Advanced driver assistance system with sensor ecu distributed degradation management

Abstract

The present invention provides an ADAS for a vehicle comprising a plurality of sensor modules, each sensor module comprising a sensor and a sensor ECU, the sensor ECU of each of the plurality of sensor modules being in communication with the sensor ECUs of the other sensor modules and configured to: receive from the sensor ECUs of the other sensor modules state information relating to the other sensor modules; execute a degradation logic to make its own degradation decision when the received state information indicates that any one or more of the other sensor modules has failed; control the sensor to react to degradation in accordance with the degradation decision and update its own state information; and send the updated state information to the sensor ECUs of the other sensor modules. The present invention provides a sensor module and its sensor ECU in an ADAS and a method performed by the sensor ECU.

Description

Technical Field

[0001] This disclosure relates to an advanced driver assistance system for a vehicle, and more specifically, to an advanced driver assistance system with distributed degraded management of sensor ECUs. Background Technology

[0002] Currently, vehicles, such as cars, are equipped with advanced driver assistance systems (ADAS). ADAS assists the driver in operating (driving, braking, and steering) the vehicle. For example, ADAS can sense the vehicle's surroundings (e.g., other vehicles, pedestrians, cyclists, lane markings, road signs, etc.) and control the vehicle's driving, braking, or steering based on the sensed surroundings.

[0003] To sense the surrounding environment and provide the aforementioned functions, ADAS can include many sensor modules. For example... Figure 1 The diagram shows four sensor modules: SM1, SM2, SM3, and SM4. Each sensor module includes a sensor and a sensor ECU. The sensor modules cooperate to achieve the overall functionality of the vehicle. For example, the sensor ECUs of all sensor modules communicate with the vehicle's central ECU, providing the central ECU with raw or processed data or information related to the surrounding environment sensed by the sensors. The central ECU then focuses on fusing the received data or information and making decisions about vehicle behavior.

[0004] Sensor modules use any type of technology to sense the surrounding environment, such as by sending signals to or receiving reflected signals from objects within their sensing range, such as IR signals, RF signals, electromagnetic wave signals, etc. Interference between signals is avoided by synchronizing the time between sensor modules. However, any error or malfunction in any sensor module (e.g., a failure in signal modulation or demodulation of the sensor ECU in any sensor module) may cause partial or complete failure of other sensor modules.

[0005] In current ADAS, a single unit is provided to monitor the status of all sensor modules and reconfigure the functions of related, and even all other, sensor modules in the event of any failure in any sensor module, forming a functional chain of sensor ECUs. This single unit can be called a central degradation management unit. Typically, the central ECU serves as this single unit, but in some embodiments, one of the sensor ECUs can also be selected as this single unit. It performs overall fault management or degradation management involving all relevant sensor ECUs. Specifically, the sensor ECUs of all sensor modules send their respective status information to the central ECU, which then analyzes the received status information, identifies any faulty sensor module, executes pre-programmed degradation logic, makes degradation decisions for the relevant sensor modules, and finally sends the degradation decisions to the corresponding sensor ECUs of the relevant sensor modules. Subsequently, the relevant sensor modules respond by executing appropriate degradation actions. Depending on the type of problem, the degradation action can range from a warning to a complete shutdown.

[0006] Using a single unit (central ECU) for centralized degradation management has many drawbacks. One of the most undesirable outcomes is the failure of this single unit, which inevitably leads to a failure of the entire sensor ECU functional chain. This is because individual sensor modules cannot make degradation decisions independently, and therefore cannot respond to failures of any other sensor modules without the single unit. Secondly, centralized degradation management involves a very complex process: all sensor ECUs send status information to the central ECU (such as...). Figure 1 (As shown by the solid arrow in the image), the central ECU integrates the received information and identifies the faulty sensor module, formulates a degradation decision for all relevant sensor modules, and sends the degradation decision to them separately (e.g., ...). Figure 1 (As shown by the hollow arrow in the diagram), finally, the relevant sensors respond based on the degradation decision from the central ECU. This complex and lengthy information transmission path causes communication and response delays.

[0007] Third, the central ECU should pre-program the degradation logic for all sensor modules to form a functional chain. This makes it difficult, or even impossible, to introduce new sensor modules into the ADAS functional chain via a simple "plug-and-play" approach, because the degradation logic for the new sensor modules is not programmed into the central ECU. Therefore, the central ECU cannot manage the new sensors for degradation response issues. In other words, adding a new sensor module requires updating the central ECU, especially its internal degradation logic, which may affect many other functions provided by the central ECU. This is a cumbersome, costly, and inflexible process.

[0008] For different ADAS configurations with varying numbers, types, or combinations of sensor modules, it is difficult to obtain a central ECU that exhibits consistent system behavior due to the complexity of updating the central ECU and the need for knowledge of all relevant sensor ECUs. This also results in high costs and long development times for the central ECU.

[0009] The aim is to address one or more of the shortcomings listed above. Summary of the Invention

[0010] The purpose of this invention is to overcome at least one of the above-mentioned deficiencies by providing an advanced driver assistance system with distributed degradation management of sensor ECUs.

[0011] A first aspect of the present invention provides an ADAS for a vehicle, comprising a plurality of sensor modules, each sensor module including a sensor configured to sense an object by acquiring data about an object within its sensing range, and a sensor ECU configured to interpret and process the sensor data and transmit raw or processed data to a control unit of the vehicle, wherein the sensor ECU of each of the plurality of sensor modules communicates with the sensor ECUs of the other sensor modules and is configured to:

[0012] Receive status information about the other sensor modules from the sensor ECU of the other sensor modules;

[0013] When the received status information indicates that any one or more of the other sensor modules have failed, the degradation logic is executed to make its own degradation decision;

[0014] The sensor performs a degradation response based on the degradation decision and updates its own state information; and

[0015] The updated status information is sent to the sensor ECU of the other sensor modules.

[0016] A second aspect of the invention provides a sensor module for integration with other similar sensor modules in an ADAS (Advanced Driver Assistance System) for a vehicle. Both the sensor module and the other similar sensor modules include a sensor configured to sense an object by acquiring data about an object within its sensing range, and a sensor ECU configured to interpret and process the sensor data and transmit raw or processed data to a control unit of the vehicle. The sensor ECU is adapted to communicate with the sensor ECU of the other similar sensor module and is configured to:

[0017] Receive status information about the other similar sensor modules from the sensor ECU of the other similar sensor modules;

[0018] If the received status information indicates that any one or more of the other similar sensor modules have failed, the degradation logic is executed to make its own degradation decision.

[0019] The sensor performs a degradation response based on the degradation decision and updates its own state information; and

[0020] The updated status information is sent to the sensor ECU of the other similar sensor modules.

[0021] A third aspect of the present invention provides a method executed by a sensor ECU of the aforementioned sensor module, comprising:

[0022] Receive status information about the other similar sensor modules from the sensor ECU of the other similar sensor modules;

[0023] If the received status information indicates that any one or more of the other similar sensor modules have failed, the degradation logic is executed to make its own degradation decision.

[0024] The sensor performs a degradation response based on the degradation decision and updates its own state information; and

[0025] The updated status information is sent to the sensor ECU of the other similar sensor modules.

[0026] A fourth aspect of the present invention provides a sensor ECU for the above-described sensor module, wherein the sensor ECU includes executable instructions pre-programmed and stored thereon, the executable instructions causing the sensor ECU to perform the above-described method when executed.

[0027] Without the need for a central degradation management unit to make degradation decisions for all sensor modules, each sensor module's sensor ECU in ADAS can respond to any fault of any other sensor module by receiving status information from the sensor ECUs of other sensor modules, calculating its own degradation decision based on the received status information and the degradation logic stored therein, and controlling the corresponding sensors to perform degradation responses, thus realizing decentralized degradation management of sensor ECUs.

[0028] The distributed degradation management of sensor ECUs effectively solves the "single point of failure" problem caused by the central degradation management unit, improves response speed, and minimizes the response latency of sensor modules. The central ECU, as an intermediate component, only serves to transmit status information between sensor modules. Therefore, if a sensor module needs to be removed or added, no substantial modification or update to the degradation logic program within the central ECU is required. This maximizes flexibility with minimal effort. Attached Figure Description

[0029] Figure 1 This is a block diagram of an advanced driver assistance system in the prior art.

[0030] Figure 2 This is a block diagram of an advanced driver assistance system according to a first embodiment of the present invention.

[0031] Figure 3 This is a block diagram of an advanced driver assistance system according to a second embodiment of the present invention.

[0032] Figure 4 This is a functional flowchart of the sensor ECU in the sensor module of an advanced driver assistance system according to the principles of the present invention. Detailed Implementation

[0033] Throughout this specification, the same reference numerals in all the accompanying drawings refer to the same components. This specification does not describe all components in the embodiments, nor does it describe general information in the art or overlapping information between embodiments. The terms "component," "module," or "unit" as used herein can be implemented as software or hardware, and according to embodiments, multiple "components," "modules," or "units" can be implemented as a single component. A single "component," "module," or "unit" can also be implemented by multiple components.

[0034] In this application, when a component is described as "communicating" with another component, it can communicate with the other component in any way through a vehicle communication network NT. For example, electronic components can send / receive data or information to each other via Ethernet, System Transmission to Media (MOST), FlexRay, Controller Area Network (CAN), Local Interconnect Network (LIN), etc.

[0035] It should be understood that when the terms "comprising" or "including" are used in this specification, it means that the described component is present, but does not exclude the presence or addition of one or more other components. It should also be understood that, without a quantifier, a plurality may be included unless the context clearly indicates otherwise.

[0036] The operating principles and embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0037] This invention relates to an advanced driver assistance system (ADAS) for a vehicle, which is configured to provide the driver with a variety of functions, such as lane departure warning (LDW), lane keeping assist (LKA), high beam assist (HBA), autonomous emergency braking (AEB), traffic sign recognition (TSR), smart cruise control (SCC), blind spot detection (BSD), etc.

[0038] Therefore, the ADAS in this invention may include multiple sensor modules, each sensor module including a sensor and a sensor ECU. Figure 2 and Figure 3 In the illustrated embodiment, only four sensor modules SM1, SM2, SM3, and SM4 are shown, and each of the four sensor modules SM1, SM2, SM3, and SM4 includes sensors 12, 22, 32, and 42, and sensor electronic control units (referred to herein as “sensor ECUs”) 14, 24, 34, and 44, respectively. It should be understood that ADAS may include fewer or mostly more than four sensor modules as needed.

[0039] Each sensor module has its own sensing range, which is provided by the sensor depending on the type of sensor. Sensors can be configured to sense objects within their sensing range; for example, if the sensor module is a camera module and the sensor includes multiple lenses and filters, the sensor images the object. Or, if the sensor module is a radar module and the sensor includes signal (e.g., IR, RF, and electromagnetic wave signals) transmitting and receiving components, the sensor acquires data or information about the object by transmitting and receiving the signal. The sensor module's sensor ECU can be configured to interpret and process the received sensor signals, such as image or data signals, and send the raw or processed signals to other control units in the vehicle to provide driver assistance functions.

[0040] As described in the background section, any failure in any sensor module can affect the functionality of some or all other sensor modules. Each sensor module needs to be able to respond promptly to any failure occurring in any other sensor module in order to avoid providing any incorrect or confusing information to the vehicle's driver.

[0041] The ADAS of this invention is configured such that all sensor modules in the ADAS communicate with each other to share their respective status information, and independently make degradation decisions for their own sensor modules after receiving status information from other sensor modules. Throughout this context, the sensor ECU is described as communicating with "other sensor modules," and it should be understood that the term "other sensor modules" can include all other sensor modules except for the sensor module that has failed. Optionally, the term "other sensor modules" can refer to all "related sensor modules" of this sensor module, including all sensor modules whose failures may affect the function of this sensor module, and all sensor modules that may be affected by any failure of this sensor module.

[0042] exist Figure 1In the first embodiment shown, all sensor modules in the ADAS communicate directly with each other's sensor ECUs, without any intermediate components; while... Figure 3 In the second embodiment shown, the sensor ECUs of all sensor modules in the ADAS communicate indirectly with each other through an intermediate component C. The intermediate component C can be the vehicle's central ECU as shown, or any other electronic component suitable for transmitting status information among the various sensor ECUs. Figure 2 and 3 As shown by the solid arrow in the image, the only difference between the two embodiments is that: Figure 2 In ADAS, the sensor ECU of each sensor module in all sensor modules directly sends / receives data to / from the sensor module. Figure 1 The sensor ECU of other sensor modules sends / receives status information, while... Figure 3 In the ADAS system, the sensor ECU of each sensor module first sends the sensor module's status information to the intermediate component C, and then the intermediate component C transmits the received status information to the sensor ECUs of other sensor modules. Figure 2 and 3 The embodiments include only solid arrows indicating the transmission of status information, as shown in the figure, and do not include hollow arrows indicating the transmission of degradation decisions. It should be understood that... Figure 2 and 3 The two embodiments shown can be combined into a new embodiment in which direct communication between each sensor ECU of all sensor modules included in the ADAS and communication between each sensor ECU and intermediate component C are provided, so that the sensor ECUs of the sensor modules can share their status information in an alternative manner.

[0043] Each sensor module's sensor ECU is configured to, upon receiving the aforementioned status information directly or indirectly through intermediate component C, execute pre-programmed and stored degradation logic, and then make a degradation decision for that sensor module. It is also configured to control its sensor using the new degradation decision, update the sensor module's status information, and send the updated status information to the sensor ECUs of other sensor modules, so that the relevant sensor modules can make further responses in a timely manner through the same process.

[0044] According to the principles of the present invention, degradation decision-making may include maintaining the current state of the sensor module if the received status information indicates that no other sensor module has failed or that the function provided by the failed sensor module has a lower safety level or lower priority than the function provided by the sensor module itself. Degradation decision-making may also include completely or partially disabling certain functions provided by the sensor module or shutting down the sensor module if the function provided by the sensor module has a lower safety level or lower priority than the function provided by the failed sensor module. The failure may be any software or hardware malfunction of the sensor module, and / or any malfunction of certain functions provided by the sensor module.

[0045] As mentioned above, the only shared information between the sensor ECUs is the status information; the degradation logic for degradation decisions is executed distributed across each sensor ECU. Each sensor module in ADAS makes its own degradation decision through its own sensor ECU, achieving distributed degradation management and effectively avoiding the "single point of failure" problem caused by a central degradation management unit, as is the case in existing technologies.

[0046] Each sensor module's sensor ECU makes its own degradation decision based on the status information received from other sensor ECUs, and controls the sensor according to the newly made degradation decision. This achieves the fastest response and minimizes the response delay of the sensor module, because the sensor ECU does not need to wait to receive the degradation decision from the intermediate component before controlling the sensor to perform the degradation response.

[0047] According to the principles of this invention, the intermediate component C or the central ECU is not necessary and can therefore be omitted, which reduces costs. Directly sharing status information with other sensor modules without an intermediate component further improves response speed or degradation speed.

[0048] Even with a central ECU as an intermediate component, it is only used to transmit status information between sensor modules. Therefore, when a sensor module needs to be removed or a new sensor module needs to be added, there is no need for substantial internal program modifications or updates to the central ECU. This requires minimal additional work and little knowledge of the central ECU. Minimal modifications to the central ECU easily achieve consistent vehicle system performance and increase the flexibility of removing or adding sensor modules.

[0049] In a configuration where sensor modules transmit status information directly or indirectly, the interfaces between sensor ECUs can remain consistent. Only the degradation logic within each sensor ECU needs to be adaptively modified, which not only improves flexibility and reliability but also reduces complexity.

[0050] In an embodiment where ADAS includes one or more sensor module pairs, and each sensor module pair includes two sensor modules symmetrically arranged in the width direction of the vehicle relative to the longitudinal center plane of the vehicle, the sensor ECU of each sensor module pair is configured to always make the same degradation decision, that is, one of the sensor modules in the sensor module pair “mirrored” the degradation decision of the other sensor module in the pair, in order to provide the driver with clear and consistent information, as illustrated below.

[0051] Typically, ADAS may include a first pair of sensor modules, including a right front corner radar module and a left front corner radar module (e.g., sensor modules SM1 and SM2), and a front radar module (e.g., SM3).

[0052] The right and left front corner radar modules can be respectively positioned on the right and left front sides of the vehicle's front bumper and have sensing ranges facing the right and left front areas of the vehicle. The data acquired by these two radar modules can include distance and speed information about other vehicles or pedestrians to the right and left front of the vehicle. The front radar module can be positioned on the vehicle's grille or bumper and has a sensing range facing the area in front of the vehicle. The sensor ECU of this module can obtain front radar data, such as distance and speed information, from the transmitted waves radiated from the front radar module's transmitting antenna towards the area in front of the vehicle, and from the reflected waves reflected by objects in that area and received by the front radar module's receiving antenna. For example, the sensor ECU of the front radar module can further calculate the relative distance to an object (another vehicle or pedestrian) based on the phase difference (or time difference) between the transmitted and reflected waves, and calculate the relative speed of the object based on the frequency difference between the transmitted and reflected waves.

[0053] Typically, front radar data relates to or influences vehicle behaviors with higher safety levels, such as braking, while data acquired by the right and left front corner radar modules relates to or influences vehicle behaviors with relatively lower safety levels or priorities, such as navigation. In this scenario, if either the right or left front corner radar module malfunctions, or if status information received from the front radar module's sensor ECU indicates a malfunction, then that module's sensor ECU, due to its lower safety level, makes a degrading decision to downgrade its sensor. To achieve a consistent degrading response and avoid driver confusion, the sensor ECU of the other right and left front corner radar module on the opposite side of the vehicle also makes the same degrading decision, downgrading its corresponding sensor in the same way, even if, for some reason, only one of the right and left front corner radar modules malfunctions or receives status information from the front radar module. This can be termed "twin degrading."

[0054] ADAS can include a second pair of sensor modules, including a right rear corner radar module and a left rear corner radar module. For the same reason, they can be configured so that their sensor ECUs always make the same degradation decisions.

[0055] exist Figure 4 This document illustrates the possible functional flow executed by a sensor ECU within a sensor module included in a vehicle's ADAS (Advanced Driver Assistance System), including the steps of the method executed by the sensor ECU. ADAS may include other similar sensor modules besides this one.

[0056] In step 401, the sensor ECU receives status information directly or indirectly through intermediate component C from the sensor ECU of other similar sensor modules.

[0057] In step 402, the sensor ECU identifies the faulty sensor module and executes pre-programmed and stored degradation logic to formulate a degradation decision for the sensor module to perform.

[0058] In step 403, the sensor ECU controls the sensor to perform a degradation response and updates the status information of the target sensor module.

[0059] In step 404, the sensor ECU sends the updated status information to the sensor ECUs of the other similar sensor modules included in the ADAS.

[0060] Typically, if the target sensor module has a symmetrical sensor module arranged in the width direction of the vehicle relative to the longitudinal center plane of the vehicle, the sensor ECU of the symmetrical sensor module will make the same degradation decision as this sensor module and produce the same degradation response as this sensor module.

[0061] In this invention, a sensor module is also provided, which is integrated into an ADAS along with other similar sensor modules. Both the sensor module and the other similar sensor modules include a sensor configured to sense an object by acquiring data (or information) relating to an object within its sensing range, and a sensor ECU configured to interpret and process the sensor data and send the raw or processed data to a vehicle control unit. The sensor ECU is adapted to communicate with the sensor ECUs of the other similar sensor modules and is configured to: receive status information about the other similar sensor modules from the sensor ECUs of the other similar sensor modules; execute degradation logic to make its own degradation decision in the event that the received status information indicates a failure in any one or more of the other similar sensor modules; control the sensors to perform a degradation response and update their own status information based on the degradation decision; and send the updated status information to the sensor ECUs of the similar sensor modules.

[0062] Sensors and sensor ECUs can be integrated into a single component. A sensor module can be a camera module, a radar module, or an ultrasonic radar module.

[0063] A sensor ECU for a sensor module is also provided, the sensor module being adapted to be integrated with other similar sensor modules in an ADAS, wherein the sensor ECU contains executable instructions stored thereon, the executable instructions, when executed, causing the sensor ECU to perform a method comprising the following steps: receiving status information about other similar sensor modules from the sensor ECU of the other similar sensor modules; executing degradation logic to make its own degradation decision in the event that the received status information indicates that any one or more of the other similar sensor modules have failed; controlling the sensor to perform a degradation response and update its own status information based on the degradation decision; and sending the updated status information to the sensor ECU of the other similar sensor modules.

[0064] Although some embodiments of the invention have been shown and described, those skilled in the art will understand that changes can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An ADAS for a vehicle, comprising a plurality of sensor modules, each sensor module including a sensor configured to sense an object by acquiring data about an object within its sensing range, and a sensor ECU configured to interpret and process the sensor data and transmit raw or processed data to a control unit of the vehicle, wherein the sensor ECU of each of the plurality of sensor modules communicates with the sensor ECUs of the other sensor modules and is configured to: Receive status information about the other sensor modules from the sensor ECU of the other sensor modules; When the received status information indicates that any one or more of the other sensor modules have failed, the degradation logic is executed to make its own degradation decision; The sensor performs a degradation response based on the degradation decision and updates its own state information; and The updated status information is sent to the sensor ECU of the other sensor modules.

2. The ADAS according to claim 1, wherein, The sensor ECUs of the multiple sensor modules communicate directly with each other via the vehicle communication network NT.

3. The ADAS according to claim 1, wherein, The sensor ECUs of the multiple sensor modules communicate indirectly with each other via an intermediate component.

4. The ADAS according to claim 3, wherein, The intermediate component is the vehicle's central ECU.

5. The ADAS according to any one of claims 1-4, wherein, The fault includes any fault in the software or hardware of any one or more of the other sensor modules, and / or any fault in the functionality provided by any one or more of the other sensor modules.

6. The ADAS according to any one of claims 1-4, wherein, The degradation decision includes: maintaining the current state if the function provided by the sensor module is of a higher safety level or higher priority than any one or more functions provided by the other sensor modules that have failed, or If the functions provided by the sensor module are of a lower safety level or lower priority than any one or more functions provided by the other sensor modules that have failed, some functions provided by the sensor module may be partially or completely disabled or the sensor module may be shut down.

7. The ADAS according to any one of claims 1-4, wherein, The plurality of sensor modules include a right front corner radar module and a left front corner radar module. The sensor ECUs of the right front corner radar module and the left front corner radar module are configured to always make the same degradation decision, and The plurality of sensor modules also include a right rear corner radar module and a left rear corner radar module, wherein the sensor ECUs of the right rear corner radar module and the left rear corner radar module are configured to always make the same degradation decision.

8. The ADAS according to claim 7, wherein, The plurality of sensors also includes a front radar module configured to provide functions with a higher level of safety or higher priority than those provided by the right front corner radar module and the left front corner radar module, wherein the sensor ECUs of the right front corner radar module and the left front corner radar module are configured to make the same degradation decision to degrade the sensors of the right front corner radar module and the left front corner radar module in some functions or to shut down the radar module in the event of a failure of any of the three modules.

9. The ADAS according to any one of claims 1-4, wherein, The plurality of sensor modules include any one or any combination of a camera module, a radar module, and an ultrasonic radar module.

10. A sensor module for integration with other similar sensor modules in an ADAS for a vehicle, said sensor module and said other similar sensor modules each including a sensor configured to sense an object by acquiring data about an object within its sensing range, and a sensor ECU configured to interpret and process the sensor data and transmit raw or processed data to a control unit of the vehicle, wherein the sensor ECU is adapted to communicate with the sensor ECU of said other similar sensor modules and is configured to: Receive status information about the other similar sensor modules from the sensor ECU of the other similar sensor modules; If the received status information indicates that any one or more of the other similar sensor modules have failed, the degradation logic is executed to make its own degradation decision. The sensor performs a degradation response based on the degradation decision and updates its own state information; and The updated status information is sent to the sensor ECU of the other similar sensor modules.

11. The sensor module according to claim 10, wherein, The sensor module is a camera module, a radar module, or an ultrasonic radar module.

12. The sensor module according to claim 10 or 11, wherein, The sensor module integrates the sensor and sensor ECU into a single component.

13. A method performed by a sensor ECU of a sensor module according to any one of claims 10 to 12, comprising: Receive status information about the other similar sensor modules from the sensor ECU of the other similar sensor modules; If the received status information indicates that any one or more of the other similar sensor modules have failed, the degradation logic is executed to make its own degradation decision. The sensor performs a degradation response based on the degradation decision and updates its own state information; and The updated status information is sent to the sensor ECU of the other similar sensor modules.

14. A sensor ECU for a sensor module according to any one of claims 10 to 12, wherein, The sensor ECU includes pre-programmed and executable instructions stored thereon, which, when executed, cause the sensor ECU to perform the method according to claim 13.

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