method according to the invention thus allows the progressive adaptation of the limits of a diagnostic interval based on the self-diagnostic measurements of the control unit. The electronics are programmed by the manufacturer. This process is performed each time the electronic control unit is activated, allowing for regular updates capable of detecting drift in the tilt sensor measurements. The second phase identifies errors in the tilt angle calculation within a controlled configuration, thus rejecting any modification to the terminals if it fails to detect a measurement error.

[0026] In an advantageous embodiment, the tilt sensor measurements consist of projecting Earth's gravity onto three axes. The electronic control unit is configured to calculate the tilt angle from the three projections determined by the tilt sensor. The tilt sensor is configured to measure an offset value for each of the three axes and compare this offset value with a diagnostic interval specific to the axis corresponding to the projection. Each axis has at least one moving component, which is susceptible to degradation and could cause a gradual shift in the tilt angle calculation. Therefore, checking each axis helps to better identify any measurement errors.

[0027] Preferably, the electronic control unit is configured to increment an error counter, and the memory area contains a maximum error threshold. This error counter is initialized to zero during vehicle production. The method includes a step for checking the error counter, a step for incrementing the error counter if the calculated tilt angle is outside the reference tilt range, and a step for resetting the error counter if the calculated tilt angle is within the reference tilt range. Thus, a measurement error can also be detected if changing one of the bounds of a reference range repeatedly results in a measurement error in a controlled configuration.

[0028] Advantageously, the reference tilt interval at standstill of the electronic control unit is determined during vehicle production. Vehicle production allows for calibration in a controlled vehicle environment.

[0029] Preferably, the step of storing the diagnostic value in the memory area is followed by a step of comparing the diagnostic value with the limits of the diagnostic interval given by the manufacturer. If the absolute value of the difference between the diagnostic value and one of the limits of the diagnostic interval is less than a threshold, for example 5%, then a recording step is performed, consisting of recording as the new limit the value of the corresponding initial limit minus the predetermined threshold. Indeed, if the relative difference is less than this threshold, the value of The diagnostic reading is close to the manufacturer's specified limits, suggesting a likely fault in the tilt sensor. It is therefore advisable to disable the diagnostic interval modification to detect this potential fault as quickly as possible.

[0030] Preferably, the step of storing the diagnostic value in the memory area is followed by a step of comparing the diagnostic value to the upper limit of the diagnostic interval (with the opposite sign to that of the diagnostic value). The diagnostic value is then saved as the new upper limit of the diagnostic interval if the comparison results in a relative difference greater than a threshold, for example, 10%. If the diagnostic interval is too narrow, values ​​corresponding to correct operation of the tilt sensor may fall outside the interval and be considered erroneous. It is preferable to have a sufficiently wide diagnostic interval to avoid this type of false detection.

[0031] Advantageously, the vehicle includes a retractable stand, the reference tilt interval at rest being defined from the tilt angle formed by the vehicle when it rests on said retractable stand, and wherein the second phase includes a step of controlling the deployment of the stand performed by the electronic control unit before, after, or in parallel with verifying that the vehicle's engine is off. The stand ensures a reference configuration at rest, in which the tilt angle of the vehicle is known, for example, determined during production.

[0032] Preferably in this embodiment, the reference inclination interval is centered on the expected value of the inclination angle of the vehicle when stationary and with the kickstand deployed, to which a margin of error is added to take into account possible deformations of the kickstand or a slight slope of the ground.

[0033] According to another aspect, the invention relates to an electronic control unit for a motorized two-wheeled vehicle, said electronic control unit being configured to be connected to the engine of said vehicle and to include a tilt sensor and a memory area, said memory area comprising a tilt threshold and a reference interval at rest, said electronic control unit being configured to:

[0034] - Calculate the vehicle's lateral tilt angle from the tilt sensor measurements.

[0035] - compare the calculated tilt angle with a predetermined tilt threshold stored in the memory area,

[0036] - send a motor stop command if the calculated tilt angle exceeds the tilt threshold,

[0037] - check that the vehicle's engine is off,

[0038] - compare the calculated tilt angle with the reference tilt interval at rest,

[0039] - command the tilt sensor to modify at least one terminal of at least one diagnostic interval.

[0040] According to another aspect, the invention also relates to a motorized two-wheeled vehicle comprising an engine in an electronic control unit as presented. [Description of the drawings]

[0041] Other features and advantages of the invention will become apparent upon reading the following description. This description is purely illustrative and should be read in conjunction with the accompanying drawings, in which:

[0042] [Fig 1] Figure 1 schematically illustrates a motorized two-wheeled vehicle in which the method according to the invention is applied.

[0043] [Fig 2] Figure 2 schematically illustrates the angle of inclination of the vehicle.

[0044] [Fig 3] Figure 3 schematically illustrates an electronic vehicle control unit.

[0045] [Fig 4] Figure 4 schematically illustrates the process according to the invention. [Description of the embodiments]

[0046] The error detection method according to the invention is implemented by the electronic control unit 11 of a motorized two-wheeled vehicle 1, as illustrated in Figure 1.

[0047] Vehicle 1

[0048] As shown in Figure 1, vehicle 1 includes an engine 10, an electronic control unit 11, a kickstand 12 and a communication link 14.

[0049] Vehicle 1, whether stationary or moving, forms an angle of inclination Q with the terrestrial vertical Z as shown in Figure 2.

[0050] Engine 10

[0051] The motor 10 makes it possible to produce the torque necessary to drive the wheels of vehicle 1 when vehicle 1 is moving.

[0052] When the motor 10 is in operation, in particular following an action by a user of the vehicle 1, the motor 10 drives the rotation of an axis at a certain number of rotations per minute, also called motor speed.

[0053] The motor 10 is connected to the electronic control unit 11 so as to send a signal corresponding to the measurement or calculation of the motor speed via the communication link 14.

[0054] Electronic control unit 11

[0055] As shown in Figure 3, the electronic control unit 11 includes a tilt sensor 111 and a memory area 112.

[0056] The tilt sensor 111 is preferably a MEMS type accelerometer, configured to calculate the projection of Earth's gravity on three axes of a coordinate system from the displacement of components inside the tilt sensor 111.

[0057] The reference frame of the tilt sensor 111 is an intrinsic reference frame, that is to say, it depends solely on the arrangement of the components inside the tilt sensor 111.

[0058] The electronic control unit 11 is configured to calculate the lateral tilt angle 0 of the vehicle 1 relative to the terrestrial vertical Z from the three projections measured by the tilt sensor 111.

[0059] The electronic control unit 11 is configured to control predefined displacements of the moving components of the tilt sensor 111 and to calculate a diagnostic value from the measurements taken following the predefined displacements.

[0060] For example, the electronic control unit 11 commands the moving component to move in one direction and then in the opposite direction along the axis corresponding to the component, and the diagnostic value is calculated from the average of the measurements resulting from the first and second movements.

[0061] Memory area 112 is configured to store information. In particular, memory area 112 is configured to store diagnostic intervals for the three projections on the three axes.

[0062] These diagnostic intervals are determined by the manufacturer of the tilt sensor 111 and preferentially include a positive terminal and a negative terminal.

[0063] The electronic control unit 11 is configured to compare the calculated diagnostic value to the diagnostic range, and to detect a measurement fault when the calculated diagnostic value on one of the measurement axes is outside the corresponding diagnostic range.

[0064] Memory area 112 also stores a tilt range at rest, corresponding to the tilt angle of vehicle 1 when stationary, with the support leg 12 deployed. Without any adjustment to the support leg 12, vehicle 1 maintains the same tilt angle each time it is in this configuration. The range, for example 5° above and below the theoretical tilt angle, thus allows for the consideration of effects such as ground inclination or slight deformation of the support leg 12.

[0065] The electronic control unit 11 is configured to receive measurements from the three projections of the tilt sensor 111.

[0066] The electronic control unit 11 is configured to compare the calculated tilt angle 0 with a tilt threshold 0s.

[0067] The 0s tilt threshold corresponds to the angle from which the electronic control unit 11 considers that the vehicle 1 is falling.

[0068] The electronic control unit 11 is configured to implement a function to stop the engine 10 of vehicle 1 if the tilt angle 0 is greater than the tilt threshold 0s.

[0069] The electronic control unit 11 is configured to increment an error counter up to a maximum error threshold stored in memory area 112. The electronic control unit 11 is configured to be able to reset the error counter.

[0070] Crutch 12

[0071] The support leg 12 allows vehicle 1 to have an additional support point to hold in a stable position once deployed.

[0072] The kickstand 12 is configured to send signals to the electronic control unit 11 via the communication link 14 indicating whether the kickstand 12 is deployed or not.

[0073] In the example shown in the figures, the support leg 12 is a lateral support leg. When deployed, the stationary vehicle 1 rests on it and is at a constant inclination relative to the vertical ground Z, as shown in Figure 2.

[0074] In another embodiment, the support leg 12 can be a central support leg. When deployed, the stationary vehicle 1 rests on it and remains upright relative to the vertical ground Z.

[0075] Communication link 14

[0076] The communication link 14 enables communication between the electronic control unit 11, the motor 10 and the kickstand 12.

[0077] Preferably, communication link 14 is a wired communication link.

[0078] Example of implementation

[0079] The process according to the invention is triggered each time the electronic control unit 11 is woken up.

[0080] The electronic control unit 11 is configured to increment an error counter, which is initially set to 0 at the factory.

[0081] In a first step E1, the electronic control unit 11 is therefore activated, by an action of the user, such as the insertion of a key or the recognition of a badge.

[0082] In a second step E2, the electronic control unit 11 triggers the self-diagnosis of the tilt sensor 111 by sending a specific command on each of the measurement axes of the tilt sensor 111.

[0083] Following this specific command, each component has a predetermined displacement in both directions along the corresponding axis.

[0084] The tilt sensor 111 performs in a step E3 a series of measurements which correspond to the several displacements of the moving components, and calculates a diagnostic value for each axis by calculating the average of the measurements resulting from the predetermined displacements in both directions of the corresponding axes.

[0085] In a step E4, the electronic control unit 11 compares for each axis the diagnostic value thus calculated to the positive and negative bounds of the corresponding diagnostic interval.

[0086] If a diagnostic value is outside the corresponding diagnostic range, the electronic control unit 11 detects a fault in the tilt sensor 111. Since it is then detected that the measurement of the vehicle's tilt angle 1 is unreliable, the electronic control unit 11 disables the sending of the stop command. motor 10 in case of detection of an excessive tilt and sends a warning message to the user to repair or replace the tilt sensor 111.

[0087] If the three diagnostic values ​​are within the corresponding diagnostic ranges, the electronic control unit 11 records these diagnostic values ​​in the memory area 112 in a step E5.

[0088] Following the recording in step E5, the electronic control unit 11 compares the diagnostic value with the limits of the initial diagnostic range provided by the manufacturer in a step E6. Depending on the sign of the diagnostic value, the electronic control unit 11 compares it with the limit of the same sign.

[0089] If the difference is greater than a certain threshold, for example 5% relative difference between the two values, the diagnostic value is retained.

[0090] If the difference is less than this same threshold, the diagnostic value is erased from memory area 112.

[0091] In step E6*, the electronic control unit 11 monitors the error counter. If the error counter is 0, the process continues with step E7. If the counter is greater than 0 and less than the maximum error threshold, the process proceeds to the second phase by continuing with step E9.

[0092] If the error counter is equal to the maximum error threshold, the electronic control unit 11 disables the sending of the motor stop command 10 in case of detection of an excessive tilt and sends a warning message to the user to repair or replace the tilt sensor 111.

[0093] In step E7, the electronic control unit 11 compares the diagnostic value with the lower bound of the diagnostic interval of the opposite sign. For example, if the diagnostic value is positive, the electronic control unit 11 compares it with the lower negative bound of the diagnostic interval.

[0094] If the difference is greater than a certain threshold, for example 10% relative difference between the two values, the diagnostic value is retained.

[0095] If the difference is less than this same threshold, the diagnostic value is erased from memory area 112.

[0096] In step E8, the electronic control unit 11 stores the calculated diagnostic value as the limit of the diagnostic interval. This diagnostic value replaces the limit of the same sign.

[0097] Thus the process adapts the diagnostic interval to be able to identify more precisely a fault in the tilt sensor 111. The initial limits determined by the manufacturer are kept in the memory area 112 in order to be used for comparison in step E6.

[0098] At the end of the first phase of the procedure, the process may have been interrupted because a fault in the tilt sensor 111 was detected, or because the diagnostic interval terminals were not updated. If one of the terminals was updated, the second phase of the procedure begins.

[0099] The second phase of the process begins with a step E9 of reception by the electronic control unit 11 of the state of the engine 10 of the vehicle 1.

[0100] If the motor 10 is running, the process stops and starts again at the next activation of the electronic control unit 11.

[0101] If the engine 10 is stopped, the electronic control unit 11 receives in a step E10 a signal to deploy or not deploy the support leg 12.

[0102] If the support 12 is not deployed, the process stops and starts again at the next activation of the electronic control unit 11.

[0103] Steps E9 and E10 can take place simultaneously or in any order relative to each other.

[0104] Once the electronic control unit 11 has received that the engine 10 is stopped and the kickstand 12 is deployed, the electronic control unit 11 calculates in a step E11 the tilt angle 0 of the vehicle 1 from the measurements of the tilt sensor 111.

[0105] In step E12, the electronic control unit 11 compares the calculated tilt angle 0 with the reference tilt interval.

[0106] If the calculated tilt angle 0 is within the reference tilt range, the electronic control unit 11 determines that the tilt angle calculation is correct since it is consistent with the position of the vehicle 1 when stopped and supported on the stand 12.

[0107] If during this step the error counter is equal to 1 or more, the electronic control unit 11 resets the error counter to 0.

[0108] In this scenario, the update of the diagnostic intervals is validated, and the process is completed.

[0109] In the opposite case where the calculated tilt angle is outside the reference tilt range, a fault is identified by the electronic control unit 11 in an E12* step and the electronic control unit 11 increments the error counter.

[0110] In this step, the electronic control unit 11 replaces the terminal modified in step E8 with its previous value, retaining the diagnostic interval determined in a previous iteration of the process, increments an error counter and disables the sending of the motor 10 stop command in case of detection of an excessive tilt and sends a warning message to the user to repair or replace the tilt sensor 111.

[0111] The method according to the invention thus makes it possible to adapt the terminals of the self-diagnostic function of the tilt sensor 111, implemented by the electronic control unit 11, in a regular and simple manner, with a first phase when the electronic control unit 11 wakes up and a second phase when the vehicle 1 is stationary. The method also makes it possible to detect faults in the calculation of the tilt angle 0 in order to stop sending a command to stop the engine 10 and to warn the user of the vehicle 1.

Claims

Demands

1. Method for adapting the terminals of a diagnostic interval for calculating the lateral tilt angle of a two-wheeled motorized vehicle (1), said vehicle (1) comprising an engine (10) and an electronic control unit (11), said electronic control unit (11) comprising a tilt sensor (111) and a memory area (112), said memory area (112) comprising at least one diagnostic interval, said diagnostic interval comprising a positive terminal and a negative terminal, a tilt reference interval and a tilt threshold, said electronic control unit (11) being configured to calculate the lateral tilt angle of the vehicle (1) from the measurements of the tilt sensor (111),to compare the measured tilt angle with the tilt threshold and to send an engine stop command (10) depending on the vehicle's tilt (1) if the measured tilt angle is greater than the tilt threshold, said method being implemented by the electronic control unit (11), carried out in two phases and comprising the steps of:, - activation (E1), by an action of a vehicle user (1), of the electronic control unit (11), - in a first diagnostic phase, calculation (E3) of at least one diagnostic value from predefined measurements of the tilt sensor (111), - comparison (E4) of at least one calculated diagnostic value with the diagnostic interval, - if the diagnostic value is outside the diagnostic range, a fault in the tilt sensor (111) is detected, - if the diagnostic value is within the diagnostic range, the diagnostic value is stored (E5) in the memory area (112), and the second phase is triggered, - in the second phase of updating the diagnostic interval terminals, verification (E9) that the engine (10) of the vehicle (1) is stopped, - if the engine (10) is stopped, calculation (E11) of the tilt angle (0) of the vehicle (1), - comparison (E12) of the calculated tilt angle (0) with the tilt reference interval, - if the calculated tilt angle (0) is within the reference tilt interval at rest, replace the terminal of at least one diagnostic interval corresponding to the sign of the diagnostic value calculated during the first phase with the diagnostic value, - if the calculated tilt angle (0) is outside the reference tilt range when stopped, the initial diagnostic range is maintained and an alert is triggered for a vehicle user (1).

2. A method according to the preceding claim, wherein the tilt sensor (111) measurements consist of projecting Earth's gravity onto three axes, the electronic control unit (11) being configured to calculate the tilt angle from the three projections determined by the tilt sensor (111), and wherein the tilt sensor (111) is configured to measure an offset value for each of the three axes and comparing said offset value with an axis-specific diagnostic interval corresponding to the projection.

3. A method according to any one of the preceding claims, wherein the electronic control unit (11) is configured to increment an error counter and the memory area (112) contains a maximum error threshold, said error counter being initialized to be equal to zero during the production of the vehicle (1), said method comprising a control step (E6*) of the error counter, a step of incrementing the error counter if the calculated tilt angle is outside the reference tilt range and of resetting the error counter if the calculated tilt angle is within the reference tilt range.

4. A method according to any one of the preceding claims, wherein the reference tilt interval at standstill of the electronic control unit (11) is determined during the production of the vehicle (1).

5. A method according to the preceding claim, wherein the step of storing (E5) the diagnostic value in the memory area (112) is followed by a comparison step (E6) between the diagnostic value and the limits of the diagnostic range determined during the production of the vehicle (1), and if the absolute value of the difference between the new temporary value and one of the limits of the diagnostic range is less than a threshold, for example 5%, and a recording step (E8) consisting of recording as a new limit the value of the corresponding initial limit from which the predetermined threshold has been subtracted.

6. A method according to any one of the preceding claims, wherein the step of storing the diagnostic value in the memory area is followed by a comparison step (E7) between the diagnostic value and the boundary of the diagnostic interval of the opposite sign to that of the diagnostic value, and a recording step (E8) of the diagnostic value as the new boundary of the diagnostic interval is carried out if the comparison calculates a relative difference greater than a threshold, for example 10%.

7. A method according to any one of the preceding claims, wherein the vehicle (1) includes a retractable stand (12), the reference interval for tilt at rest being defined from the tilt angle formed by the vehicle (1) when it rests on said retractable stand (12), and wherein the second phase includes a control step (E10) of the deployment of the stand (12) carried out by the electronic control unit (11) before, after or in parallel with the verification that the engine (10) of the vehicle (1) is stopped.

8. Electronic control unit (11) for a motorized two-wheeled vehicle (1), said electronic control unit (11) being configured to be connected to the motor (10) of said vehicle (1) and to include a tilt sensor (111) and a memory area (112), said memory area (112) including a tilt threshold (0s) and a stop reference interval, said electronic control unit (11) being configured to: - calculate the lateral tilt angle (0) of the vehicle (1) from the measurements of the tilt sensor (111), - compare the calculated tilt angle (0) with a predetermined tilt threshold (0s) stored in the memory area (112), - send a motor stop command (10) if the calculated tilt angle (0) is greater than the tilt threshold (0s), - check that the engine (10) of the vehicle (1) is off, - compare the calculated tilt angle (0) with the reference tilt interval at rest, - command the tilt sensor (111) to modify at least one terminal of at least one diagnostic interval.

9. Motorized two-wheeled vehicle (1) comprising an engine (10) in an electronic control unit (11) according to the preceding claim.

Images