Control architecture for vehicle

Abstract

The invention relates to a control architecture (10) for a vehicle. The first control unit (3) is connected (110) to the first vehicle communication network circuit (1). The second vehicle control unit (4) is connected (120) to the second vehicle communication network circuit. A plurality of command units (6, 7, 8, 9) receive (130) commands from the first control unit and / or the second control unit via communication lines (10, 11). An interconnection communication line (5) connects (140) between the first control unit and the second control unit.

Description

[0001] This application is a divisional application of the invention patent application with the application date of September 4, 2019, application number 201980061074.7, international application number PCT / EP2019 / 073523, and invention title "Control Architecture for a Vehicle". Technical Field

[0002] The present invention relates to a control architecture for a vehicle, and a control method for a control architecture for a vehicle. Background Art

[0003] A motor vehicle includes a plurality of subsystems that can jointly achieve vehicle operation, such as a propulsion system and a transmission system, a steering system, and a braking system, where each subsystem is controlled by its associated control unit. Subsystem failures in actuators or at the single control system level may prevent further operation of the vehicle or at least cause a decline in its function. For autonomous driving, safety-related systems (such as braking and steering) require redundant settings and suitable communication between them.

[0004] US9195232 describes methods and systems for compensating for common failures in a malfunctioning operating system. Example systems may include a main controller configured to perform vehicle functions (such as propulsion braking and steering) and a slave controller that is redundantly configured with the main controller. The controllers may perform cross-checks with each other, and each controller may also perform an internal self-check. Additionally, the system may include a control module configured to transfer control of the vehicle between the controllers when a failure is detected. The control module may detect a common failure of multiple controllers, which causes the control module to output a common failure signal. In response, the system may transfer control to a safety controller, which is configured to perform vehicle functions until the system can transfer control back to the main controller.

[0005] US20160009257 describes a system that includes an autonomous subsystem that includes a first braking module and a second braking module. Each module includes a processor and a memory that stores instructions executable by the processor to detect a failure. The system also includes a braking subsystem that is programmed to actuate a braking mechanism in response to a signal from the second braking module. The autonomous subsystem is further programmed to select one of the braking modules to provide a signal to the braking mechanism based on whether a failure is detected.

[0006] However, there is a need to provide an improved system redundancy. Summary of the Invention

[0007] Therefore, it would be advantageous to have an improved system redundancy for a vehicle.

[0008] The object of the present invention is solved by a control architecture for a vehicle and a control method for a control architecture for a vehicle according to the present invention. It should be noted that several aspects of the present invention described below also apply to the control architecture for a vehicle and the control method for a control architecture for a vehicle.

[0009] In a first aspect, the present invention provides a control architecture for a vehicle, the control architecture comprising:

[0010] a first control unit;

[0011] a second control unit;

[0012] a first vehicle communication network circuit;

[0013] a second vehicle communication network circuit; and

[0014] a plurality of command units;

[0015] The first control unit is connected to the first vehicle communication network circuit. The second control unit is connected to the second vehicle communication network circuit. The plurality of command units are configured to receive commands from the first control unit and the second control unit via a communication line. An interconnection communication line connects the first control unit to the second control unit.

[0016] In this way, a control system architecture with redundancy is provided, thereby improving safety and system performance.

[0017] In one example, the control architecture is configured to transmit data between the first vehicle communication network circuit and the second control unit by utilizing the interconnection communication line. The control architecture is also configured to transmit data between the second vehicle communication network circuit and the first control unit by utilizing the interconnection communication line.

[0018] In this way, a situation of a communication failure in one of them is alleviated.

[0019] According to the present invention, the first control unit is communicatively connected to all the command units of the plurality of command units, and the second control unit is communicatively connected to all the command units of the plurality of command units.

[0020] Therefore, further system fault protection is provided in the following way: if one of the control units fails, the other control unit can continue to send commands to all the command units, and this function can be achieved even in the case of a failure in any one of the two communication network circuits.

[0021] According to the provisions of the present invention, in the first operating mode, the first control unit is configured to act as the main controller, while the second control unit is configured to act as the slave controller. In the second operating mode, the second control unit is configured to act as the main controller, while the first control unit is configured to act as the slave controller.

[0022] That is to say, both control units can assume the main control role or the subordinate control role. When one of them plays the main control role, the other assumes the subordinate control role.

[0023] In one example, the determination of the operating mode includes communication through the interconnection communication line.

[0024] In one example, the determination of the operating mode is performed according to an algorithm and supported by the interconnection communication line.

[0025] In one example, the determination of the operating mode is performed by the first control unit and / or the second control unit.

[0026] In one example, the first control unit and the second control unit are configured to transmit data between the control units using the interconnection communication line to perform trustworthiness checks and / or cross-check tasks.

[0027] In a second aspect, the present invention provides a control method for a control architecture of a vehicle, the method comprising:

[0028] Connecting the first control unit to the first vehicle communication network circuit;

[0029] Connecting the second control unit to the second vehicle communication network circuit;

[0030] A plurality of command units receive commands from the first control unit and / or the second control unit through the communication line; and

[0031] Connecting the interconnection communication line between the first control unit and the second control unit.

[0032] In one example, the method includes:

[0033] Transmitting data between the first vehicle communication network circuit and the second control unit through the interconnection communication line; or

[0034] Transmitting data between the second vehicle communication network circuit and the first control unit through the interconnection communication line.

[0035] According to the provisions of the present invention, the first control unit is communicatively connected to all of the plurality of command units; and the second control unit is communicatively connected to all of the plurality of command units, and in a first operating mode, the first control unit is configured to act as a master controller, while the second control unit is configured to act as a slave controller, and in a second operating mode, the second control unit is configured to act as a master controller, while the first control unit is configured to act as a slave controller.

[0036] These aspects and examples will become apparent and will be elucidated by referring to the embodiments described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Exemplary embodiments will be described below with reference to the following drawings:

[0038] Figure 1 A schematic diagram showing an example of a control architecture for a vehicle;

[0039] Figure 2 A control method for a control architecture for a vehicle is shown. DETAILED DESCRIPTION

[0040] Figure 1 An example of a control architecture 20 for a vehicle is shown. The control architecture includes a first control unit 3, a second control unit 4, a first vehicle communication network circuit 1, a second vehicle communication network circuit 2, and a plurality of command units 6, 7, 8, 9. The first control unit is connected to the first vehicle communication network circuit. The second control unit is connected to the second vehicle communication network circuit. The plurality of command units are configured to receive commands from the first control unit and / or the second control unit via communication lines 10, 11. An interconnection communication line 5 connects the first control unit to the second control unit. The example shown has two control units, but there may be more than two control units, where a first group of control units is connected to the first vehicle communication network circuit and the remaining (second group) of control units is connected to the second vehicle communication network circuit. The interconnection communication line then connects the first group of control units to the second group of control units.

[0041] According to one example, the control architecture is configured to transfer data between the first vehicle communication network circuit and the second control unit by utilizing the interconnection communication line. The control architecture is also configured to transfer data between the second vehicle communication network circuit and the first control unit by utilizing the interconnection communication line.

[0042] According to one example, the first control unit is communicatively connectable to all of the plurality of command units; and the second control unit is communicatively connected to all of the plurality of command units.

[0043] According to one example, in the first operating mode, the first control unit is configured to act as the master controller, while the second control unit is configured to act as the slave controller, and in the second operating mode, the second control unit is configured to act as the master controller, while the first control unit is configured to act as the slave controller.

[0044] In one example, there may be more than two control units, with one acting as the master controller and the rest acting as slave controllers. Thus, if there are three control units, there can be three operating modes using the above nomenclature, where in each mode, a different control unit acts as the master controller and the remaining control units act as slave controllers. This also applies to four, five, six control units, where there will be four, five, and six operating modes, etc.

[0045] According to one example, the determination of the operating mode includes communication via the interconnected communication lines.

[0046] According to one example, the determination of the operating mode is performed according to an algorithm and the multiple control units support each other via the interconnected communication lines.

[0047] According to one example, the determination of the operating mode is performed by the first control unit and / or the second control unit.

[0048] According to one example, the first control unit and the second control unit are configured to transmit data between the control units using the interconnected communication lines to perform trustworthiness checks and / or cross-check tasks.

[0049] Figure 2 The basic steps of a control method 100 for a control architecture for a vehicle are shown, where optional steps are shown in dashed lines. Method 100 includes:

[0050] In a connection step 110, also referred to as step a), the first control unit 3 is connected to the first vehicle communication network circuit 1;

[0051] In a connection step 120, also referred to as step b), the first control unit 4 is connected to the second vehicle communication network circuit;

[0052] In a receiving step 130, also referred to as step c), multiple command units receive commands from the first control unit and / or the second control unit via communication lines 10, 11; and

[0053] In a connection step 140, also referred to as step d), the interconnected communication line 5 between the first control unit and the second control unit is connected.

[0054] According to one example, the method includes:

[0055] In transmission step 150, also referred to as step e), data is transmitted between the first vehicle communication network circuit and the second control unit via an interconnection communication line; or

[0056] In transmission step 160, also referred to as step f), data is transmitted between the second vehicle communication network circuit and the first control unit via an interconnection communication line.

[0057] In one example, the first control unit is communicatively connected to all of the plurality of command units; the second control unit is communicatively connected to all of the plurality of command units.

[0058] In one example, in a first operating mode, the first control unit acts as the master controller, while the second control unit acts as the slave controller; and in a second operating mode, the second control unit acts as the master controller, while the first control unit acts as the slave controller.

[0059] In one example, the determination of the operating mode includes communication via the interconnection communication line.

[0060] In one example, the determination of the operating mode is performed according to an algorithm and supported by the interconnection communication line.

[0061] In one example, the determination of the operating mode is performed by the first control unit and / or the second control unit.

[0062] In one example, the first control unit and the second control unit utilize the interconnection communication line to transmit data between the control units to perform a trustworthiness check and / or a cross-check task.

[0063] Now use again Figure 1 to describe a detailed example. In this detailed example, a redundant controller architecture is shown, which has two control units 3, 4, and each control unit is connected to one of the redundant vehicle communication network circuits 1, 2. There is an interconnection communication line 5 between the control units. Each control unit is connected to some command units 6, 7, 8, 9 via additional control lines 10, 11, and each control unit can be connected to each command unit as shown. One of the control units has a master role, while the other control unit has a slave role. The determination of the division of the master-slave roles is performed by the control units according to an appropriate algorithm and supported by the interconnection communication line.

[0064] Thus, having an interconnection communication line between the control units makes it possible to mitigate the situation where one of the vehicle communication network circuits fails or malfunctions. In such a case, data from the intact vehicle communication network circuit can be transmitted via the interconnection communication line to the other control unit. The interconnection communication also provides an opportunity to perform credibility checks or cross-check tasks to enhance safety.

[0065] It must be noted that the embodiments of the present invention are described with reference to different subjects. In particular, some embodiments are described with reference to method-type claims, while other embodiments are described with reference to device-type claims. However, those skilled in the art will derive from the above and the following descriptions that, unless otherwise stated, any combination between features related to different subjects is also considered to be disclosed in the present application, in addition to any combination of features belonging to one type of subject. However, all features can be combined together to achieve a synergistic effect, rather than just a simple addition of these features.

[0066] Although the present invention has been shown and described in detail in the drawings and the foregoing description, such showings and descriptions should be regarded as illustrative or exemplary and not restrictive. The present invention is not limited to the disclosed embodiments. By studying the drawings, the disclosure, and the dependent claims, those skilled in the art can understand and implement other variations of the disclosed embodiments when practicing the claimed invention.

[0067] In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. A single processor or other unit can implement the functions of several items recited in the claims. The fact that certain features are recited in mutually different dependent claims does not mean that a combination of these features cannot be used to achieve an advantageous technical effect. Any reference signs in the claims shall not be construed as limiting the claims.

[0068] List of reference signs

[0069] 20 Control architecture for a vehicle;

[0070] 1, 2 Communication network circuits;

[0071] 3, 4 Control units;

[0072] 5 Interconnection communication line;

[0073] 6, 7, 8, 9 Command units;

[0074] 10, 11 Communication lines;

[0075] 100 Control method for a control architecture for a vehicle;

[0076] 110 Connect a first control unit to a first vehicle communication network circuit;

[0077] 120 Connect a second control unit to a second vehicle communication network circuit;

[0078] 130 A plurality of command units receive commands from the first control unit and / or the second control unit via a communication line;

[0079] 140 Connect an interconnection communication line between the first control unit and the second control unit;

[0080] 150 Transmit data between the first vehicle communication network circuit and the second control unit via the interconnection communication line;

[0081] 160 Transmit data between the second vehicle communication network circuit and the first control unit via the interconnection communication line.

Claims

1. A control architecture (20) for a vehicle, the control architecture comprising: A first control unit (3), A second control unit (4), A first vehicle communication network circuit (1), A second vehicle communication network circuit (2), and A plurality of command units (6, 7, 8, 9); Wherein, the first control unit is connected to the first vehicle communication network circuit; Wherein, the second control unit is connected to the second vehicle communication network circuit; An interconnection communication line (5) connects the first control unit to the second control unit, Characterized in that, the first control unit is communicatively connected to all of the command units of the plurality of command units, and the second control unit is communicatively connected to all of the command units of the plurality of command units, wherein the plurality of command units are configured to receive commands from the first control unit and the second control unit via communication lines (10, 11); and In a first operating mode, the first control unit is configured to act as a master controller for all of the command units, i.e., to play a master control role, while the second control unit is configured to act as a slave controller for all of the command units, i.e., to undertake a subordinate control role; and in a second operating mode, the second control unit is configured to act as a master controller for all of the command units, i.e., to play a master control role, while the first control unit is configured to act as a slave controller for all of the command units, i.e., to undertake a subordinate control role.

2. The control architecture according to claim 1, characterized in that, The control architecture is configured to transmit data between the first vehicle communication network circuit and the second control unit by utilizing the interconnection communication line; and the control architecture is configured to transmit data between the second vehicle communication network circuit and the first control unit by utilizing the interconnection communication line.

3. The control architecture according to claim 1, wherein The determination of the operating mode includes communication via the interconnection communication line.

4. The control architecture according to claim 3, wherein The determination of the operating mode is performed according to an algorithm and is supported by the interconnection communication line.

5. The control architecture according to any one of claims 1 to 4, characterized in that, The determination of the operating mode is performed by the first control unit and / or the second control unit.

6. The control architecture according to any one of claims 1 to 4, characterized in that The first control unit and the second control unit are configured to utilize the interconnection communication line to transmit data between these control units to perform credibility checks and / or cross-check tasks.

7. A control method (100) for a control architecture of a vehicle, the method comprising: a) Connecting (110) a first control unit (3) to a first vehicle communication network circuit (1); b) Connecting (120) a second control unit (4) to a second vehicle communication network circuit; c) Connecting (140) an interconnection communication line (5) between the first control unit and the second control unit, characterized in that, A plurality of command units (6, 7, 8, 9) receive (130) commands from the first control unit and the second control unit via communication lines (10, 11), wherein the first control unit is communicatively connected to all of the command units of the plurality of command units; and the second control unit is communicatively connected to all of the command units of the plurality of command units, and In a first operating mode, the first control unit is configured to act as a master controller for all command units, i.e., to play a master control role, while the second control unit is configured to act as a slave controller for all command units, i.e., to undertake a subordinate control role; and in a second operating mode, the second control unit is configured to act as a master controller for all command units, i.e., to play a master control role, while the first control unit is configured to act as a slave controller for all command units, i.e., to undertake a subordinate control role.

8. The method according to claim 7, characterized in that, The method includes: e) Transmitting (150) data between the first vehicle communication network circuit and the second control unit via an interconnected communication line; or f) Transmitting (160) data between the second vehicle communication network circuit and the first control unit via an interconnected communication line.

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