Cable-based control system for controlling a motor vehicle

Abstract

A cable-based control system (2) for controlling a motor vehicle, the control system comprising: input means (6, 6') having a sending unit (4) for sending a signal for executing an input instruction; a first transmission channel (8) for transmitting a first signal; a second transmission channel (10) for transmitting a second signal; a receiving unit (12) of an execution means (14, 14') for receiving a signal; and an execution means (14, 14') for executing the input instruction.

Description

Technical Field

[0001] The present invention relates to a cable-based control system for controlling a motor vehicle, a motor vehicle including such a system, and a cable-based control method for controlling a motor vehicle. Background Technology

[0002] Today, cable-based control systems, such as those using steer-by-wire technology, are known, for example, in the form of steer-by-wire and brake-by-wire systems for aircraft. Generally, systems known from aircraft have multiple communication lines that connect sensors (e.g., control sticks) to actuators (e.g., adjustment elements for air valves), where failure or malfunction information of individual lines is compensated for by means of majority decision.

[0003] Currently, compared to aircraft, motor vehicles are generally still controlled via mechanical connections between the steering wheel and wheels or between the brake pedal and brakes. While individual solutions for integrating systems known from aircraft into motor vehicles are known, these solutions appear unsuitable due to cost and manufacturing expenses. Motor vehicles can stop safely compared to aircraft. Furthermore, the number of anticipated malfunctions in motor vehicles is significantly less. Therefore, expensive and complex systems known from aircraft are not suitable for adaptation into motor vehicle systems. Summary of the Invention

[0004] The object of this invention is to at least partially eliminate the aforementioned disadvantages. In particular, the object of this invention is to provide a simple, cost-effective, and appropriately safe cable-based control system for controlling motor vehicles.

[0005] The aforementioned objective is achieved by a system having the features described in 1 below and a method having the features described in 8 below. Other features and details of the invention are derived from 2-7 and 9-11 below, the specification, and the drawings. Herein, the features and details of the system according to the invention are naturally also combined with the method according to the invention, and vice versa, so that the disclosure of various aspects of the invention is always mutually referential or mutually referable.

[0006] 1. A cable-based control system for controlling a motor vehicle, the control system comprising: an input device having a transmitting unit for transmitting a signal for issuing an execution input command; a first transmission channel for transmitting a first signal; a second transmission channel for transmitting a second signal; a receiving unit for receiving the signal; and an execution device for executing the input command.

[0007] 2. The control system according to 1 above, characterized in that the first transmission channel is designed to be bidirectional, wherein the first transmission channel is preferably designed to be in the form of an electric vehicle network.

[0008] 3. The control system according to any one of the foregoing, characterized in that it includes a central control unit for receiving and transmitting signals, wherein the central control unit is preferably integrated into the first transmission channel, and is particularly arranged between the input device and the actuator.

[0009] 4. The control system according to any one of the foregoing, characterized in that the second transmission channel is designed to be unidirectional, wherein the second transmission channel is preferably designed as an optical transmission channel, and in particular as an optical fiber cable or polymer optical fiber (POF).

[0010] 5. The control system according to any one of the foregoing, characterized in that the transmitting unit of the input device has a first switching unit and a second switching unit, wherein the first switching unit is preferably designed in the form of a microcontroller and the second switching unit is particularly designed in the form of an application-specific integrated circuit.

[0011] 6. The control system according to any one of the foregoing, characterized in that the first switching unit is integrated into the first transmission channel and the second switching unit is integrated into the second transmission channel.

[0012] 7. The control system according to any one of the foregoing, characterized in that the receiving unit of the input device has a first switching unit and a second switching unit, wherein the first switching unit is preferably designed in the form of a microcontroller and the second switching unit is particularly designed in the form of an application-specific integrated circuit.

[0013] 8. A cable-based control method for controlling a motor vehicle, particularly for controlling a control system according to any one of the foregoing, the control method comprising the following steps:

[0014] - The input device's transmitting unit sends out signals to execute input commands;

[0015] - Transmit the first signal via the first transmission channel;

[0016] - Transmit the second signal via the second transmission channel;

[0017] - Receive the signal from the receiving unit of the actuator.

[0018] - The input instructions are executed by means of the actuator.

[0019] 9. The control method according to 8 above, characterized in that the transmitting unit of the input device receives input instructions through a sensor, wherein a first sensor and a second sensor are provided for receiving the input instructions, and the input instructions from the first sensor and the second sensor are sent to the first switching unit and the second switching unit.

[0020] 10. The control method according to 8 or 9 above, characterized in that the signal is transmitted in an encrypted manner, wherein the second transmission channel is preferably encrypted by means of a vehicle-specific key, wherein within the scope of encryption, a message authentication code composed of the input instruction and the vehicle-specific key is generated.

[0021] 11. The control method according to any one of 8 to 10 above, characterized in that, in the event of a failure of the actuator, its function is replaced by at least another actuator, wherein preferably, in the event of a failure of the steering device, the steering process is performed by activating at least one braking device.

[0022] According to the present invention, a cable-based control system for controlling a motor vehicle is proposed. This control system includes: an input device having a transmitting unit for issuing a signal for executing an input command; a first transmission channel for transmitting a first signal and a second transmission channel for transmitting a second signal. The control system further includes: a receiving unit for an actuator for receiving signals; and an actuator for executing the input command.

[0023] Therefore, according to the present invention, the control system is designed to appropriately compensate for the likelihood of failures and hazards arising from various fault information on the system's communication lines. Thus, in this way, not only a safe but also a cost-effective and structurally simple system for controlling motor vehicles is provided. The operation of the control system according to the present invention, particularly the combined action of its various components, will be described in detail below.

[0024] This can be achieved, in particular, by introducing different types of redundancy within the communication scope of the control system used to control motor vehicles: despite low cost and low structural complexity, sufficient security can still be ensured to compensate for sporadic communication failures.

[0025] Within the scope of this invention, the terms "cable-connected control system" or "cable-connected control method" can be particularly understood as "drive-by-wire technology system or method," such as drive-by-wire steering, drive-by-wire, or drive-by-wire systems or methods. Furthermore, within the scope of this invention, input devices can be understood, for example, as steering command input devices (such as a steering wheel) or braking command input devices (such as a brake pedal). According to the invention, input commands can also be understood as steering commands, braking commands, or other similar commands. Within the scope of this invention, actuating devices can ultimately be particularly understood as steering devices (such as steering actuators) or braking devices (such as brakes). Within the scope of this invention, a transmitting unit can be particularly understood as a unit from which information, data, or signals are specifically transmitted via a transmission channel. Within the scope of this invention, a receiving unit can be understood as a unit that receives information, data, or signals transmitted from the transmitting unit.

[0026] Within the scope of this invention, the following advantages can be achieved:

[0027] The first transmission channel is designed to be bidirectional, and is preferably designed in the form of an electric vehicle network. This allows for a particularly simple and cost-effective integration of reliable data transmission. Here, the first transmission channel can preferably be designed as a return channel or a redundant channel to enable effective fault identification when transmitting input commands such as steering or braking commands. In addition to input commands, feedback regarding road conditions, such as steering resistance or road roughness, can be transmitted to the driver via the first transmission channel.

[0028] It also offers the following advantages: a central control unit for receiving and transmitting signals is provided, wherein the central control unit is preferably integrated into the first transmission channel, and is particularly arranged between the input device and the actuator.

[0029] Here, according to the invention, it is particularly noteworthy that within the first transmission channel, communication is conducted via a central control unit. Thus, input commands, such as steering and / or braking commands, can be transmitted, for example, from a transmitting unit of an input device such as a steering wheel and / or brake pedal to a receiving unit of an actuator such as a steering actuator or brake via the central control unit. Such an implementation particularly provides a simple, programmable, and centrally controlled communication.

[0030] The second transmission channel offers the following advantages within the scope of reliable, simple, and cost-effective data transmission: it is designed to be unidirectional, preferably in the form of an optical transmission channel, particularly in the form of fiber optic cable or polymer fiber (POF). Fiber optic cable offers the advantage of being unaffected by external electromagnetic interference. The second transmission channel can be constructed of multimode fiber and operated via advantageous LEDs instead of lasers. This unidirectional implementation of the communication channel particularly enables a simple and cost-effective implementation. Within this unidirectional implementation, communication can be achieved solely from the transmitting unit of an input device, such as a steering wheel and / or brake, to the receiving unit of an actuator, such as a steering actuator and / or brake. The second transmission channel preferably allows signals to be transmitted directly from the transmitting unit of the input device to the receiving unit of the actuator. This redundant second transmission channel implementation, for example, saves on the cost and expense of additional light-emitting diodes on the actuator side or additional photodiodes on the input device side. Furthermore, this redundant second transmission channel implementation avoids the expense and cost of optical components used to separate optical signals from the round-trip path or for the second optical fiber used for the return path, and also avoids errors in the event of system failure (e.g., during time-division multiplexing operation). Within the scope of advantageous embodiments, input devices such as steering wheels or brake pedals can also have point-to-point or point-to-multipoint connections with actuators such as brakes (preferably all brakes) and steering mechanisms (steering actuators).

[0031] Other advantages include: the transmitting unit of the input device has a first switching unit and a second switching unit, wherein the first switching unit is preferably designed in the form of a microcontroller and the second switching unit is particularly designed in the form of an application-specific integrated circuit (ASIC). Within the scope of this invention, the switching unit can be understood, in particular, as a chip or the like. Here, implementing the second switching unit as an ASIC circuit whose basic functionality is invariable is particularly useful for preventing software malfunctions / malware. Furthermore, the microcontroller can particularly be designed in the form of a microcontroller or the like that parameterizes the ASIC circuit and can parameterize the ASIC circuit within a safe range to achieve different degrees of steering deflection. Or a nonlinear angular steering deflection function (Winkel-Lenkausschlag-Funktionen).

[0032] Similarly, in terms of generating reliable transmission of input commands such as steering and braking commands simply and cost-effectively, it is conceivable that a first switching unit is integrated into a first transmission channel and a second switching unit is integrated into a second transmission channel. Here, it can be particularly suggested that the first switching unit, preferably designed as a microcontroller, transmits input commands via a first transmission channel preferably designed as an electric vehicle network, particularly via a central control unit. Conversely, the second switching unit, preferably in the form of an ASIC circuit, can transmit input commands via a second transmission channel preferably designed as a fiber optic connection, thereby enabling command transmission even if one of the two transmission channels fails, for example, at one of the switching units.

[0033] The following advantages can also be achieved: the receiving unit of the input device has a first switching unit and a second switching unit, wherein the first switching unit is preferably designed in the form of a microcontroller and the second switching unit is particularly designed in the form of an application-specific integrated circuit. This arrangement enables particularly secure and reliable transmission of input commands. Within the receiving unit, the first and second switching units can also preferably be designed as a single unit. This particularly ensures a simple manufacturing method and compact arrangement of the control system according to the subject matter of the invention. Within the scope of the integrated receiving unit embodiment, redundancy for performing braking and / or steering processes is thus preferably provided in other ways. Within the receiving unit, and more preferably in relation to the subject matter of the invention, the first switching unit is integrated into a first transmission channel and the second switching unit is integrated into a second transmission channel. The first switching unit, preferably designed as a microcontroller, can also advantageously be designed to transmit feedback, such as steering and / or braking feedback, to the input device via the first transmission channel. Here, the switching unit of the receiving unit of the actuator designed as a steering device (steering actuator) can be designed to have the same structure as the switching unit of the receiving unit of the actuator designed as a braking device (brake), except that preferably a separate receiving unit can be provided for each braking device.

[0034] Similarly, the subject of this invention is also a motor vehicle including the above-described system. Thus, the motor vehicle according to the invention possesses the same advantages already described in detail regarding the system aspects according to the invention.

[0035] Similarly, the subject of this invention is also a control method for controlling a motor vehicle, and more particularly for controlling the cable connection of the aforementioned control system. Here, the method according to the invention includes the steps of: transmitting a signal for executing an input command by means of a transmitting unit of an input device; transmitting a first signal via a first transmission channel and transmitting a second signal via a second transmission channel. Furthermore, the method includes the steps of receiving a signal from a receiving unit of an actuator and executing the input command by means of the actuator. Thus, the motor vehicle according to the invention possesses the same advantages already described in detail regarding the control system according to the invention.

[0036] This offers the following advantages: the input device's transmitting unit receives input commands via sensors, including a first sensor and a second sensor for receiving these commands, and sends the input commands from the first and second sensors to a first switching unit and a second switching unit. By simultaneously transmitting the input commands from the first and second sensors to both the first and second switching units, an additional redundancy is provided to enhance the fail-safety of the control system of the present invention. If, for example, the rotation angle is measured at the steering command input device using two different sensors, the redundancy achieved by integrating the second transmission channel can be advantageously continued in such a way that both sensors output their data to both the first and second switching units. Therefore, it is possible to continue transmitting steering data even in the event of a failure of the switching unit or the transmission channel.

[0037] It also offers the following advantages: signals are transmitted in an encrypted manner, preferably using a vehicle-specific key to encrypt the second transmission channel, whereby a message authentication code calculated or derived from the input command or data and the vehicle-specific key is generated within the encrypted range. Encrypted signal transmission enables more secure communication within the vehicle. In this way, bit errors on the transmission line and malicious alterations to the data can be identified. Additionally, it can be proposed that data packets on the second transmission channel be protected by forward error correction so that bit errors caused by loose connections can be identified and corrected early. For safety reasons, it is also advantageous that the vehicle enters a safe state (e.g., emergency stop) when necessary corrections are made. Input commands such as steering and / or braking commands, or data such as steering and / or braking data, can preferably be transmitted completely in parallel via the first and second transmission channels, thereby enabling rapid switching in the event of connection failure. Here, the transmission interval for input commands or data can be less than 10 ms, preferably less than 5 ms, and especially 1 ms.

[0038] Within the scope of the steering process, to ensure not only the reliable transmission of steering commands but also their reliable execution, the invention particularly proposes that, in the event of a failure of the actuator, it be functionally replaced by at least one other actuator, preferably by activating at least one braking device in the event of a steering actuator failure. In this way, steering can be achieved by braking the individual wheels even if the steering actuator fails. Therefore, in emergency situations, the vehicle can be steered using a torque vectoring control system / ESP-like system. For safety reasons, when using this steering method, the vehicle should be brought to a safe state (e.g., emergency stop) as quickly as possible. Attached Figure Description

[0039] Other advantages, features, and details of the invention will become apparent from the following description, in which embodiments of the invention are described in detail with reference to the accompanying drawings. Here, the features mentioned in the claims and description may be important to the invention individually or in any combination.

[0040] The attached diagram schematically illustrates:

[0041] Figure 1 An embodiment of a control system for controlling a motor vehicle according to the present invention is shown.

[0042] Figure 2a The transmitting unit of the input device of the control system according to the invention, based on the first embodiment, is shown.

[0043] Figure 2b A receiving unit of the actuator of the control system according to the present invention, based on the first embodiment, is shown.

[0044] Figure 3 A data packet for transmitting input commands in the control system according to the invention, based on a first embodiment, is shown.

[0045] Figure 4a A control method for compensating for failure of a steering actuator in a control system according to the invention based on a first embodiment is shown.

[0046] Figure 4b A control method for compensating for failure of a steering actuator in a control system according to the invention according to a second embodiment is shown.

[0047] Figure 5 An embodiment of the control method for controlling a motor vehicle according to the present invention is shown. Detailed Implementation

[0048] Figure 1An embodiment of a control system 2 for controlling cable connections of a motor vehicle according to the present invention is shown.

[0049] Here, the control system 2 includes: input devices 6 and 6', which have a transmitting unit 4 for issuing signals for executing input commands; a first transmission channel 8 for transmitting a first signal; a second transmission channel 10 for transmitting a second signal; a receiving unit 12 for receiving signals; and execution devices 14 and 14' for executing input commands.

[0050] As an example of a cable-connected control system, a steer-by-wire system and / or a brake-by-wire system are shown here. Therefore, the input devices are designed here as steering command input devices (especially the steering wheel) and / or as braking command input devices (especially the brake pedal). Here, the input commands are correspondingly understood as steering commands and / or braking commands. Here, the actuators are designed in the form of steering devices (such as steering actuators) or braking devices (such as brakes).

[0051] As in Figure 1 As can be seen, the first transmission channel 8 is designed to be bidirectional and is designed to be in the form of an electric vehicle network.

[0052] Here, a central control unit 16 for receiving and transmitting signals is provided. This central control unit is integrated into the first transmission channel 8 and is arranged between the input devices 6, 6' and the actuators 14, 14'.

[0053] Conversely, the second transmission channel 10 is designed to be unidirectional and is designed to be in the form of an optical transmission channel, especially in the form of an optical fiber cable.

[0054] Figure 2a The transmitting unit 4 of the input devices 6, 6' of the control system 2 according to the invention according to the first embodiment is shown.

[0055] Here, the transmitting unit 4 of the input devices 6, 6' includes a first switching unit and a second switching unit 18a, 18b, wherein the first switching unit 18a is designed in the form of a microcontroller and the second switching unit 18b is designed in the form of an application-specific integrated circuit.

[0056] According to Figure 2a As can be seen, the first switching unit 18a is integrated into the first transmission channel 8 and the second switching unit 18b is integrated into the second transmission channel 10. Here, the transmitting units 4 of the input devices 6 and 6' are made independently of each other and redundantly forward input commands via the first and second transmission channels 8 and 10.

[0057] As shown here, the transmitting unit 4 of the input devices 6 and 6' receives input commands through the sensor 22, wherein a first sensor and a second sensor 22a and 22b are provided for receiving input commands, and the input commands from the first sensor and the second sensor 22a and 22b can be sent to either the first switching unit 18a or the second switching unit 18b.

[0058] Figure 2b A receiving unit 12 of the actuators 14, 14' of the control system 2 according to the present invention, based on a first embodiment, is shown.

[0059] According to Figure 2b As can be seen, the receiving unit 12 of the input devices 14, 14' has a first switching unit and second switching units 20a, 20b, wherein the first switching unit 20a is designed as a microcontroller and integrated into the first transmission channel 8, and the second switching unit 20b is designed as an application-specific integrated circuit and integrated into the second transmission channel 10. In the receiving unit 12, which is designed as a chip, the microcontroller and the application-specific integrated circuit are co-manufactured. The microcontroller can also send steering feedback or braking feedback back to the steering wheel or brake pedal. Based on the signals received by the receiving unit 12, corresponding signals for executing input commands (such as steering or braking commands) can be sent through the interface 24 with the power electronics, and then the relevant input commands are executed.

[0060] Figure 3 A data packet 26 for transmitting input commands is shown in the control system 2 according to the invention according to the first embodiment.

[0061] As shown here, signal transmission can be achieved in an encrypted manner, particularly by using a vehicle-specific key to encrypt the second transmission channel 10.

[0062] Here, the first data packet 26a can preferably be calculated or derived from the input instructions or data (e.g., steering or braking data) and the vehicle-specific key, and then a message authentication code 26b is generated from it. Next, the message authentication code 26b also includes forward error correction data 26c.

[0063] Figure 4a , Figure 4b A method for compensating for the failure of a steering actuator in a control system 2 according to the present invention is shown.

[0064] The method presented proposes that, in the event of a failure of the steering actuator 14, the steering process is initiated by manipulating the brake 14'. Here, as... Figure 4a As shown, the leftward steering process is initiated by operating the left brake 14'; however, according to... Figure 4b The rightward steering process is initiated by operating the right brake 14'.

[0065] Figure 5 An embodiment of a control method for controlling cable connections in a motor vehicle according to the present invention is shown.

[0066] Here, the method according to the invention includes the following steps: transmitting a signal 200 for executing an input instruction by means of the transmitting unit 4 of the input devices 6, 6'; transmitting a first signal 210 via the first transmission channel 8 and transmitting a second signal 220 via the second transmission channel 10. The method according to the invention further includes the following steps: receiving a signal 230 from the receiving unit 12 of the execution devices 14, 14' and executing the input instruction 240 by means of the execution devices 14, 14'.

Claims

1. A cable-based control system (2) for controlling a motor vehicle, the control system comprising: An input device (6, 6') having a transmitting unit (4) for issuing a signal to execute an input command; A first transmission channel (8) for transmitting a first signal; a second transmission channel (10) for transmitting a second signal; a receiving unit (12) for receiving the signal of an actuator (14, 14'); and an actuator (14, 14') for executing the input command, wherein in the event of a failure of the actuator (14), its function is replaced by at least another actuator (14'), wherein in the event of a failure of the steering device, the steering process is performed by activating at least one braking device; The first transmission channel (8) is designed to be bidirectional, wherein the first transmission channel (8) is designed to be in the form of an electric vehicle network, wherein a central control unit (16) for receiving and transmitting signals is provided, wherein the central control unit (16) is integrated into the first transmission channel (8) and is arranged between the input device (6, 6') and the execution device (14, 14'). The second transmission channel (10) is designed to be unidirectional, wherein the second transmission channel (10) is designed to be in the form of an optical transmission channel and is designed to be in the form of an optical fiber cable or polymer optical fiber (POF).

2. The control system (2) according to claim 1, characterized in that, The transmitting unit (4) of the input device (6, 6') has a first switching unit and a second switching unit (18a, 18b), wherein the first switching unit (18a) is designed in the form of a microcontroller and the second switching unit (18b) is designed in the form of an application-specific integrated circuit.

3. The control system (2) according to claim 2, characterized in that, The first switching unit (18a) is integrated into the first transmission channel (8) and the second switching unit (18b) is integrated into the second transmission channel (10).

4. The control system (2) according to claim 1, characterized in that, The receiving unit (12) of the actuator (14, 14') has a first switching unit and a second switching unit (20a, 20b), wherein the first switching unit (20a) is designed in the form of a microcontroller and the second switching unit (20b) is designed in the form of an application-specific integrated circuit.

5. A cable-based control method for controlling a control system (2) according to any one of the preceding claims in a motor vehicle, the control method comprising the following steps: -The transmitting unit (4) of the input device (6, 6') emits (200) a signal for executing the input command; - Transmit (210) the first signal via the first transmission channel (8); - Transmit (220) the second signal via the second transmission channel (10); - Receive (230) signals from the receiving unit (12) of the actuator (14, 14'), - The input instruction (240) is executed by means of the execution device (14, 14'). In the event of a failure of the actuator (14), its function is replaced by at least another actuator (14'), wherein in the event of a failure of the steering device, the steering process is performed by activating at least one braking device; The first transmission channel (8) is designed to be bidirectional, wherein the first transmission channel (8) is designed to be in the form of an electric vehicle network, wherein a central control unit (16) for receiving and transmitting signals is provided, wherein the central control unit (16) is integrated into the first transmission channel (8) and is arranged between the input device (6, 6') and the execution device (14, 14'). The second transmission channel (10) is designed to be unidirectional, wherein the second transmission channel (10) is designed to be in the form of an optical transmission channel and is designed to be in the form of an optical fiber cable or polymer optical fiber (POF).

6. The control method according to claim 5, characterized in that, The transmitting unit (4) of the input device (6, 6') receives input commands through the sensor (22), wherein a first sensor and a second sensor (22a, 22b) are provided for receiving input commands, wherein the input commands from the first sensor and the second sensor (22a, 22b) are sent to the first switching unit and the second switching unit (18a, 18b).

7. The control method according to claim 5 or 6, characterized in that, The signal is transmitted in an encrypted manner, wherein the second transmission channel (10) is encrypted by means of a vehicle-specific key, wherein a message authentication code composed of the input instruction and the vehicle-specific key is generated within the scope of encryption.

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