Method for operating a vehicle central computer

Abstract

The invention relates to a method for operating a vehicle central computer (170) for controlling one or more actuators (132, 140, 150) of a vehicle, in which a presetting module (210) and an adjusting module (220) are implemented in the vehicle central computer, in which a parameterizable predefined behavior (230, 232) for adjusting the one or more actuators (132, 140, 150) is provided by the presetting module (210), wherein the predetermined behavior is transmitted from the presetting module (210) via the internal interface (222) to the control module (220), and wherein the control module (220) determines and provides, in particular outputs, an actuation variable (224) for one or more actuators on the basis of the predetermined behavior and in the range of the control.

Description

Technical Field

[0001] The invention relates to a method for operating a central vehicle computer, as well as to a computing unit and a computer program for carrying out the method. Background Art

[0002] In vehicles, different control devices are usually used for various functions, such as driving dynamics, drives, etc., which are typically each designed for a specific task. So-called central vehicle computers are increasingly being used in modern vehicles. These are particularly powerful computing units that can perform a variety of tasks and are sometimes intended or can replace a number of individual conventional control devices. Summary of the invention

[0003] According to the invention, a method for operating a central vehicle computer and a computer unit and a computer program for carrying out the method are proposed having the features of the independent patent claims. Advantageous embodiments are the subject matter of the dependent claims and the following description.

[0004] The invention relates to a vehicle central computer and its operation, which is used to control one or - particularly preferably - several actuators of a vehicle and is also designed for this purpose. As mentioned, a vehicle central computer is a particularly powerful computing unit which can, for example, perform various tasks and, for example, can also replace several individual conventional control devices. Depending on the type of vehicle and the number and type of actuators used therein, for example, only one such vehicle central computer may be provided in the vehicle, but a plurality of such vehicle central computers are also conceivable. In this context, it is also possible to refer to a central control device or a field control device instead of a vehicle central computer, if necessary.

[0005] In particular, the functions (functional components) required for various actuators can also be executed in the vehicle central computer, which leads in particular to a reduction in the complexity of the actuators themselves. In particular, in the case of a vehicle central computer that can control multiple actuators (e.g. actuators in the field of driving dynamics), performance improvements can be achieved by combining multiple regulator components of multiple actuators. By abstracting the actuators from the driving or driving dynamics system, development can also be standardized. Variant processing and hardware representation can be handled separately from functional development. In this case, the field of driving dynamics includes, for example, actuators such as integrated brake systems, electronic steering devices, inverters for electric motors, chassis actuators, etc. Other examples of actuators are active stabilizers, self-locking differentials, all-wheel clutches, axle or wheel drives.

[0006] It is now proposed within the scope of the present invention that a preset module and a control module (software module) are implemented in a central vehicle computer. In this case, a predetermined behavior of the vehicle (vehicle preset behavior) is provided by the preset module, which can then be implemented via the regulation of one or more actuators. The vehicle preset behavior is simplified here in particular to basic vehicle characteristics. This ensures that each vehicle preset behavior can be implemented with the aid of existing actuators (i.e. existing actuators) and is independent of the actuators that have already been constructed. Of course, the specific prerequisites of today's vehicles should be met. Thus, for example, a yaw moment actuator is required in order to achieve vehicle dynamics regulation. The state should be controllable in terms of regulation. Thus, there, basic vehicle preset behaviors, such as vehicle dynamics preset behaviors, are defined for the vehicle, but it is not necessary, for example, to know the specific regulation of the actuator to be controlled.

[0007] In this case, in particular, the presetting module can be designed such that it provides a user interface, for example a graphical user interface (if necessary in cooperation with input and display means), so that a user, in particular a vehicle manufacturer (OEM) or an employee there, can preset or define a vehicle predefined behavior for a specific vehicle or a specific vehicle type.

[0008] The vehicle target behavior is hereby predefined in particular by or by the following vehicle movement parameters: for example, vehicle ground speed, vehicle ground acceleration, yaw rate, yaw acceleration, sideslip angle, sideslip angular velocity, body path velocity and body path acceleration. Thus, it is generally predefined by general states of a single-lane model or a two-lane model and their derivations. The vehicle target behavior is thus highly abstracted from the actual control behavior; for example, the vehicle target behavior can simply include that the vehicle should oversteer quickly or should be particularly dynamic.

[0009] The interface from the control module to the actuator then includes, for example, general possibilities for influencing the driving dynamics, ie, for example, braking via individual wheel torques, steering via the steering angle, chassis via normal force distribution, etc.

[0010] This parameterization of the control behavior is carried out in particular outside the normal operation of the vehicle central computer, ie, offline. The vehicle central computer is therefore designed and operated accordingly.

[0011] The vehicle predefined behavior is then transmitted from the presetting module to the control module via an internal interface (inside the vehicle central computer or software executed thereon). This can also be done, for example, in that the control module accesses the presetting module or the vehicle predefined behavior present there, in particular by reading the required data therefrom.

[0012] Based on the vehicle predetermined behavior, the control behavior for the actuator is then determined, for example, by parameterization. The control behavior can thus be parameterized, ie adapted or even substantially preset, for example. This can be done in a control module. The control behavior is then intended to also include preset variables or preset values ​​for the control itself. Thus, here, the (concrete) control behavior is determined from the (abstract) vehicle predetermined behavior; for example, for the desired dynamic behavior of the vehicle, a known control behavior can be used for this purpose and can be adapted if necessary. In the control module, actuation variables, in particular outputs, for one or more actuators are then determined and provided based on the control behavior and within the scope of the control. The actuator can be controlled or operated with the aid of the actuation variables (for example, the torque to be set, etc.). Then, as in a conventional control, during the operation of the vehicle, the control can, for example, obtain a preset value (as an input variable) for the determined control or actuation variable from the driver or a driver assistance system, which is then adjusted accordingly. In general, such input variables can be obtained by all input methods that the user / driver can make known to the vehicle, for example: steering wheel, accelerator pedal, brake pedal, transmission selector lever, sports mid-range, joystick, comfort settings, etc.

[0013] However, the actual set value itself is independent of the usually predefined vehicle behavior. In particular, the setting is also carried out after and independently of the provision of the vehicle's set behavior in terms of time.

[0014] Although the basic vehicle predefined behavior can be defined or predefined via the predefined module, i.e., for example, how the vehicle must react, for example, how quickly the brake or steering system should respond, the specific control behavior is determined, which is then in particular related to the specific actuators present, and the actual control is then also carried out in the control module (separate from the predefined module). Thus, one or more control strategies are stored in the control module, for example, which are predefined for one or more actuators. Such a control strategy can be predefined and possibly adapted (or has been adapted) in particular by the actuator manufacturer (e.g., supplier) or employees there, who in particular also have special knowledge of the actuators to be controlled. For example, such a control strategy can determine: which type of controller is used with which parameters, when and where. For example, although the functions performed by the control module are similar to those of a conventional control device, the predefined module additionally allows the basic vehicle predefined behavior to be defined by users other than the manufacturer, which has not been possible so far.

[0015] It is particularly preferred that the control module is designed in such a way that changes to the control module (i.e., for example, changes to the control strategy) cannot be carried out from the outside, in particular neither directly nor via a presetting module. It is conceivable that, instead of this, the control module is designed in such a way that changes to the control module can only be carried out from the outside with the aid of a permission (e.g., by entering a specific code, etc.). In this way, although the basic vehicle preset behavior can be preset from the outside, more precisely typically by the vehicle manufacturer. However, the specific implementation of the actuator or the original adjustment and the specific control behavior cannot be changed by the vehicle manufacturer - more precisely, not accidentally. On the contrary, the specific implementation overloads the supplier with special knowledge. This also avoids, for example, a poor design of the controller.

[0016] However, the adaptation or matching of the regulation (regulation strategy or regulation behavior) executed or to be executed in the regulation module can preferably be carried out during normal operation of the vehicle central computer, i.e. online, in particular by means of an observer and / or a learning algorithm (e.g. also via a machine learning method with the aid of, for example, an artificial neural network). The vehicle central computer is thus designed or operated accordingly. In this way, the regulation or regulation behavior can be continuously improved, more precisely independently of any presettings for the vehicle's intended behavior.

[0017] A computing unit according to the invention, for example a central vehicle computer of a motor vehicle, is designed, in particular with regard to a program, to carry out the method according to the invention.

[0018] It is also advantageous to implement the method according to the invention in the form of a computer program or computer program product with a program code for executing all method steps, because this results in particularly low costs, in particular if the executing control device is also used for other tasks and is therefore always present. Finally, a machine-readable storage medium is provided, which has a computer program as described above stored thereon. Suitable storage media or data carriers for providing the computer program are in particular magnetic, optical and electrical memories, such as hard drives, flash memories, EEPROMs, DVDs, etc. The program can also be downloaded via a computer network (Internet, intranet, etc.). In this case, such downloading can be done wired or with a cable or wirelessly (for example, via a WLAN network, a 3G, 4G, 5G or 6G connection, etc.).

[0019] Further advantages and embodiments of the invention are apparent from the description and the drawings.

[0020] The invention is schematically illustrated in the drawings based on exemplary embodiments and is described below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1A vehicle is schematically shown having a central vehicle computer and a plurality of actuators in which the present invention can be used.

[0022] Figure 2 A preferred specific embodiment of a modular representation of a vehicle central computer is shown schematically for explaining the method according to the invention. DETAILED DESCRIPTION

[0023] exist Figure 1 Schematically shows a vehicle 100 having a computing unit 170 designed as a vehicle central computer and a plurality of actuators in which the present invention can be used. By way of example, a front axle 110 having wheels 111 , 112 and a rear axle 120 having wheels 121 , 122 of vehicle 100 are shown. An electronic steering device (steering actuator) 140 is provided for the front axle 110 and an electric motor 130 is provided for the rear axle, the electric motor 130 having an inverter 132 for driving the vehicle and, if necessary, braking the vehicle.

[0024] Furthermore, a service brake system 150 is provided with four brake actuators 151-154, each of which is assigned to a wheel. All these actuators are used for vehicle dynamic control and are to be connected to a vehicle central computer 170, for example, via a communication system 160 (e.g. a data bus). Output stages for energy control of the actuators, etc., can be provided in the vehicle central computer, if necessary, or can typically be provided in a different manner. For example, the actuators (or systems) mentioned should be controllable or operable with the aid of the vehicle central computer 170 during operation of the vehicle 100. In this case, the vehicle central computer 170 can receive driving presettings (setpoints) from the driver and / or the driver assistance system, which are then implemented within the scope of control with the aid of the vehicle central computer 170 (there, the control module). In this case, the control moves within the scope of a control behavior based on a predefined vehicle behavior.

[0025] exist Figure 2 A preferred embodiment of a modular representation of a vehicle central computer for explaining the method according to the invention is schematically shown in FIG. Figure 1 The vehicle central computer 170 in the vehicle is used to control the braking system 150, the electronic steering device 140 and the inverter 132 of the motor (respectively as Figure 1 ) and another exemplary chassis actuator 200.

[0026] It goes without saying that other actuators, in particular driving dynamics actuators, etc., can also be controlled by means of the vehicle central computer 170 . In principle, such a vehicle central computer can also be used for actuators other than driving dynamics actuators; driving dynamics actuators are used here in particular as an example for explanation.

[0027] The software with the presetting module 210 and the regulating module 220 is executed in the vehicle central computer 170. The two modules, namely the presetting module 210 and the regulating module 220, are separate from each other; only an interface 222 is provided to transfer or transmit certain data from the presetting module 210 to the regulating module 220, as will be explained below.

[0028] The vehicle predefined behavior 240 is provided by the predefined module 210 or is obtained from the predefined module 210. This can be done, for example, via a user interface 210, for example a graphical user interface (so-called GUI, “graphical user interface”) provided by the predefined module 210. The graphical user interface can be displayed or provided, for example, on a display device of an external computer system, if the vehicle central computer 170 is correspondingly connected to the external computer system in the form of data transmission.

[0029] This is preferably done offline, i.e., for example, initially before the vehicle is put into operation for the first time or, if necessary, within the scope of an update, but not during normal operation. Thus, in this way, a vehicle's intended behavior can be defined, at least to the extent that it can be influenced by the regulation of the relevant actuators.

[0030] The preset vehicle behavior is then transmitted from the preset module 210 to the control module 220 via an internal interface 222. It is also conceivable that for this purpose the preset vehicle behavior is stored in a memory that is also accessible to the control module or is stored in a memory that is also accessible to the control module. There, i.e. in the control module 220, based on the preset vehicle behavior and within the scope of the control, a control variable 224 for the actuator (e.g. a torque to be set) is then determined and provided, in particular output to the actuator. The actual value 226 can in turn be obtained from the actuator - or from a suitable sensor. Therefore, during normal operation of the vehicle, only the control module 220 is active, while the preset module 210 not only does not need to, but in particular should not be able to intervene further in the control.

[0031] The influence on the control behavior also includes, for example, how an input by the driver (e.g. a brake or steering operation, or an accelerator pedal) is to be executed. Thus, the control behavior (in particular the target value there) can be predetermined, for example, by driving function 230 or longitudinal and transverse control 232 for assisted and autonomous driving functions (e.g. axle and yaw rate control for stationary, stable driving situations).

[0032] However, during normal operation of the vehicle, the regulation performed or to be performed in the regulation module can be adapted 250, in particular by means of an observer and / or a learning algorithm, for example. In this way, the specific regulation can be continuously improved without destroying the generally predetermined behavior.

[0033] The adaptation can be performed, for example, via an online learning model to determine the current vehicle state with the aid of an extended / unscented Kalman filter for parallel state and parameter estimation. Other possibilities are, for example, neural networks with offline training and online estimation. For example, neural networks have the advantage of better mapping of nonlinearities. Kalman filters / observers are always "forced" to physical relationships. Depending on the controller design, a suitable solution can be selected.

Claims

1. A method for operating a vehicle central computer (170) for controlling one or more actuators (132, 140, 150) of a vehicle, wherein a presetting module (210) and a regulating module (220) are implemented in the vehicle central computer (170), wherein a predetermined vehicle behavior (240) is obtained from the preset module (210), wherein the predetermined behavior is transmitted from the preset module (210) to the adjustment module (220) via the internal interface (222), wherein the regulating behavior of the one or more actuators (132, 140, 150) is determined based on the predetermined vehicle behavior (230, 232), and In this case, a controlled variable (224) for the one or more actuators (132, 140, 150) is determined and provided, in particular outputted, by the control module (220) based on the control behavior and within the scope of the control.

2. The method according to claim 1, wherein the vehicle predetermined behavior (230, 232) is preset based on a single lane model or a two-lane model of the vehicle. 3 . The method according to claim 1 , wherein the adjusting is performed temporally after the provision of the predefined vehicle behavior and independently of the provision of the predefined vehicle behavior.

4. The method according to any one of the preceding claims, wherein the preset module (210) is configured such that the preset module provides a user interface (212) for obtaining or inputting the predetermined vehicle behavior.

5. The method according to claim 1 or 2, wherein the vehicle central computer (170) is designed so that determination or parameterization of the control behavior for regulating the one or more actuators (132, 140, 150) can be performed outside of normal operation of the vehicle central computer (170).

6. A method according to any of the preceding claims, wherein the vehicle central computer (170) is designed so that during normal operation of the vehicle central computer (170), an adaptation (250) of the adjustments performed or to be performed in the adjustment module (220) is performed, in particular with the aid of an observer and / or a learning algorithm.

7. A method according to any one of the preceding claims, wherein the adjustment module (220) is designed so that changes in the adjustment module (220) cannot be performed from the outside, in particular changes in the adjustment module (220) cannot be performed from the outside either directly or via the preset module (210).

8. The method according to claim 1, wherein the regulating module (220) is designed such that changes in the regulating module (220) can only be carried out from the outside with the aid of a release.

9. The method according to any of the preceding claims, wherein the one or more actuators are one or more of the following vehicle dynamics actuators: an integrated braking system (150), an electronic steering device (140), an inverter (132) of an electric motor (130), an active stabilizer, a self-locking differential, an all-wheel clutch, an axle or wheel drive, a chassis actuator.

10. A computing unit (170) designed to carry out all method steps of the method according to any of the preceding claims.

11. A computer program which, when executed on a computing unit (170), causes the computing unit (170) to execute all method steps of the method according to any one of claims 1 to 9.

12. A machine-readable storage medium having stored thereon the computer program according to claim 11.

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