Safety mechanisms for high-availability angle sensors

Abstract

Various embodiments of the present disclosure generally relate to safety mechanisms for high-availability angle sensors. In some implementations, an angle sensor can determine the angular position of an object based on a first sensor value received from a first set of sensing elements. The first sensor value includes a first x-component of a magnetic field and a first y-component of the magnetic field. The angle sensor can determine the angular position of the object based on a second sensor value received from a second set of sensing elements. The second sensor value includes a second x-component of the magnetic field and a second y-component of the magnetic field. The angle sensor can perform a set of safety checks, including performing an x-component check based on the first x-component and the second x-component and performing a y-component check based on the first y-component and the second y-component. The angle sensor can provide an indication of the results of the set of safety checks.

Description

Technical Field

[0001] Embodiments of the present disclosure generally relate to safety mechanisms for high-availability angle sensors. Background Art

[0002] The angle sensor may include a set of sensing components that sense the strength of different components (e.g., x-component and y-component) of a magnetic field generated or distorted by a target object. The angle sensor may determine the angular position of the target object based on the strength of the components of the magnetic field and may provide an output indicating the angular position determined by the angle sensor. Summary of the Invention

[0003] In some implementations, an angle sensor includes a first angle measurement path for determining an angular position based on first sensor values ​​from a first set of sensing elements, wherein the first sensor values ​​include a first x-component of a magnetic field and a first y-component of the magnetic field; a second angle measurement path for determining the angular position based on second sensor values ​​from a second set of sensing elements, wherein the second sensor values ​​include a second x-component of the magnetic field and a second y-component of the magnetic field; a safety path for performing a set of safety checks, the set of safety checks including: an x-component check based on the first x-component and the second x-component, and a y-component check based on the first y-component and the second y-component; and an output component for providing an indication of a result of the set of safety checks.

[0004] In some implementations, a sensor system includes a first set of sensing elements for acquiring a first sensor value associated with a rotation of an object, wherein the first sensor value includes a first x-component of a magnetic field and a first y-component of the magnetic field; a second set of sensing elements for acquiring a second sensor value associated with the rotation of the object, wherein the second sensor value includes a second x-component of the magnetic field and a second y-component of the magnetic field; a first angular measurement path for determining an angular position based on the first sensor value; a second angular measurement path for determining the angular position based on the second sensor value; a safety path for performing a set of safety checks, the set of safety checks including: an x-component check based on the first x-component and the second x-component, and a y-component check based on the first y-component and the second y-component; and an output component for providing an indication of a result of the set of safety checks.

[0005] In some implementations, a method includes determining, by a system, an angular position of an object based on first sensor values ​​received from a first set of sensing elements, wherein the first sensor values ​​include a first x-component of a magnetic field and a first y-component of the magnetic field; determining, by the system, the angular position of the object based on second sensor values ​​received from a second set of sensing elements, wherein the second sensor values ​​include a second x-component of the magnetic field and a second y-component of the magnetic field; performing, by the system, a set of security checks, wherein performing the set of security checks includes: performing an x-component check based on the first x-component and the second x-component, and performing a y-component check based on the first y-component and the second y-component; and providing, by the system, an indication of a result of the set of security checks. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1A and Figure 1B are diagrams associated with example operations of a system including a safety mechanism for an angle sensor as described herein;

[0007] Figure 2A-2C is a diagram of an example implementation of a system including a safety mechanism for an angle sensor as described herein;

[0008] Figure 3 is a diagram illustrating example hardware elements of the angle sensor described herein; and

[0009] Figure 4 is a flow chart of an example process associated with a safety mechanism for an angle sensor. DETAILED DESCRIPTION

[0010] The following detailed description of example implementations refers to the accompanying drawings, in which the same reference numerals in different drawings may identify the same or similar elements.

[0011] Angle sensors can be designed to determine the angular position of a target object (e.g., a rotatable object) within a given application. For example, angle sensors can be used in electronic power steering (EPS) applications to determine the angular position of the steering column. In some applications, ensuring the functional safety of the angle sensor may be crucial.

[0012] Generally speaking, functional safety can be defined as the absence of unreasonable risk (e.g., to the system, the environment, or humans) due to hazards caused by the malfunctioning behavior of the angle sensor (e.g., systematic failures, random failures, etc.). In the automotive sector, the Automotive Safety Integrity Level (ASIL) scheme is used to specify the functional safety requirements for angle sensors. The ASIL scheme is a risk classification scheme defined by the International Organization for Standardization (ISO) 26262 standard (entitled "Functional Safety of Road Vehicles"), which provides standards for the functional safety of electrical and / or electronic systems in mass-produced vehicles. The ASIL classification defines the safety requirements required to comply with the ISO 26262 standard. The ASIL is determined by performing a risk analysis of potential hazards based on the severity, exposure, and controllability of vehicle operating scenarios. The safety goal for the hazard, in turn, guides the ASIL requirement. The standard defines four ASIL levels: ASIL A, ASIL B, ASIL C, and ASIL D. ASIL D specifies the highest integrity requirements, while ASIL A specifies the lowest integrity requirements. Hazards that present a low risk (and therefore do not require safety measures in accordance with ISO 26262) are designated as quality management (QM). In some cases, it is desirable or required for angle sensors to achieve a high ASIL. For example, an angle sensor used in a given application may be desirable or required to achieve ASIL B, ASIL C, or ASIL D. To ensure the functional safety of the angle sensor, a safety mechanism should be implemented that allows for the identification and signaling of faulty behavior.

[0013] Some implementations described herein provide a safety mechanism for an angle sensor. In some implementations, the angle sensor includes a first angle measurement path for determining an angular position based on sensor values ​​from a first set of sensing elements, and a second angle measurement path for determining an angular position based on sensor values ​​from a second set of sensing elements. The first set of sensing elements and the second set of sensing elements can be the same or different types of sensing elements. For example, the first set of sensing elements can be a set of magnetoresistive (MR) sensing elements (e.g., a set of anisotropic magnetoresistive (AMR) elements, giant magnetoresistive (GMR) elements, tunnel magnetoresistive (TMR) elements, etc.), and the second set of sensing elements can be the same set of MR sensing elements, a different set of MR sensing elements, or a set of Hall-based sensing elements (e.g., a set of sensing elements operating based on the Hall effect).

[0014] Each of the first and second groups of sensing elements may include one or more components configured to acquire a corresponding set of sensor values ​​for determining the angular position of the target object. The set of sensor values ​​may include a value of a signal indicating the y-component of the angular position (also referred to as a sine value) and a value of a signal indicating the x-component of the angular position (also referred to as a cosine value). The angle sensor includes a safety path for performing a set of safety checks associated with the first angle measurement path and / or the second angle measurement path based on the sine and cosine values ​​measured by the first and second groups of sensing elements. The set of safety checks may include an x-component check that compares the cosine value received from the first angle measurement path with the cosine value received from the second angle measurement path. The set of safety checks may also include a y-component check that compares the sine value received from the first angle measurement path with the sine value received from the second angle measurement path. In some implementations, the safety path enables detection of a faulty path (e.g., in the first angle measurement path or in the second angle measurement path), thereby improving the functional safety of the angle sensor.

[0015] Figure 1A and Figure 1B is a diagram associated with example operations of the system 100 including a safety mechanism for the angle sensor 102 as described herein. Figure 1A As shown, system 100 includes an angle sensor 102, which includes an angle measurement path 104, an angle measurement path 106, a safety path 108, and a digital output component 110. As further shown, system 100 includes a controller 112. The components of system 100 are described below, followed by an example operation of system 100. In some implementations, angle measurement path 104, angle measurement path 106, and safety path 108 are integrated on a monolithic semiconductor device (e.g., a single chip).

[0016] An angle measurement path (e.g., angle measurement path 104, angle measurement path 106) includes one or more components associated with determining the angular position theta (θ) of a target object (not shown) based on a set of sensor values. For example, the set of sensor values ​​may include a value of a signal indicating the y-component of the angular position θ (also referred to as a sine value) and a value of a signal indicating the x-component of the angular position θ (also referred to as a cosine value). Here, a given angle measurement path can determine the angular position θ of the target object based on the y-component and the x-component (e.g., by calculating the inverse tangent of the y-component divided by the x-component).

[0017] In some implementations, angle measurement path 104 and angle measurement path 106 utilize the same type of sensing element. In some implementations, angle measurement path 104 and angle measurement path 106 utilize different types of sensing elements, meaning that angle measurement path 104 and angle measurement path 106 are different measurement paths. In some implementations, the measurement range on angle measurement path 104 is different from the measurement range on angle measurement path 106.

[0018] The safety path 108 includes one or more components associated with performing one or more safety checks associated with the angle sensor 102. In some implementations, the one or more safety checks include an x-component check and a y-component check. Figure 2A-2C Additional details are provided regarding example implementations of x-component checks and y-component checks. In some implementations, one or more safety checks include a vector length check associated with angle measurement path 104. In some implementations, one or more safety checks include a vector length check associated with angle measurement path 106. In some implementations, one or more safety checks include a comparison check associated with an angular position θ determined on angle measurement path 104 and an angular position θ determined on angle measurement path 106.

[0019] In some implementations, such as Figure 1A As shown, the safety path 108 is configured to receive the sensor values ​​(eg, sine and cosine values) from the angle measurement path 104, the sensor values ​​from the angle measurement path 106, and the vector length r associated with the sensor values ​​from the angle measurement path 104. a The information associated with the vector length r associated with the sensor value from the angle measurement path 106 b The information associated with the angular position θ determined on the angle measurement path 104 a The information associated with the angular position θ determined in the angle measurement path 106 b In some implementations, the safety path 108 is configured to provide a safety indication (e.g., a fault indication, an error indication, a disabled indication, an OK indication, etc.) to the digital output component 110.

[0020] The digital output component 110 includes one or more components associated with generating and transmitting one or more outputs (e.g., an output carrying sensor data, an output carrying an indication of the results of one or more security checks, etc.). Figure 1AAs shown, digital output assembly 110 can receive one or more signals from angle measurement path 104 , angle measurement path 106 , and safety path 108 and can generate and transmit one or more outputs accordingly. In some implementations, digital output assembly 110 transmits one or more outputs to controller 112 .

[0021] The controller 112 includes one or more components associated with controlling one or more electrical systems and / or electrical subsystems based on information provided by the sensor 102. The controller 112 may include, for example, a microcontroller (μC) or an electronic control unit (ECU). In some implementations, the controller 112 is capable of calibrating, controlling, regulating, and / or performing other operations related to one or more electrical systems and / or electrical subsystems based on information received from the sensor 102. For example, in some implementations, the controller 112 may be configured to determine the angular position θ of a target object and / or one or more other information (e.g., the rotational speed of the target object, the rotational direction of the target object, etc.), determine information associated with one or more safety checks of the sensor 102, and / or provide such information or perform one or more operations associated with controlling one or more electrical systems and / or electrical subsystems based on such information. In some implementations, the controller 112 is connected to the sensor 102 such that the controller 112 can receive information (e.g., one or more signals) from the sensor 102 via one or more transmission interfaces and / or via one or more output terminals.

[0022] Figure 1A An example operation of the system 100 is shown in FIG. As shown at 150, the angle measurement path 104 determines the angular position θ a In some implementations, the angle measurement path 104 determines the angular position θ based on sensor values ​​provided by the set of sensing elements (eg, a set of MR sensing elements, such as a set of AMR sensing elements) on the angle measurement path 104. a In some implementations, the angle measurement path 104 provides one or more signals to the safety path 108. The one or more signals provided by the angle measurement path 104 to the safety path 108 may include, for example, an indication of a sensor value (e.g., an x-component value x) from the angle measurement path 104. a and the y-component value y a ), one or more signals, a vector of length r calculated from the sensor values a (For example, when the angle measurement path 104 is configured to calculate the vector length r a time), and / or angular position θ a Furthermore, in some implementations, the angle measurement path 104 provides an indication of the angular position θ to the digital output component 110. a signal.

[0023] As shown at 152, the angle measurement path 106 determines the angular position θ b In some implementations, the angle measurement path 106 determines the angular position θ based on sensor values ​​provided by the set of sensing elements (e.g., a set of Hall-based sensing elements or a set of MR sensing elements, such as a set of GMR sensing elements or TMR sensing elements) on the angle measurement path 106. b In some implementations, the angle measurement path 106 provides one or more signals to the safety path 108. The one or more signals provided by the angle measurement path 106 to the safety path 108 may include, for example, an indication of a sensor value (e.g., an x-component value x) from the angle measurement path 106. b and the y-component value y b ), one or more signals, a vector of length r calculated from the sensor values b (For example, when the angle measurement path 106 is configured to calculate the vector length r b time), and / or angular position θ b Furthermore, in some implementations, the angle measurement path 106 provides an indication of the angular position θ to the digital output component 110. b signal.

[0024] As shown at 154 , the safety path 108 determines the vector length r associated with the angle measurement path 104 . a and the vector length r associated with the angle measurement path 106 b In some implementations, the safety path 108 receives the vector length r from the angle measurement path 104. a The length of the vector r is determined by the a , as described above (eg, when the angle measurement path 104 is configured to calculate the vector length r a Alternatively, in some implementations, the safety path 108 calculates the vector length r based on the sensor values ​​received from the angle measurement path 104. a To determine the vector length r a Similarly, the safety path 108 receives the vector length r from the angle measurement path 106 b The length of the vector r is determined by the b , as described above (eg, when the angle measurement path 106 is configured to calculate the vector length r b Alternatively, in some implementations, the safety path 108 calculates the vector length r based on the sensor values ​​received from the angle measurement path 106. b To determine the vector length r b .

[0025] In some implementations, the length of a given vector r (e.g., the length of the vector r) is determined using the following equation: a, vector length r b ):

[0026] r=sqrt(X 2 +Y 2 )

[0027] Where X is the x-component of the angular position θ, and Y is the y-component of the angular position θ. In other words, the vector length r corresponds to the magnitude of the electric vector, whose elements are given by the x-component (cosine) and y-component (sine) channels for a given angle measurement path. It is important to note that the vector length r is independent of the angular position θ.

[0028] As shown at reference numeral 156, the safety path 108 performs one or more safety checks. In some implementations, the safety checks performed by the safety path 108 are based on the x-component value x received from the angle measurement path 104. a and the x-component value x received from the angle measurement path 106 b For example, the safety path 108 may be based on the x-component value x received from the angle measurement path 104. a and the x-component value x received from the angle measurement path 106 b Perform a safety check by doing a comparison.

[0029] In some implementations, as described below with respect to Figure 2A-2C More specifically, the secure path 108 determines the x component value x a (e.g., the cosine value determined on the angle measurement path 104) matches the x-component value x b (eg, a cosine value determined on the angle measurement path 106) to perform the x-component value x a and the x-component value x b That is, the safe path 108 can be determined by determining the x component value x a With the x-component value x b The comparison is performed by determining whether the difference between the x component value x is less than a threshold value (e.g., a tolerance value). In some implementations, information indicating the threshold value can be stored in a memory of the sensor 102. During operation, the safe path 108 can compare the x component value x to the x component value x. a With the x-component value x b The calculated difference between and is compared with a threshold value. When the difference does not meet (eg, is greater than) the threshold value, the safety path 108 may, for example, signal an error to the digital output component 110.

[0030] Alternatively and / or additionally, the safety check performed by the safety path 108 may be based on the y-component value y received from the angle measurement path 104. a and the y component value y received from the angle measurement path 106 bFor example, the safe path 108 may be based on the y-component value x received from the angle measurement path 104. a The y component value x received from the angle measurement path 106 b Perform a safety check by doing a comparison.

[0031] In some implementations, as described below with respect to Figure 2A-2C More specifically, the safe path 108 determines the y component value y a (e.g., the sine value determined on the angle measurement path 104) matches the y-component value y b (eg, a sine value determined on the angle measurement path 106) to perform the y-component value y a and the y-component value y b That is, the safe path 108 can be determined by determining the y component value y a and the y-component value y b The comparison is performed by determining whether the difference between the values ​​of y and y is less than a threshold value (e.g., a tolerance value). In some implementations, the threshold value is the same as the threshold value described above with respect to the x component check. In some implementations, information indicating the threshold value can be stored in a memory of the sensor 102. During operation, the safe path 108 can compare the y component value y a and the y-component value y b The calculated difference between and is compared with a threshold value. When the difference does not meet (eg, is greater than) the threshold value, the safety path 108 may, for example, signal an error to the digital output component 110.

[0032] In some implementations, the security check performed by the security path 108 is based on the vector length r a , angular position θ a , vector length r b and / or angular position θ b In some implementations, the one or more security checks include one or more vector length checks. For example, the one or more security checks may include a check related to the vector length r a The associated vector length check and / or the vector length r b Associated vector length check. Ideally, given a vector length r (e.g., a , vector length r b) remains constant during operation of the sensor 102 (e.g., due to the principle that cos2θ+sin2θ=1). For example, if a sensor channel (e.g., the x-component channel or the y-component channel) of a given angle measurement path (e.g., angle measurement path 104 or angle measurement path 106) experiences a stuck-at fault, the vector length r will vary depending on the angle θ. This variation in the vector length r can be detected by a vector length check performed by the safety path 108. Therefore, when performing the vector length check, the safety path 108 determines whether the vector length r remains within an allowable vector length range (e.g., determined by the minimum vector length r). min and the maximum vector length r max The vector length is within the defined range). Figure 1B is a diagram showing a visualization of the vector length check. Figure 1B In the visualization shown, the vector length check is to determine whether the vector length r is within the minimum vector length r min and the maximum vector length r max within the defined shaded area.

[0033] It is noteworthy that the digital signal processing performed by sensor 102 can provide compensation for imperfections in components of sensor 102 (e.g., the set of sensing elements, one or more analog-to-digital converters (ADCs), etc.). For example, a digital signal processor (DSP) of sensor 102 can receive raw (i.e., uncompensated) sensor values ​​as input, perform compensation, and output compensated sensor values. The parameters of such compensation can be based on calibration and / or automatic calibration. For example, the offset of the raw sensor values ​​can shift with temperature. Here, relevant parameters for compensating for such offset can be determined during end-of-line testing (i.e., calibration) and stored in a memory (e.g., non-volatile memory (NVM)) of sensor 102. These parameters can then be used during operation of sensor 102 to provide compensation, resulting in a reduction in the offset of the compensated sensor values ​​with temperature. It is noteworthy that a well-compensated angular measurement path shows negligible variation in the magnitude of the sensor values, and therefore, the vector length r associated with a given angular measurement path can be independent of temperature. Furthermore, for saturated sensing elements (e.g., MR sensing elements), the vector length r does not significantly depend on the magnitude of the magnetic field. In some implementations, the minimum vector length r is min and the maximum vector length r max The determination can be based on consideration of such variations and margins. That is, the allowable vector length range of the well-compensated sensor 102 can be smaller (eg, compared to an uncompensated or poorly compensated angle sensor), thereby improving the functional safety of the sensor 102 .

[0034] In some implementations, the minimum vector length r min and the maximum vector length rmax is stored in the memory of the sensor 102 (eg, after calibration). During operation, the safe path 108 compares the calculated vector length r with the stored minimum vector length r min and the maximum vector length r max Here, if the vector length r is not within the allowed vector length range (i.e., if the calculated vector length is less than the minimum vector length r min or greater than the maximum vector length r max ), the safety path 108 can, for example, signal an error to the digital output component 110.

[0035] In some implementations, the safety path 108 performs a vector length check associated with the angle measurement path 104. That is, the safety path 108 may determine the vector length r a In addition or alternatively, in some implementations, the safety path 108 performs a vector length check associated with the angle measurement path 106. That is, the safety path 108 may determine whether the vector length r is within the allowed vector length range. b Is it within the allowed vector length range (for example, the same as used to check the vector length r a The same allowed vector length range as that used to check vector length r a The allowed vector length range is different from the allowed vector length range).

[0036] In some implementations, one or more safety checks include comparing the angular position θ a and angular position θ b In some implementations, the safe path 108 is determined by determining the angular position θ a (eg, the angular position determined on the angle measurement path 104) matches the angular position θ b (e.g., the angular position determined on the angle measurement path 106). That is, the safety path 108 can be determined by determining the angular position θ a and angular position θ b The comparison check is performed by determining whether the difference between the angular position θ and the angular position θ is less than a threshold value (e.g., a tolerance value). In some implementations, information indicating the threshold value can be stored in the memory of the sensor 102. During operation, the safety path 108 sets the angular position θ to the angular position θ. a and angular position θ b Here, if the difference does not meet (eg, is greater than) the threshold, the safety path 108 can, for example, signal an error to the digital output component 110.

[0037] In some implementations, the safety path 108 provides information indicating the results of one or more safety checks to the digital output component 110. For example, as described above, the safety path 108 can provide an indication of an error associated with an x-component check, an error associated with a y-component check, an error associated with a vector length check associated with the angle measurement path 104, an error associated with a vector length check associated with the angle measurement path 106, and / or an error associated with a comparison check. As another example, the safety path 108 can provide an indication that a given safety check has passed (e.g., an indication that the angle measurement path 104 and / or the angle measurement path 106 has passed the x-component check, an indication that the angle measurement path 104 and / or the angle measurement path 106 has passed the y-component check, an indication that the angle measurement path 104 has passed the vector length check, an indication that the angle measurement path 106 has passed the vector length check, and / or an indication that the angle measurement paths 104 / 106 have passed the comparison check).

[0038] return Figure 1A As shown at 158 ​​and 160, the digital output assembly 110 can provide angle data and an indication of the results of one or more safety checks to the controller 112. The angle data includes the angular position θ a Indication and / or angular position θ b In some implementations, the indication of the results of one or more security checks can include an indication of whether a given security check failed or passed. Alternatively, in some implementations, the indication of the results of the security checks can include an indication that a given security check has failed (i.e., the digital output component 110 can provide an indication of a given security check only if the given security check has failed).

[0039] As mentioned above, providing Figure 1A and Figure 1B As an example. Other examples can be related to Figure 1A and Figure 1B In addition, provide Figure 1A The number and arrangement of components shown are examples. Figure 1A There may be more components, fewer components, different components, or differently arranged components than shown. Figure 1A Two or more components shown may be implemented in a single component, or Figure 1A The single component shown may be implemented as multiple distributed components. Additionally or alternatively, Figure 1A The illustrated set of components (e.g., one or more components) may perform the operations described as being performed by Figure 1A Another group of components is shown performing one or more functions.

[0040] Figure 2A-2C is a diagram of an example implementation of a system 100 including a safety mechanism (eg, safety path 108) for an angle sensor (eg, angle sensor 102) as described herein. Figure 2A-2C , components of angle measurement path 104 are indicated in white, components of angle measurement path 106 are indicated by hatching, components of safety path 108 are indicated in light gray, and digital output components are indicated in dark gray. Furthermore, safety path 108 includes one or more vector length check components 212 (e.g., vector length check component 212a, vector length check component 212b), an x-component check component 214a, a y-component check component 214b, and an angle comparison component 216.

[0041] Generally speaking, for example, Figure 2A-2C As shown, the angle measurement path 104 includes a set of sensing elements 202 (e.g., sensing element 202x for sensing the x-component of the magnetic field and sensing element 202y for sensing the y-component of the magnetic field), a set of measuring elements 206 (e.g., measuring element 206x1 for measuring the x-component sensed by sensing element 202x and measuring element 206y1 for measuring the y-component sensed by sensing element 202y), and an angle calculation component 210a. Similarly, the angle measurement path 106 includes a set of sensing elements 204 (e.g., sensing element 204x for sensing the x-component of the magnetic field and sensing element 204y for sensing the y-component of the magnetic field), a set of measuring elements 206 (e.g., measuring element 206x2 for measuring the x-component sensed by sensing element 204x and measuring element 206y2 for measuring the y-component sensed by sensing element 204y), and an angle calculation component 210b.

[0042] A set of sensing elements (e.g., the set of sensing elements 202 or the set of sensing elements 204) is a set of components for sensing a magnetic field at the angle sensor 102. In some implementations, as described above, each set of sensing elements 202 / 204 includes sensing elements 202 / 204 configured to sense the x-component of the magnetic field and sensing elements 202 / 204 configured to sense the y-component of the magnetic field. In some implementations, a given set of sensing elements 202 / 204 may include MR sensing elements, which are elements composed of a magnetoresistive material (e.g., nickel iron (NiFe)), wherein the resistance of the magnetoresistive material depends on the strength and / or direction of the magnetic field present at the magnetoresistive material. Here, the given set of sensing elements 202 / 204 may operate based on the AMR effect, the GMR effect, the TMR effect, etc. In addition, in some implementations, the given set of sensing elements 202 / 204 may include a set of Hall-based sensing elements that operate based on the Hall effect. In some implementations, a given sensing element 202 / 204 may provide an analog signal to the measuring element 206 corresponding to the strength of a component of the magnetic field.

[0043] The measurement element 206 may include an ADC that converts analog signals from a set of sensing elements 202 / 204 into digital signals. For example, the measurement element 206x1 may include an ADC that converts analog signals received from the set of sensing elements 202 into digital signals for processing by the DSP of the measurement element 206x1.

[0044] In some implementations, such as Figure 2B As shown, angle measurement path 104 and angle measurement path 106 are non-diversity measurement paths. Therefore, the set of sensing elements 202 on angle measurement path 104 and the set of sensing elements 204 on angle measurement path 106 can be the same type of sensing elements. For example, the set of sensing elements 202 and the set of sensing elements 204 can include a set of MR sensing elements (e.g., a set of AMR elements, a set of GMR elements, or a set of TMR elements), a set of Hall-based sensing elements (e.g., a set of sensing elements operating based on the Hall effect), etc. Furthermore, the measurement range provided by the set of sensing elements 202 can be the same as the measurement range provided by the set of sensing elements 204. For example, the measurement range provided by the set of sensing elements 202 and the set of sensing elements 204 can be 180 degrees (°) (e.g., when the set of sensing elements 202 and the set of sensing elements are a set of AMR sensing elements), or can be 360° (e.g., when the set of sensing elements 202 and the set of sensing elements 204 are a set of GMR sensing elements, a set of TMR sensing elements, a set of Hall-based sensing elements, etc.).

[0045] like Figure 2BAs shown, the angle calculation component 210a receives the x-component value and the y-component value measured by the measuring elements 206x1 and 206y1, respectively, and calculates the angular position θ by calculating the arc tangent of the y-component divided by the x-component. a In some implementations, the angle calculation component 210a calculates the vector length r based on the x-component value and the y-component value. a , as described above. The angle calculation component 210a may provide the vector length check component 212a with an indication of the vector length r calculated from the x-component value and the y-component value. a (For example, when the angle calculation component 210a is configured to calculate the vector length r a ) and / or provide an indication of the angular position θ to the angle comparison component 216. a One or more signals.

[0046] Similarly, the angle calculation component 210b receives the x-component value and the y-component value measured by the measuring elements 206x2 and 206y2, respectively, and calculates the vector length r by dividing the y-component by the arc tangent of the x-component. In some implementations, the angle calculation component 210b calculates the vector length r based on the x-component value and the y-component value. b , as described above. The angle calculation component 210b may provide the vector length check component 212b with an indication of the vector length r calculated from the x-component value and the y-component value. b (For example, when the angle calculation component 210b is configured to calculate the vector length r b ) and / or provide an indication of the angular position θ to the angle comparison component 216. b One or more signals.

[0047] The angle comparison component 216 may receive the indicated angular positions θ from the angle calculation component 210a and the angle calculation component 210b, respectively. a One or more signals and indicating angular position θ b The angle comparison component 216 can be based on the angular position θ a and angular position θ b To perform the angle comparison check. In some implementations, the angle comparison component 216 can be similar to the above description of Figure 1A The method described is similar to the method based on the angular position θ a and angular position θ b The angle comparison component 216 may output a signal to the digital output component 110 indicating the result of the angle comparison check.

[0048] Likewise, Figure 2BAs shown, the vector length check component 212a receives the x-component value and the y-component value measured by the measurement elements 206x1 and 206y1, respectively, and performs vector check based on the x-component value and the y-component value. In some implementations, the vector length check component 212a is similar to the above description of Figure 1A and Figure 1B The vector length check component 212a may output a signal to the digital output component 110 indicating the result of the vector length check component.

[0049] like Figure 2B As shown, x-component checking component 214a receives an x-component value x1 from measurement element 206x1 and an x-component value x2 from measurement element 206x2. Since the group of sensing elements 202 and the group of sensing elements 204 are of the same type, x-component checking component 214a can directly compare the x-component value x1 with the x-component value x2. In some implementations, x-component checking component 214a performs the comparison by determining whether the x-component value x1 matches the x-component value x2. That is, x-component checking component 214a can perform the comparison by determining whether the difference between the x-component value x1 and the x-component value x2 is less than a threshold value (e.g., a tolerance value). In some implementations, information indicating the threshold value can be stored in a memory of sensor 102. During operation, x-component checking component 214a can compare the calculated difference between the x-component value x1 and the x-component value x2 with the threshold value. Here, if the difference does not meet (eg, is greater than) a threshold, the x-component checking component 214a can signal an error, for example, to the digital output component 110 .

[0050] like Figure 2B As shown, y component checking component 214b receives y component value y1 from measuring element 206y1 and receives y component value y2 from measuring element 206y2. Since the group of sensing elements 202 and the group of sensing elements 204 are sensing elements of the same type, y component checking component 214b can directly compare y component value y1 with y component value y2. In some implementations, y component checking component 214b performs comparison by determining whether y component value y1 matches y component value y2. That is, y component checking component 214b can perform comparison by determining whether the difference between y component value y1 and y component value y2 is less than a threshold value (e.g., a tolerance value). In some implementations, information indicating the threshold value can be stored in the memory of sensor 102. During operation, y component checking component 214b can compare the calculated difference between y component value y1 and y component value y2 with a threshold value. Here, if the difference does not meet (eg, is greater than) a threshold, the y-component checking component 214b may signal an error, for example, to the digital output component 110 .

[0051] Using the same type of sensing element can provide advantages in identifying faults due to good matching between integrated, identical devices (which exhibit only minor deviations in their manufacturing spread, nonlinearity, aging, and temperature dependencies). Therefore, in addition to the vector length check (which is required to compensate for non-ideal effects as described above), performing an x-component check and / or a y-component check can increase the diagnostic coverage of safe path 108. Furthermore, performing a vector length check in conjunction with the x-component and y-component checks enables the identification of errors in either the x-component channel or the y-component channel. The remaining x-component channel or the y-component channel of an angle measurement path that has experienced an error can provide x-component values ​​or y-component values ​​that can still be used to cross-check the outputs of the remaining angle measurement paths.

[0052] In some implementations, such as Figure 2C As shown, the angle measurement path 104 and the angle measurement path 106 are different measurement paths. Therefore, in some implementations, the group of sensing elements 202 on the angle measurement path 104 may include a group of MR sensing elements, while the group of sensing elements 204 on the angle measurement path 106 may include a group of Hall-based sensing elements. As another example, in some implementations, the group of sensing elements 202 on the angle measurement path 104 may include a first group of MR sensing elements (e.g., a group of AMR elements), while the group of sensing elements 204 on the angle measurement path 106 may include a second group of MR elements (e.g., a group of GMR elements or a group of TMR elements, etc.). In some implementations, the measurement range provided by the group of sensing elements 202 is different from the measurement range provided by the group of sensing elements 204. As Figure 2C As shown, the measurement range provided by the set of sensing elements 202 can be 360 ​​degrees (°). For example, the set of sensing elements 202 can include a set of GMR sensing elements, a set of TMR sensing elements, a set of Hall-based sensing elements, etc. The measurement range provided by the set of sensing elements 204 can be 180°. For example, the set of sensing elements 204 can include a set of AMR sensing elements.

[0053] The use of different angle measurement paths 104 / 106 provided by the set of sensing elements 202 / 204 provides redundancy in angle measurement and diversity in sensing principles, thereby enhancing the functional safety of the angle sensor 102. In some implementations, the set of sensors 202 / 204 can integrate gain and offset calibration, including temperature compensation, into the angle measurement paths 104 / 106 to account for manufacturing spread, nonlinearity, aging-related, and / or temperature-related variations in the set of sensors 202 / 204, which may arise from using different sensor types. In some implementations, the angle measurement paths 104 / 106 can also compensate for harmonics of the x- and y-component signals to achieve high accuracy in angle measurement and high coverage of the safety paths 108. Calibration and compensation of the angle measurement paths 104 / 106 can be performed based on end-of-line measurements using parameters stored in NVM, and / or can utilize an auto-calibration algorithm, as described above.

[0054] like Figure 2C As shown, the angle calculation component 210a receives the x-component value and the y-component value measured by the measuring elements 206x1 and 206y1, respectively, and calculates the angular position θ by calculating the arc tangent of the y-component divided by the x-component. a In some implementations, the angle calculation component 210a calculates the vector length r based on the x-component value and the y-component value. a , as described above. The angle calculation component 210a may provide the vector length check component 212a with an indication of the vector length r calculated from the x-component value and the y-component value. a (For example, when the angle calculation component 210a is configured to calculate the vector length r a ) and / or provide an indication of the angular position θ to the angle comparison component 216. a One or more signals.

[0055] Similarly, the angle calculation component 210b receives the x-component value and the y-component value measured by the measuring elements 206x2 and 206y2, respectively, and calculates the vector length r by dividing the y-component by the arc tangent of the x-component. In some implementations, the angle calculation component 210b calculates the vector length r based on the x-component value and the y-component value. b , as described above. The angle calculation component 210b may provide the vector length check component 212b with an indication of the vector length r calculated from the x-component value and the y-component value. b (For example, when the angle calculation component 210b is configured to calculate the vector length r b ) and / or one or more signals indicating the angular position θ provided to the angle comparison component 216. b signal.

[0056] The angle comparison component 216 may receive the indicated angular positions θ from the angle calculation component 210a and the angle calculation component 210b, respectively. a One or more signals and indicating angular position θ b The angle comparison component 216 can be based on the angular position θ a and angular position θ b To perform the angle comparison check. In some implementations, the angle comparison component 216 can be similar to the above description of Figure 1A The method described is similar to the method based on the angular position θ a and angular position θ b The angle comparison component 216 may output a signal to the digital output component 110 indicating the result of the angle comparison check.

[0057] Likewise, Figure 2C As shown, the vector length check component 212b receives the x-component value and the y-component value measured by the measuring elements 206x2 and 206y2, respectively, and performs vector verification based on the x-component value and the y-component value. In some implementations, the vector length check component 212b is similar to the above description of Figure 1A and Figure 1B The vector length check component 212b may output a signal to the digital output component 110 indicating the result of the vector length check component.

[0058] like Figure 2C As shown, the x-component checking component 214a receives the x-component value x1 from the measuring element 206x1 and receives the x-component value x2 from the measuring element 206x2. Since the group of sensing elements 202 and the group of sensing elements 204 are different types of sensing elements, the x-component checking component 214a can use a comparison function to compare the x-component value x1 with the x-component value x2. In some implementations, the x-component checking component 214a can use the following comparison function to compare the x-component value x1 with the x-component value x2:

[0059] 2x1-1-x2

[0060] The x-component check component 214a can perform the comparison by determining whether the result of the comparison function meets (e.g., is less than) a threshold value (e.g., a tolerance value). In some implementations, information indicating the threshold value can be stored on a memory of the sensor 102. During operation, the x-component check component 214a can compare the result of the calculation of the comparison function with the threshold value. Here, if the result of the comparison function does not meet (e.g., is greater than) the threshold value, the x-component check component 214a can, for example, signal an error to the digital output component 110.

[0061] like Figure 2CAs shown, the y-component checking component 214b receives the x-component value x1 from the measuring element 206x1, receives the y-component value y1 from the measuring element 206y1, and receives the y-component value y2 from the measuring element 206y2. Because the group of sensing elements 202 and the group of sensing elements 204 are different types of sensing elements, the y-component checking component 214b can use a comparison function to compare the y-component value y1 with the y-component value y2. In some implementations, the y-component checking component 214b can use the following comparison function to compare the y-component value y1 with the y-component value y2:

[0062] 2x1y1-1-y2

[0063] Y component check component 214b can perform comparison by determining whether the result of the comparison function meets (e.g., is less than) a threshold value (e.g., a tolerance value). In some implementations, information indicating the threshold value can be stored on the memory of sensor 102. During operation, y component check component 214b can compare the calculation result of the comparison function with the threshold value. Here, if the result of the comparison function does not meet (e.g., is greater than) the threshold value, y component check component 214b can, for example, send a signal notification error to digital output component 110.

[0064] In some implementations, the x-component check component 214a can calculate the result of the comparison function based on the normalized x-component value x1 and the normalized x-component value x2, and / or the y-component check component 214b can calculate the result of the comparison function based on the normalized x-component value x1, the normalized y-component value y1, and the normalized y-component value y2. For example, without automatic calibration, due to the magnetic field dependence of the set of sensors 202 / 204, sufficient calibration of the x-component and y-component may not be possible. Insufficient calibration of the x-component and y-component may cause the safe path 108 to be susceptible to magnetic field variations caused by mechanical position changes between the sensor and the magnet or temperature dependence, manufacturing expansion, and aging of the magnet. In this case, the x-component and / or y-component of the set of sensors 202 / 204 can be normalized by the corresponding vector lengths determined by the vector length check component 212a / 212b. In some implementations, the x-component and y-component can be normalized by the corresponding vector lengths using the following equations:

[0065] Normalized x component value x1=x1 / sqrt(x1 2 +y1 2 );

[0066] Normalized y component value y1=y1 / sqrt(x1 2 +y1 2 );

[0067] Normalized x component value x2=x2 / sqrt(x22 +y2 2 );

[0068] Normalized y component value y2=y2 / sqrt(x2 2 +y2 2 ).

[0069] supply Figure 2A-2C The number and arrangement of the elements shown are examples. In practice, Figure 2A-2C There may be more elements, fewer elements, different elements, or differently arranged elements than shown.

[0070] Figure 3 is a diagram illustrating example hardware elements of angle sensor 102. As shown, angle sensor 102 may include a sensing element 310 (eg, including at least two groups of elements), an ADC 320, a DSP 330, a storage element 340, and / or a digital interface 350.

[0071] The sensing element 310 includes an element for sensing a magnetic field present at the sensing element 310. For example, the sensing element 310 may include one or more Hall-based sensing elements operating based on the Hall effect. As another example, the sensing element 310 may include one or more magnetoresistive (MR)-based sensing elements, wherein the resistance of the magnetoresistive material may depend on the strength and / or direction of the magnetic field present at the magnetoresistive material. Here, the sensing element 310 may operate based on anisotropic magnetoresistive (AMR) effect, giant magnetoresistive (GMR) effect, tunnel magnetoresistive (TMR) effect, etc. As an additional example, the sensing element 310 may include one or more variable magnetoresistive (VR)-based sensing elements operating based on induction. In some implementations, a group of sensing elements 202 (e.g., sensing element 202x and sensing element 202y) and / or a group of sensing elements 204 (e.g., sensing element 204x and sensing element 204y) include one or more sensing elements 310.

[0072] ADC 320 includes one or more analog-to-digital converters that convert analog signals from sensing elements 310 into digital signals. For example, ADC 320 can convert analog signals received from a set of sensing elements 310 into digital signals to be processed by DSP 330. In some implementations, ADC 320 can provide the digital signals to DSP 330. In some implementations, angle sensor 102 can include one or more ADCs 320.

[0073] The DSP 330 may include a digital signal processing device or a collection of digital signal processing devices. In some implementations, the DSP 330 may receive a digital signal from the ADC 320 and may process the digital signal in association with the selective execution of one or more safety checks, as described herein. In some implementations, the DSP 330 may process the digital signal to form an output signal, such as an output signal associated with the angular position of the target object.

[0074] The memory element 340 includes a read-only memory (ROM) (e.g., EEPROM), a random access memory (RAM), and / or another type of dynamic or static storage device (e.g., flash memory, magnetic memory, optical memory, etc.) that stores information and / or instructions for use by the angle sensor 102, as described herein. In some implementations, the memory element 340 can store information associated with the processing performed by the DSP 330. Additionally or alternatively, the memory element 340 can store configuration values ​​or parameters for the sensing element 310, and / or information for one or more other elements of the angle sensor 102, such as the ADC 320 or the digital interface 350.

[0075] The digital interface 350 may include an interface via which the angle sensor 102 may receive and / or provide information from and / or to another device, such as the controller 112. For example, the digital interface 350 may provide output signals determined by the DSP 330 to the controller 112 and may receive information from the controller 112.

[0076] supply Figure 3 The number and arrangement of the elements shown are examples. Figure 3 There may be more elements, fewer elements, different elements, or differently arranged elements than shown. For example, the angle sensor 102 may include Figure 3 One or more elements not shown, such as a clock, an analog regulator, a digital regulator, a protection element, a temperature sensor, a stress sensor, etc.

[0077] Figure 4 is a flow chart of an example process 400 associated with a safety mechanism for a high availability angle sensor. In some implementations, Figure 4 One or more process blocks of may be performed by an angle sensor (eg, angle sensor 102). In some implementations, Figure 4 One or more of the process blocks may be performed by another device or group of devices, such as a controller (eg, controller 112 ), separate from or including the angle sensor.

[0078] like Figure 4As shown, process 400 may include determining the angular position of an object based on first sensor values ​​received from a first set of sensing elements, wherein the first sensor values ​​include a first x-component of a magnetic field and a first y-component of a magnetic field (block 410). For example, an angle sensor may determine the angular position of an object based on first sensor values ​​received from a first set of sensing elements, wherein the first sensor values ​​include a first x-component of a magnetic field and a first y-component of a magnetic field, as described above. In some implementations, the first sensor values ​​include the first x-component of a magnetic field and the first y-component of a magnetic field. In some implementations, the first set of sensing elements may include a set of inductive sensing elements and the second set of sensing elements may include a set of magnetic sensing elements. In some implementations, the first set of sensing elements may include a first set of inductive sensing elements and the second set of sensing elements may include a second set of inductive sensing elements.

[0079] like Figure 4 As further shown, process 400 may include determining the angular position of the object based on second sensor values ​​received from the second set of sensing elements, wherein the second sensor values ​​include a second x-component of the magnetic field and a second y-component of the magnetic field (block 420). For example, the angle sensor may determine the angular position of the object based on second sensor values ​​received from the second set of sensing elements, wherein the second sensor values ​​include a second x-component of the magnetic field and a second y-component of the magnetic field, as described above. In some implementations, the second sensor values ​​include the second x-component of the magnetic field and the second y-component of the magnetic field.

[0080] like Figure 4 As further shown, process 400 may include performing a set of safety checks, wherein performing the set of safety checks includes performing an x-component check based on the first x-component and the second x-component, and performing a y-component check based on the first y-component and the second y-component (block 430). For example, an angle sensor may perform a set of safety checks, wherein performing the set of safety checks includes performing an x-component check based on the first x-component and the second x-component, and performing a y-component check based on the first y-component and the second y-component, as described above.

[0081] like Figure 4 As further shown in FIG4 , process 400 may include providing an indication of the results of the set of safety checks (block 440 ). For example, an angle sensor may provide an indication of the results of the set of safety checks, as described above.

[0082] Process 400 may include additional implementations, such as any single implementation or any combination of implementations described below and / or in conjunction with one or more other processes described elsewhere herein.

[0083] In a first implementation, performing the set of safety checks includes one or more of: performing a first vector length check associated with the first set of sensing elements based on the first sensor value, performing a second vector length check associated with the second set of sensing elements based on the second sensor value, or performing a comparison check associated with an angular position determined based on the first sensor value and an angular position determined based on the second sensor value.

[0084] In a second implementation, alone or in combination with the first implementation, a measurement range associated with the first set of sensing elements is different than a measurement range associated with the second set of sensing elements, and wherein performing the set of safety checks includes determining a first vector length associated with the first x-component and the first y-component, determining a second vector length associated with the second x-component and the second y-component, normalizing the first x-component and the first y-component based on the first vector length to generate a normalized first x-component and a normalized first y-component, normalizing the second x-component and the second y-component based on the second vector length to generate a normalized second x-component and a normalized second y-component, performing an x-component check based on the normalized first x-component and the normalized second x-component, and performing a y-component check based on the normalized first y-component and the normalized second y-component.

[0085] In a third implementation, alone or in combination with one or more of the first and second implementations, the first group of sensing elements are first MR sensing elements and the second group of sensing elements are second group of MR sensing elements, the second group of MR sensing elements being of a different type than the first group of MR sensing elements.

[0086] In a fourth implementation, alone or in combination with one or more of the first to third implementations, the first group of sensing elements and the second group of sensing elements are the same type of sensing elements, and wherein performing the x-component check includes comparing the first x-component and the second x-component, and wherein performing the y-component check includes comparing the first y-component and the second y-component.

[0087] In a fifth implementation, alone or in combination with one or more of the first to fourth implementations, the first set of sensing elements is a set of MR sensing elements and the second set of sensing elements is a set of Hall-based sensing elements.

[0088] although Figure 4 Example blocks of process 400 are shown, but in some implementations, Figure 4 Process 400 may include more blocks, fewer blocks, different blocks, or differently arranged blocks than depicted in . Additionally or alternatively, two or more blocks of process 400 may be performed in parallel.

[0089] The above disclosure provides illustration and description, but is not intended to be exhaustive or to limit the implementation to the precise form disclosed. Modifications and variations may be made in light of the above disclosure and may also be acquired from practice of implementations.

[0090] As used herein, the term "component" is intended to be broadly interpreted as hardware, firmware, and / or a combination of hardware and software. Obviously, the systems and / or methods described herein can be implemented in different forms of hardware, firmware, or a combination of hardware and software. The actual dedicated control hardware or software code used to implement these systems and / or methods does not limit the implementation. Therefore, the operation and behavior of the systems and / or methods are described herein without reference to specific software code - it should be understood that software and hardware can be designed to implement the systems and / or methods based on the description herein.

[0091] As used herein, satisfying a threshold may mean greater than a threshold, greater than or equal to a threshold, less than a threshold, less than or equal to a threshold, equal to a threshold, not equal to a threshold, etc., depending on the context.

[0092] Although particular feature combinations are set forth in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of the various implementations. In fact, many of these features can be combined in ways not specifically recited in the claims and / or disclosed in the specification. Although each dependent claim listed below may directly depend on only one claim, the disclosure of the various implementations includes the combination of each dependent claim with every other claim in the claim set. As used herein, a phrase referring to "at least one" of a list of items refers to any combination of those items, including single members. For example, "at least one of a, b, or c" is intended to cover a, b, c, ab, ac, bc, and abc, as well as any combination with multiples of the same item.

[0093] Any element, action or instruction used in this article should not be interpreted as key or necessary, unless clearly stated so.In addition, as used in this article, the article " one (a) " and " an (an) " are intended to include one or more projects, and can be used interchangeably with " one or more ".In addition, as used in this article, the article " the " is intended to include one or more projects relevant to the article " the ", and can be used interchangeably with " the one or more (the one or more) ".In addition, as used in this article, the term " set " is intended to include one or more projects (for example, related projects, unrelated projects or the combination of related and unrelated projects), and can be used interchangeably with " one or more ".If only one is intended, phrase " only one " or similar language is used.In addition, as used in this article, the term " has (has) ", " have (have) ", " have (having) " etc. are intended to be open terms.In addition, unless clearly stated otherwise, phrase " based on " is intended to represent " at least partially based on ". Furthermore, as used herein, the term "or" when used in conjunction is intended to be inclusive and interchangeable with "and / or" unless expressly stated otherwise (e.g., if used in conjunction with "any one" or "only one of").

Claims

1. An angle sensor comprising: a first angle measurement path for determining angular position based on first sensor values ​​from the first set of sensing elements, wherein the first sensor value comprises a first x-component of the magnetic field and a first y-component of the magnetic field; a second angle measurement path for determining said angular position based on second sensor values ​​from a second set of sensing elements, wherein the second sensor value comprises a second x-component of the magnetic field and a second y-component of the magnetic field; A security path is used to perform a set of security checks, wherein the set of security checks includes: x-component check, wherein to perform the x-component check, the secure path is configured to: determining the difference between the first x component and the second x component, and determining whether the difference between the first x component and the second x component satisfies a first threshold, and y-component check, wherein to perform the y-component check, the safe path is configured to: determining the difference between the first y-component and the second y-component, and determining whether the difference between the first y-component and the second y-component satisfies a second threshold; as well as An output component is configured to provide an indication of a result of the set of security checks.

2. The angle sensor according to claim 1 , wherein the set of safety checks further comprises one or more of the following: a first vector length check associated with said first angle measurement path; a second vector length check associated with said second angular measurement path; or A comparative check is associated with the angular position determined on the first angular measurement path and the angular position determined on the second angular measurement path. 3 . The angle sensor according to claim 1 , wherein a measurement range on the first angle measurement path is different from a measurement range on the second angle measurement path.

4. The angle sensor according to claim 1, wherein the safety path is used to: determining a first vector length associated with the first x-component and the first y-component and a second vector length associated with the second x-component and the second y-component; normalizing the first x-component and the first y-component based on the first vector length to generate a normalized first x-component and a normalized first y-component; normalizing the second x-component and the second y-component based on the second vector length to generate a normalized second x-component and a normalized second y-component; performing the x-component check based on the normalized first x-component and the normalized second x-component; as well as The y-component check is performed based on the normalized first y-component and the normalized second y-component. 5 . The angle sensor of claim 1 , wherein the first group of sensing elements is a first group of magnetoresistive (MR) sensing elements, and the second group of sensing elements is a second group of MR sensing elements of a different type than the first group of MR sensing elements.

6. The angle sensor of claim 1 , wherein the first group of sensing elements and the second group of sensing elements are the same type of sensing elements, and wherein the safety path is used to: outputting an error signal when the difference between the first x component and the second x component satisfies the first threshold; and When the difference between the first y-component and the second y-component satisfies the second threshold, the error signal is output. 7 . The angle sensor of claim 1 , wherein the first set of sensing elements is a set of magnetoresistive (MR) sensing elements and the second set of sensing elements is a set of Hall-based sensing elements. 8 . The angle sensor of claim 1 , wherein the first set of sensing elements is a set of inductive sensing elements and the second set of sensing elements is a set of magnetic sensing elements. 9 . The angle sensor of claim 1 , wherein the first group of sensing elements is a first group of inductive sensing elements and the second group of sensing elements is a second group of inductive sensing elements.

10. A sensor system comprising: a first set of sensing elements for acquiring a first sensor value associated with a rotation of an object, wherein the first sensor value comprises a first x-component of a magnetic field and a first y-component of the magnetic field; a second set of sensing elements for acquiring a second sensor value associated with said rotation of said object, wherein the second sensor value comprises a second x-component of the magnetic field and a second y-component of the magnetic field; a first angle measurement path for determining an angular position based on the first sensor value; a second angle measurement path for determining the angular position based on the second sensor value; A security path is used to perform a set of security checks, wherein the set of security checks includes: x-component check, wherein to perform the x-component check, the secure path is configured to: determining the difference between the first x component and the second x component, and determining whether the difference between the first x component and the second x component satisfies a first threshold, and y-component check, wherein to perform the y-component check, the safe path is configured to: determining the difference between the first y-component and the second y-component, and determining whether the difference between the first y-component and the second y-component satisfies a second threshold; as well as An output component is configured to provide an indication of a result of the set of security checks.

11. The sensor system of claim 10, wherein the set of safety checks further comprises one or more of the following: a first vector length check associated with said first angle measurement path; a second vector length check associated with said second angular measurement path; or A comparative check is associated with the angular position determined on the first angular measurement path and the angular position determined on the second angular measurement path. 12 . The sensor system according to claim 10 , wherein a measurement range on the first angle measurement path is different from a measurement range on the second angle measurement path.

13. The sensor system of claim 12, wherein the secure path is used to: determining a first vector length associated with the first x-component and the first y-component and a second vector length associated with the second x-component and the second y-component; normalizing the first x-component and the first y-component based on the first vector length to generate a normalized first x-component and a normalized first y-component; normalizing the second x-component and the second y-component based on the second vector length to generate a normalized second x-component and a normalized second y-component; performing the x-component check based on the normalized first x-component and the normalized second x-component; as well as The y-component check is performed based on the normalized first y-component and the normalized second y-component.

14. The sensor system of claim 10, wherein the first group of sensing elements is a first group of magnetoresistive (MR) sensing elements and the second group of sensing elements is a second group of MR sensing elements that are a different type than the first group of MR sensing elements.

15. The sensor system of claim 10, wherein the first group of sensing elements and the second group of sensing elements are the same type of sensing elements, and wherein the secure path is used to: outputting an error signal when the difference between the first x component and the second x component satisfies the first threshold; and When the difference between the first y-component and the second y-component satisfies the second threshold, the error signal is output. 16 . The sensor system of claim 10 , wherein the first set of sensing elements is a set of magnetoresistive (MR) sensing elements and the second set of sensing elements is a set of Hall-based sensing elements.

17. The sensor system of claim 10, wherein the first set of sensing elements is a set of inductive sensing elements and the second set of sensing elements is a set of magnetic sensing elements.

18. The sensor system of claim 10, wherein the first set of sensing elements is a first set of inductive sensing elements and the second set of sensing elements is a second set of inductive sensing elements.

19. A method comprising: determining, by the system, an angular position of the object based on first sensor values ​​received from the first set of sensing elements, wherein the first sensor value comprises a first x-component of the magnetic field and a first y-component of the magnetic field; determining, by the system, the angular position of the object based on second sensor values ​​received from a second set of sensing elements, wherein the second sensor value comprises a second x-component of the magnetic field and a second y-component of the magnetic field; A set of security checks is performed by the system, wherein performing the set of security checks comprises: Perform an x-component check based on: determining the difference between the first x component and the second x component, and determining whether the difference between the first x component and the second x component satisfies a first threshold, and Perform a y-component check based on: determining the difference between the first y-component and the second y-component, and determining whether the difference between the first y-component and the second y-component satisfies a second threshold; as well as An indication of a result of the set of security checks is provided by the system.

20. The method of claim 19, wherein a measurement range associated with the first set of sensing elements is different than a measurement range associated with the second set of sensing elements, and wherein performing the set of safety checks comprises: determining a first vector length associated with the first x-component and the first y-component; determining a second vector length associated with the second x-component and the second y-component; normalizing the first x-component and the first y-component based on the first vector length to generate a normalized first x-component and a normalized first y-component; normalizing the second x-component and the second y-component based on the second vector length to generate a normalized second x-component and a normalized second y-component; performing the x-component check based on the normalized first x-component and the normalized second x-component; as well as The y-component check is performed based on the normalized first y-component and the normalized second y-component.

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