Controller for a vehicle, and method for operating at least one motorized actuator of a vehicle

Abstract

The invention relates to a controller for a vehicle, comprising a control device (22), by means of which at least one target variable relating to a target operation of at least one motorized actuator (20) of the vehicle can be determined with respect to a requested function of the vehicle, and at least one sensor (32), by means of which at least one physical variable can be measured on and / or in at least one component of the at least one motorized actuator (20) of the vehicle, the controller comprising at least one sensor line (34), via which the at least one sensor (32) is electrically connected to the control device (22), and the control device (22) additionally being designed and / or programmed such that the at least one target variable can be determined by means of the control device (22) while taking into consideration the at least one physical variable output by the at least one sensor (32) via the at least one sensor line (34).

Description

[0001] R. 411577

[0002] - 1 -

[0003] Description

[0004] title

[0005] Control system for a vehicle and method for operating at least one motorized actuator of a vehicle

[0006] The invention relates to a control system for a vehicle. The invention also relates to a braking and / or steering system for a vehicle. Furthermore, the invention relates to a method for operating at least one motorized actuator of a vehicle.

[0007] State of the art

[0008] DE 35 27 532 A1 relates to a method and a braking system for traction control. For traction control, wheel slip is determined by comparing the rotational behavior of the driven wheels with that of the non-driven wheels or with a reference value. If a wheel tends to spin, the drive slip is reduced by braking intervention. By logically combining the signals representing the wheel rotation behavior, taking into account the control already initiated, the target accelerator pedal position or the deviation from the target value is determined and displayed to the driver. By observing the display instrument, the driver is able to operate the accelerator pedal in such a way that optimal drive and starting slip, and thus optimal vehicle traction, is achieved solely through braking intervention, without the risk of brake overload.

[0009] DE 100 27 667 B4 discloses a method for determining a basic value of at least one measured quantity of a braking system, wherein this quantity is based on R. 411577

[0010] - 2 - for the control of the brake system and the measured value of the measured quantity present at system activation is assumed as the base value and the measurement signal is formed on the basis of the measured quantity and the base quantity, characterized in that the determination of the base value only takes place if the measured quantity is less than a predetermined threshold value.

[0011] DE 10 2009 022 302 A1 describes a method for controlling a two-track motor vehicle, comprising the following steps: - setting an axle-specific roll moment support on the front and / or rear axle by means of a controllable roll moment control device, - providing a control variable dependent on the axle-specific roll moment support in a vehicle control system, and - wheel- and / or axle-specific control of the drive torque by means of the vehicle control system as a function of the control variable.

[0012] Furthermore, DE 10 2013 204 842 A1 concerns a control system for regulating vehicle behavior.

[0013] Disclosure of the invention

[0014] The present invention provides a control system for a vehicle with the features of claim 1, a braking and / or steering system for a vehicle with the features of claim 8, and a method for operating at least one motorized actuator of a vehicle with the features of claim 11.

[0015] Advantages of the invention

[0016] The present invention provides advantageous possibilities for controlling, monitoring, and regulating a reduction in driving speed, an increase in driving speed, a damping of the vehicle, and / or a change in the direction of travel of a moving vehicle, or at least of a motorized actuator of the vehicle used for this purpose. By means of the present R. 411577

[0017] - 3 -

[0018] The invention ensures, in particular, that a fault occurring in the at least one motorized actuator of the vehicle is detected early and, if necessary, rectified by countermeasures or repairs. Furthermore, the present invention reliably guarantees that the speed reduction, speed increase, vehicle damping, and / or change of direction requested by a driver and / or an automatic system of the vehicle are executed reliably. The present invention thus contributes to increased driving comfort for the driver of the vehicle using it.

[0019] A further advantage of the present invention is that, when used, more functions for operating the at least one motorized actuator of the vehicle can be outsourced to the respective control device of the vehicle. This applies in particular to monitoring functions for power transmission from a respective motor of the at least one motorized actuator to a respective cooperating power transmission component and / or a motor torque profile of the at least one motor of the at least one motorized actuator.

[0020] The present invention can also contribute to increasing redundancy, particularly in a vehicle's braking system. Therefore, the present invention is advantageously suited for implementing a redundant brake-by-wire braking system in which a driver braking request is transmitted electrically from a detecting driver braking request sensor to the control device. The present invention thus also contributes to increasing the acceptance of brake-by-wire braking systems among vehicle users.

[0021] In an advantageous embodiment of the control system, the at least one sensor is at least one motor current sensor, at least one motor torque sensor, at least one motor force sensor, at least one motor angle sensor, and / or at least one motor rate sensor, which is electrically connected to the control device via the at least one sensor line. R. 411577

[0022] - 4 -

[0023] This allows the control device to evaluate relevant physical quantities for the operation of at least one motor or at least one motorized actuator of the vehicle in order to determine at least one target value. This contributes to a more optimized determination of the at least one target value.

[0024] Alternatively or additionally, at least one wheel speed sensor can be electrically connected to the control device via at least one sensor line. Knowing the wheel speed of at least one wheel assigned to the at least one motorized actuator also enables the control device to more efficiently determine the at least one target value. For example, the steering action to be performed on the respective wheel can be better determined by knowing at least its wheel speed.

[0025] Similarly, at least one sensor, at least one temperature sensor and / or at least one pressure sensor, can be electrically connected to the control device via at least one sensor line. Knowledge of the temperature and / or pressure present in each of the at least one motorized actuators can also contribute to a more advantageous determination of the at least one setpoint by the control device.

[0026] Advantageously, the control device can be a central control unit. The central control unit can be understood to be, in particular, the central computer of the respective vehicle. The present invention can therefore be used to offload a multitude of functions for operating a braking and / or steering system of the vehicle to the vehicle's central control unit.

[0027] As an advantageous further development, the control system can additionally include at least one external motor control device, which is designed and / or programmed in such a way that, by means of the at least one R. 411577

[0028] - 5 -

[0029] The motor control device must be able to output at least one motor control signal, taking into account at least one target value, to at least one motor of at least one motorized actuator of the vehicle.

[0030] Preferably, the control device is designed and / or programmed such that the at least one target value can be output by means of the control device to at least one external motor control device of the at least one motor of the at least one motorized actuator, each configured as a brake, steering, driving and / or damping actuator. The present invention is therefore versatile in its application.

[0031] The advantages described above are also guaranteed in a braking and / or steering system for a vehicle with such a control designed as a braking and / or steering control and the at least one motorized actuator equipped with the at least one sensor of the control and designed as a braking and / or steering actuator.

[0032] For example, the braking and / or steering system can comprise at least one wheel-specific motorized brake actuator, at least one wheel-specific motorized steering actuator, and / or at least one wheel-specific motorized brake and steering actuator. The braking and / or steering system according to the invention can therefore be advantageously used for individual wheel actuators.

[0033] Alternatively or additionally, the braking and / or steering system can comprise, in addition to the at least one motorized actuator, at least one hydraulic pump device and / or at least one plunger device with at least one linearly adjustable piston. The present invention is thus applicable to a multitude of different braking and / or steering systems.

[0034] Furthermore, the execution of a corresponding procedure for operating at least one motorized actuator of a vehicle also creates R. 411577

[0035] - 6 - advantages described above. It is expressly pointed out that the method can be further developed according to the embodiments of the control and braking and / or steering system explained above.

[0036] Brief description of the drawings

[0037] Further features and advantages of the present invention are explained below with reference to the figures. They show:

[0038] Fig. 1 shows a schematic representation of a first embodiment of the brake and / or steering control, or of the brake and / or steering system equipped therewith;

[0039] Fig. 2 shows a schematic representation of a second embodiment of the brake and / or steering control, or of the brake and / or steering system equipped with it;

[0040] Fig. 3 shows a schematic representation of a third embodiment of the brake and / or steering control, or of the brake and / or steering system equipped therewith; and

[0041] Fig. 4 is a flowchart to explain one embodiment of the method for operating at least one motorized brake and / or steering actuator of a vehicle.

[0042] Embodiments of the invention.

[0043] The embodiments described below use, by way of example, at least one brake and / or steering actuator as the respective actuator. Accordingly, at least one drive actuator and / or at least one damping factor could also be used additionally or alternatively. R. 411577

[0044] - 7 -

[0045] Fig. 1 shows a schematic representation of a first embodiment of the brake and / or steering control, or of the brake and / or steering system equipped therewith.

[0046] It is expressly pointed out that the usability of the brake and / or steering control described below for controlling at least one motorized brake and / or steering actuator 20 of a vehicle / motor vehicle is not limited to a specific actuator type of the at least one motorized brake and / or steering actuator 20 or to a specific vehicle type / motor vehicle type.

[0047] The brake and / or steering control system has a control device 22, which can be, in particular, a central control unit or a central computer of the respective vehicle. However, it should be noted that (almost) any electronic device can be used as the control device 22, provided it is designed and / or programmed in such a way as to define at least one target value with respect to the target operation of the at least one motorized brake and / or steering actuator 20 of the vehicle. The determination of the at least one target value is carried out by means of the control device 22, taking into account at least one provided brake and / or steering request signal 24 with respect to a reduction in vehicle speed and / or a change in the vehicle's direction of travel requested by a driver of the vehicle and / or an (unillustrated) automatic system of the vehicle. For example, the driver can, by actuating a brake actuation element 26, such as...a brake pedal 26, a reduction in vehicle speed and / or a change in direction of travel by means of actuation of a (not shown) steering actuation element, such as a steering wheel. The at least one brake and / or steering request signal 24 can thus be sent to the R. 411577 by at least one brake request sensor 28 assigned to the brake actuation element 26, such as a rod travel sensor and / or a driver brake force sensor, and / or by a steering request sensor assigned to the steering actuation element / steering wheel, such as in particular a steering angle sensor.

[0048] - 8 -

[0049] Control device 22 must be output. The automatic system, by means of which at least one brake and / or steering request signal 24 can also be output, can be, for example, an autonomous driving system, an autonomous speed control system, an autonomous direction control system and / or an emergency braking system of the vehicle.

[0050] The control device 10 is also designed and / or programmed such that the at least one defined target value can be output by the control device 22 via at least one signal 30 to at least one external motor control device 20a of at least one motor 20b of the at least one motorized brake and / or steering actuator 20 of the vehicle. The at least one motor control device 20a can optionally be a subunit of the at least one motorized brake and / or steering actuator 20, a subunit of the brake and / or steering control, or a unit designed separately from the at least one motorized brake and / or steering actuator 20 and separately from the brake and / or steering control.In all cases listed here, the at least one external motor control device 20a can be understood as a device which is designed and / or programmed in such a way that at least one (not sketched) motor control signal can be output / is output to the at least one motor 20b of the at least one motorized brake and / or steering actuator 20 of the vehicle by means of the at least one motor control device 20a, taking into account at least one target value.

[0051] The brake and / or steering control also includes at least one sensor 32 by means of which at least one physical quantity can be measured on and / or in at least one component of the at least one motorized brake and / or steering actuator 20 of the vehicle. The at least one physical quantity that can be measured by means of the at least one sensor 32 can be, for example, a force, a pressure, an adjustment travel, an adjustment speed, an adjustment acceleration, an adjustment angle, a rotational speed, a rotational acceleration, a current, an R. 411577

[0052] - 9 - electrical voltage, motor torque, and / or temperature. However, the examples listed here for the at least one physical quantity are not exhaustive. As can be seen in Fig. 1, the brake and / or steering control also includes at least one sensor line 34, via which the at least one sensor 32 is electrically connected to the control device 22. The at least one physical quantity measured by the at least one sensor 32 can thus be output to the control device 22 via the at least one sensor line 34. Furthermore, the control device 22 is designed and / or programmed such that the at least one target value can be determined / is determined by the control device 22, taking into additional consideration the at least one physical quantity output by the at least one sensor 32 via the at least one sensor line 34.

[0053] The brake and / or steering control system thus has the advantage that the at least one physical quantity measured by the at least one sensor 32 is (directly) provided to the control device 22, and can therefore already be taken into account when determining the at least one target value for the target operation of the at least one motorized brake and / or steering actuator 20 of the vehicle by means of the control device 22. The at least one sensor 32 is thus directly connected to the control device 22. Control, monitoring and / or regulation of the at least one motorized brake and / or steering actuator 20 of the vehicle can therefore be carried out directly on the control device 22.This ensures that a fault occurring in the vehicle's at least one motorized brake and / or steering actuator 20 is detected early by the control device 22 itself, allowing the control device 22 to react to the fault promptly. As explained above, additional functions for operating the vehicle's at least one brake and / or steering actuator 20 can also be "outsourced" to the control device 22. This applies in particular to monitoring functions for power transmission or torque profiles of the respective motor 20b of the vehicle's at least one brake and / or steering actuator 20. R. 411577.

[0054] - 10 -

[0055] Preferably, the control device 22 implements programs for controlling, monitoring, and / or regulating the at least one brake and / or steering actuator 20 of the vehicle. In particular, the control device 22 can implement programs for controlling, monitoring, and / or regulating at least one requested or induced braking torque and steering angle. The electrical connection of the at least one sensor 32 "directly" to the control device 22 via the at least one sensor line 34 can thus be used to "outsource" as many functions as possible for controlling, monitoring, and / or regulating the at least one brake and / or steering actuator 20 to the control device 22. This reduces the labor and manufacturing costs for the at least one motor control device 20a, the at least one motor 20b, and the at least one brake and / or steering actuator 20.

[0056] As schematically represented by symbol 36 in Fig. 1, the at least one sensor 32 is preferably located in a mechanical or hydraulic power transmission path through which a motor force or effect provided by the respective motor 20b of the associated motorized brake and / or steering actuator 20 is transmitted. The depiction of only the one sensor 32 in Fig. 1 is merely exemplary. For example, each motorized brake and / or steering actuator 20 of the vehicle can also be equipped with several sensors 32.

[0057] The at least one sensor line 34, via which the at least one sensor 32 is electrically connected to the control device 22, can also be referred to as a "dedicated signal line" of the at least one sensor 32. It is expressly pointed out that the at least one sensor line 34 is understood to be a sensor / signal line that "begins" at an associated signal output of the associated sensor 32 and "ends" at an associated signal input of the control device 22. This can also be described as the respective sensor line 34 connecting both the associated signal output of the associated sensor 32 and the associated signal input of the control device 22.

[0058] - 11 -

[0059] Sensors 32 and the associated signal input of the control device 22 are mechanically contacted.

[0060] The at least one sensor 32 can, in particular, be at least one motor torque sensor, by means of which an applied and / or transmitted motor torque of the respective motor 20b of the at least one brake and / or steering actuator 20 of the vehicle can be measured. Likewise, at least one motor current sensor, at least one motor force sensor, at least one motor rotation angle sensor, and / or at least one motor yaw rate sensor can also be electrically connected to the control device 22 via the at least one sensor line 34 as the at least one sensor 32. Alternatively or additionally, at least one wheel speed sensor can also be electrically connected to the control device 22 as the at least one sensor 32 via the at least one sensor line 34. The use of at least one temperature sensor and / or at least one pressure sensor as the at least one sensor 32 is also frequently advantageous.For the at least one sensor 32, a variety of sensor types can therefore be used.

[0061] In the example shown in Fig. 1, the brake and / or steering system equipped with the brake and / or steering control has at least one wheel-individual motorized brake actuator 20, which is equipped with at least one sensor 32. However, the total number of exactly four wheel-individual motorized brake actuators 20 is only to be interpreted as an example. Alternatively, a brake and / or steering system equipped with or interacting with the brake and / or steering control may also have only two wheel-individual motorized brake actuators for the wheels of one axle of the vehicle. As shown in Fig.1, which is also shown in a graphic representation, two wheel-individual motorized brake actuators 20 of the brake and / or steering system can be electrically connected to a first power supply unit 38a, while two further wheel-individual motorized brake actuators 20 of the brake and / or steering system can be connected to a power supply unit 38a R. 411577.

[0062] - 12 - are electrically connected to a separate / independent second power supply unit 38b. If necessary, a failure of one of the two power supply units 38a or 38b can be bridged, at least temporarily.

[0063] Fig. 2 shows a schematic representation of a second embodiment of the brake and / or steering control, or of the brake and / or steering system equipped with it.

[0064] The braking and / or steering system of Fig. 2, as a further development of the embodiment of Fig. 1, additionally comprises at least one wheel-individual motorized brake actuator 20 and at least one wheel-individual motorized steering actuator 40, each with a motor 40b. As also shown schematically in Fig. 2, the motor control devices 20a and 40a of the motors 20b and 40b of the actuators 20 and 40, which are assigned to the same wheel, can be integrated into a common electronic unit 42. Furthermore, the braking and / or steering system can also include at least one wheel-individual motorized brake and steering actuator 44, in which the motors 20b and 40b for braking and steering the assigned wheel are integrated into a common module 44.

[0065] As shown schematically in Fig. 2, the brake and / or steering control can optionally be equipped with two redundant control devices 22, each of which is electrically connected to the at least one sensor 32 via the at least one sensor line 34. A failure of one of the two control devices 22 can thus be advantageously bridged.

[0066] Regarding further features and characteristics of the brake and / or steering control of Fig. 2, or of the brake and / or steering system equipped therewith, and its advantages, reference is made to the embodiment of Fig. 1. R. 411577

[0067] - 13 -

[0068] Fig. 3 shows a schematic representation of a third embodiment of the brake and / or steering control, or of the brake and / or steering system equipped with it.

[0069] In contrast to the embodiments described above in Figures 1 and 3, the braking and / or steering system of Figure 3 comprises, as well as at least one motorized braking and / or steering actuator 46 and 48, at least one hydraulic pump device 46 and at least one plunger device 48 with at least one linearly adjustable piston. The at least one plunger device 48 can, in particular, be a brake-by-wire actuator. As can be seen in Figure 3, the at least one hydraulic pump device 46 can be electrically connected to the first power supply unit 38a, while the at least one plunger device 48 is electrically connected to the second power supply unit 38b.

[0070] Regarding further features and characteristics of the brake and / or steering control of Fig. 3, or of the brake and / or steering system equipped with it, and its advantages, reference is made to the embodiments of Figs. 1 and 2.

[0071] Fig. 4 shows a flowchart to explain one embodiment of the method for operating at least one motorized brake and / or steering actuator of a vehicle.

[0072] It should be noted that the feasibility of the procedure described here is not limited to any specific actuator type of the at least one motorized brake and / or steering actuator or to any particular vehicle type / motor vehicle equipped with the at least one motorized brake and / or steering actuator.

[0073] The procedure described here includes a process step S1 in which at least one target value with respect to a target operation of the R. 411577 is determined.

[0074] - 14 - at least one motorized brake and / or steering actuator of the vehicle is specified. The specification of the at least one target value is carried out by means of a control device of the vehicle, taking into account at least one brake and / or steering request signal regarding a reduction in vehicle speed and / or a change in the vehicle's direction of travel requested by a driver of the vehicle and / or an automatic system of the vehicle. Examples of the at least one motorized brake and / or steering actuator, the at least one brake and / or steering request signal, and the automatic system are already listed above.

[0075] In process step S2, the at least one defined target value is output by the control device to at least one external motor control unit of at least one motor of the at least one motorized brake and / or steering actuator of the vehicle. The at least one motor control unit can then control its assigned motor taking the at least one target value into account.

[0076] Furthermore, in process step SO, at least one physical quantity is measured on and / or in at least one component of the at least one motorized brake and / or steering actuator of the vehicle using at least one sensor. Examples of the at least one sensor have already been mentioned above. The at least one measured physical quantity is then provided to the control device by the at least one sensor, which is electrically connected to the control device via at least one sensor line, via the respective sensor line. In process step S1, the at least one target value is thus determined by the control device, taking the at least one physical quantity into additional consideration.

[0077] The method described here also creates the advantages explained above.

Claims

R. 411577 - 15 - Claims 1. Control system for a vehicle comprising: a control device (22) which is designed and / or programmed such that, by means of the control device (22), taking into account at least one provided function request signal (24) with regard to a function of the vehicle requested by a driver of the vehicle and / or an automatic system of the vehicle, at least one target value with regard to the target operation of at least one motorized actuator (20, 40, 44, 46, 48) of the vehicle can be determined and output to at least one external motor control device (20a, 40a, 42) of at least one motor (20b, 40b) of the at least one motorized actuator (20, 40, 44, 46, 48) of the vehicle; and at least one sensor (32) by means of which at least one physical quantity can be measured on and / or in at least one component of the at least one motorized actuator (20, 40, 44, 46, 48) of the vehicle;characterized by at least one sensor line (34) via which the at least one sensor (32) is electrically connected to the control device (22); wherein the control device (22) is additionally designed and / or programmed such that the at least one setpoint is determined by means of the control device (22) taking into additional consideration the at least; R. 411577 - 16 - one of the physical quantity output by at least one sensor (32) via at least one sensor line (34) can be determined.

2. Control according to claim 1, wherein the at least one sensor (32) is at least one motor current sensor, at least one motor torque sensor, at least one motor force sensor, at least one motor rotation angle sensor and / or at least one motor rotation rate sensor electrically connected to the control device (22) via the at least one sensor line (34).

3. Control according to claim 1 or 2, wherein the at least one sensor (32) is at least one wheel speed sensor electrically connected to the control device (22) via the at least one sensor line (34).

4. Control according to one of the preceding claims, wherein the at least one sensor (32) is at least one temperature sensor and / or at least one pressure sensor electrically connected to the control device (22) via the at least one sensor line (34).

5. Control according to one of the preceding claims, wherein the control device (22) is a central control unit.

6. Control according to one of the preceding claims, wherein the control additionally comprises the at least one external motor control device (20a, 40a, 42) which is designed and / or programmed such that at least one motor control signal can be output to the at least one motor (20b, 40b) of the at least one motorized actuator (20, 40, 44, 46, 48) of the vehicle by means of the at least one motor control device (20a, 40a, 42), taking into account at least one setpoint. R. 411577 - 17 - 7. Control according to one of the preceding claims, wherein the control device (22) is designed and / or programmed such that the at least one setpoint can be output by means of the control device (22) to at least one external motor control device (20a, 40a, 42) of the at least one motor (20b, 40b) of the at least one motorized actuator (20, 40, 44, 46, 48) designed as a brake, steering, driving and / or damping actuator.

8. Braking and / or steering system for a vehicle comprising: a control unit designed as a braking and / or steering control unit according to one of the preceding claims; and the at least one motorized actuator (20, 40, 44, 46, 48) equipped with the at least one sensor (32) of the control unit and designed as a braking and / or steering actuator.

9. Braking and / or steering system according to claim 8, wherein the braking and / or steering system comprises at least one motorized actuator (20, 40, 44, 46, 48) comprising at least one wheel-individual motorized brake actuator (20), at least one wheel-individual motorized steering actuator (40) and / or at least one wheel-individual motorized brake and steering actuator (44).

10. Brake and / or steering system according to claim 8 or 9, wherein the brake and / or steering system comprises at least one motorized actuator (20, 40, 44, 46, 48), at least one hydraulic pump device (46) and / or at least one plunger device (48) with at least one linearly adjustable piston.

11. Method for operating at least one motorized actuator (20, 40, 44, 46, 48) of a vehicle comprising the steps: R. 411577 - 18 - Defining at least one target value with respect to a target operation of the at least one motorized actuator (20, 40, 44, 46, 48) of the vehicle by means of a control device (22) of the vehicle taking into account at least one function request signal (24) with respect to a function of the vehicle (S1) requested by a driver of the vehicle and / or an automatic system of the vehicle; Output of at least one specified target value by means of the control device (22) to at least one external motor control device (20a, 40a, 42) of at least one motor (20b, 40b) of the at least one motorized actuator (20, 40, 44, 46, 48) of the vehicle (S2); and measuring at least one physical quantity on and / or in at least one component of the at least one motorized actuator (20, 40, 44, 46, 48) of the vehicle by means of at least one sensor (32) (SO); characterized in that the at least one target quantity is determined by means of the control device (22) taking into additional account the at least one physical quantity which is provided by the at least one sensor (32) which is electrically connected to the control device (22) via at least one sensor line (34).

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