Apparatus and method for inspecting acceleration sensors in a steering system, and a vehicle including said apparatus.
By constructing a multi-axis acceleration sensor and an electromechanical steering actuator in the vehicle steering system, and combining them with other vehicle sensors for acceleration value calibration and verification, the problem of correct output of the acceleration sensor under different conditions was solved, thus achieving the ASIL-B safety target and improving system reliability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ROBERT BOSCH GMBH
- Filing Date
- 2025-11-24
- Publication Date
- 2026-05-26
AI Technical Summary
Existing technologies make it difficult to effectively check the correct output of acceleration sensors in vehicle steering systems, especially to accurately verify their functionality under different vehicle conditions (stopped and moving), thus failing to meet the safety requirements of ASIL-B.
By constructing an acceleration sensor to measure acceleration values on three vertical axes, and combining it with an electromechanical steering actuator and other vehicle sensors (such as ESP and airbag systems), the acceleration values are calibrated and verified under different vehicle conditions. Specific limit values and average difference values are used to determine the correct output of the acceleration sensor.
It enables reliable acceleration sensor checks under different vehicle conditions, ensuring the correct output of the acceleration sensor in both stationary and moving states, meeting the ASIL-B safety objectives, and improving the reliability and safety of the steering system.
Smart Images
Figure CN122078480A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to an apparatus and a method for inspecting an acceleration sensor in a steering system, and a vehicle including said apparatus. Background Technology
[0002] In steering systems used in vehicles, the operating elements are connected to electromechanical actuators. Summary of the Invention
[0003] A method for inspecting an acceleration sensor in a steering system is proposed, wherein the steering system includes an electromechanical steering actuator, wherein the electromechanical steering actuator includes an acceleration sensor, wherein the acceleration sensor is configured to measure a first acceleration value on a first axis, a second acceleration value on a second axis, and a third acceleration value on a third axis, wherein the axes are perpendicular to each other. The method specifies determining whether the vehicle is stationary or in motion, wherein in a stationary state, the correct output of the first acceleration value, the second acceleration value, and the third acceleration value is determined based on the first acceleration value measured by the acceleration sensor in a stationary state, the second acceleration value measured by the acceleration sensor in a stationary state, and the third acceleration value measured by the acceleration sensor in a stationary state. Additionally, further verification is performed while the vehicle is in motion for the described inspection, and by adjusting other acceleration sensors (ESP, airbags, etc.) in the vehicle. This enables the inspection to achieve the targets from SG_TLSR_05 and SG_TLSR_06 (ASIL-D) according to ASIL-B.
[0004] It can be specified that, during driving, the correct output of the third acceleration value is determined based on the third acceleration value measured by the acceleration sensor during driving and the lateral acceleration measured by the vehicle during driving, and wherein, during driving, the correct output of the first acceleration value and the second acceleration value are determined based on the first acceleration value measured during driving and the second acceleration value measured during driving and the longitudinal acceleration measured during driving or the longitudinal acceleration of the vehicle determined from the vehicle's speed.
[0005] In a stationary state, if it is determined that the root of the sum of the squares of the first acceleration value measured by the accelerometer in the stationary state, the second acceleration value measured by the accelerometer in the stationary state, and the third acceleration value measured by the accelerometer in the stationary state is within a predetermined tolerance around a predetermined value, especially 1g, particularly 10%, then it is determined, for example, that the correct output of the first acceleration value, the second acceleration value, and the third acceleration value is determined.
[0006] It can be specified that the steering system includes an electromechanical steering actuator, wherein the steering actuator includes a motor for operating the steering actuator, wherein the motor includes a rotor, wherein if it is determined that the rotational speed of the rotor is less than or equal to a predetermined speed, especially equal to zero, then the correct output of a first acceleration value, a second acceleration value, and a third acceleration value is determined in the stationary state. This means that the acceleration sensor is checked when the steering actuator and the vehicle are stationary.
[0007] If the vehicle's speed is less than or equal to a pre-defined speed, especially zero, then it is determined to be in a stopped state, for example.
[0008] If it is determined that the third acceleration value is greater than the limit value used for the third acceleration value, in particular 0.2g, and the measured lateral acceleration of the vehicle is greater than the limit value used for lateral acceleration, in particular 0.2g, and if it is determined that (314) the difference between the lateral acceleration and the third acceleration value is less than the limit value used for the difference, in particular 0.05g, then the correct output of the third acceleration value is determined. This represents a feasible solution for reliably checking the function of the third acceleration value of the acceleration sensor while driving.
[0009] If it is determined that the average of the differences between a predetermined number of vehicle lateral accelerations measured simultaneously during driving and a third acceleration value is less than a limit value for the difference, then the correct output of the third acceleration value can be determined, for example. This represents a feasible approach for robustly checking against non-hazardous disturbances.
[0010] In one example, a total acceleration value is determined based on a first acceleration value measured during driving and a second acceleration value measured during driving. If it is determined that the total acceleration value is greater than a limit value for the total acceleration value, specifically 0.15g, and the longitudinal acceleration is greater than a limit value for the longitudinal acceleration, specifically 0.15g, and if it is determined that the difference between the longitudinal acceleration and the total acceleration value is less than a limit value for the difference, specifically 0.05g, then the correct output of the absolute value of acceleration or acceleration value along the direction of longitudinal acceleration is determined. This represents a feasible scheme for reliably checking the correct detection of the first and second acceleration values during driving.
[0011] It can be stipulated that if the average of the differences between the longitudinal accelerations measured simultaneously during driving and a predetermined number of specific total acceleration values is less than a limit value for the differences, then the correct output of the first and second acceleration values is determined. This represents a feasible scheme for robustly checking against non-hazardous disturbances.
[0012] It can be stipulated that a total acceleration value is determined based on a first acceleration value measured during driving and a second acceleration value measured during driving, wherein the vehicle's longitudinal acceleration is determined based on the vehicle's speed. If it is determined that the total acceleration value is greater than a limit value for the total acceleration value, specifically 0.1g, and the vehicle's longitudinal acceleration is greater than a limit value for the vehicle's longitudinal acceleration, specifically 0.1g, and if it is determined that the difference between the vehicle's longitudinal acceleration and the total acceleration value is less than a limit value for the difference, specifically 0.05g, then it is determined that the total acceleration determined from the first and second acceleration values is correctly output. This represents a feasible scheme for reliably checking the function of the first and second acceleration values during driving.
[0013] If it is determined that the average of the differences between the vehicle accelerations occurring simultaneously during driving and the total acceleration value, in a predetermined number, is less than a limit value for the differences, then the correct output of the first and second acceleration values is determined, for example. This represents a feasible approach for robustly checking against non-hazardous disturbances.
[0014] An apparatus for inspecting an acceleration sensor in a steering system is proposed, wherein the steering system includes an electromechanical steering actuator, wherein the electromechanical steering actuator includes an acceleration sensor, wherein the acceleration sensor is configured to measure a first acceleration value on a first axis, a second acceleration value on a second axis, and a third acceleration value on a third axis, wherein the axes are perpendicular to each other, and the apparatus is configured to perform the method. The installed acceleration sensor uses its own sensor coordinate system, which has a different orientation compared to the vehicle coordinate system.
[0015] A vehicle may be provided, wherein the vehicle includes a steering system, wherein the steering system includes an electromechanical steering actuator, wherein the electromechanical steering actuator includes an acceleration sensor, wherein the acceleration sensor is configured to measure a first acceleration value on a first axis, a second acceleration value on a second axis, and a third acceleration value on a third axis, wherein the axes are perpendicular to each other, and wherein the vehicle includes the device. Attached Figure Description
[0016] Other advantageous embodiments can be seen from the following description and accompanying drawings. In the drawings: Figure 1 The vehicle was shown. Figure 2 A flowchart of the first part of a method for inspecting the acceleration sensor in a vehicle's steering system is shown. Figure 3 A flowchart of the second part of the method is shown. Figure 4 A flowchart of the third part of the method is shown. Figure 5 A flowchart of the fourth part of the method is shown. Detailed Implementation
[0017] exist Figure 1 The image schematically illustrates a vehicle 100.
[0018] Vehicle 100 includes steering system 102.
[0019] The steering system 102 specifically includes an electromechanical steering actuator 104 and an operating element 106. In the example, the operating element 106 is a steering wheel. A joystick can also be used as the operating element 106.
[0020] The steering system 102, especially the electromechanical steering actuator 104, includes an acceleration sensor 116.
[0021] The steering system 102 in this example includes a circuit board 108 having an electronic switching circuit 110 for controlling the steering actuator 104. An acceleration sensor 116 is arranged on the circuit board 108 in this example. The acceleration sensor 116 can also be arranged on the housing or other components of the steering system 102, particularly the electromechanical steering actuator 104.
[0022] Accelerometer 116 is configured to output a first acceleration value, a second acceleration value, and a third acceleration value.
[0023] In this example, accelerometer 116 is assigned x-axis, y-axis, and z-axis. A first acceleration value is assigned to the x-axis. A second acceleration value is assigned to the y-axis. A third acceleration value is assigned to the z-axis.
[0024] Accelerometer 116 is configured to measure a first acceleration value along the x-axis. Accelerometer 116 is configured to measure a second acceleration value along the y-axis. Accelerometer 116 is configured to measure a third acceleration value along the z-axis. Here, the sensor uses its own coordinate system, which has a different orientation relative to the vehicle coordinate system.
[0025] Vehicle 100 includes a device 118 for checking acceleration sensor 116. In this example, electronic switch circuit 110 includes device 118.
[0026] The steering actuator 104 includes a motor 112 for operating the steering actuator 104.
[0027] Motor 112 includes rotor 114.
[0028] Device 118 is configured to detect the rotational speed of rotor 114.
[0029] In the example, electronic switch circuit 110 is configured to control motor 112. Electronic switch circuit 110 detects the rotational speed of rotor 114 in this example.
[0030] The vehicle 100 includes another acceleration sensor 120. The other acceleration sensor 120 is configured to detect and output the longitudinal acceleration and lateral acceleration of the vehicle 100.
[0031] Another acceleration sensor 120 is, for example, a sensor that is set up for use in the electronic stability program, airbag system, etc. in the vehicle 100.
[0032] Device 118 is configured to process longitudinal and lateral accelerations from another accelerometer 120 via communication connection 122.
[0033] In the example, electronic switch circuit 110 is configured to receive longitudinal and lateral acceleration from another accelerometer 120 via communication connection 122.
[0034] The device 118 is configured to perform a method for inspecting the acceleration sensor 116.
[0035] Figure 2 A flowchart of the first part of a method for inspecting the accelerometer 116 is shown.
[0036] The first part of the method is executed while the vehicle 100 is in a stopped state.
[0037] The first part of the method is based on a first acceleration value 202 measured by the accelerometer 116 in a stopped state, a second acceleration value 204 measured by the accelerometer 116 in a stopped state, and a third acceleration value 206 measured by the accelerometer 116 in a stopped state.
[0038] The first part of the method is based on the speed 208 of the vehicle 100 and the rotational speed 210 of the rotor 114.
[0039] In the first step 212, it is checked whether vehicle 100 has come to a complete stop. In the example, if the speed 208 of vehicle 100 is less than or equal to a pre-given speed, especially equal to zero, it is determined that vehicle 100 has come to a complete stop.
[0040] In step 214, it is checked whether the steering actuator 104 has stopped moving. In the example, if the rotational speed 210 is less than or equal to a pre-given rotational speed, especially equal to zero, it is determined that the steering actuator 104 has stopped moving.
[0041] If it is determined that vehicle 100 and steering actuator 104 are both stationary, then proceed to step 216. Otherwise, the method ends.
[0042] This means that the inspection only begins in the first part when the vehicle 100 and the steering actuator 104 are stationary.
[0043] In step 216, the inspection of the accelerometer 116 begins.
[0044] In step 216, the first acceleration value 202, the second acceleration value 204, and the third acceleration value 206 are collected.
[0045] Then proceed to step 218.
[0046] In step 218, the result r is determined based on the root of the sum of the squares of the first acceleration value 202, the second acceleration value 204, and the third acceleration value 206. For example, using the listed formula... To determine the result, x represents the first acceleration value 202 collected, y represents the second acceleration value 204 collected, and z represents the third acceleration value 206 collected.
[0047] Then proceed to step 220.
[0048] In step 220, it is checked whether the result r is within a predetermined tolerance t (especially t=10%) around a predetermined value w (especially w=1g).
[0049] If the result r is within the tolerance t around the pre-given value w, then the first acceleration value 202, the second acceleration value 204, and the third acceleration value 206 are determined to be correct outputs. Otherwise, the correct outputs are not determined.
[0050] This means that, in a stopped state, the correct output of the first acceleration value 202, the second acceleration value 204, and the third acceleration value 206 are determined based on the first acceleration value 202 measured by the acceleration sensor 116 in a stopped state, the second acceleration value 204 measured by the acceleration sensor 116 in a stopped state, and the third acceleration value 206 measured by the acceleration sensor 116 in a stopped state.
[0051] Figure 3 A flowchart of the second part of the method is shown.
[0052] The second part of the method is performed while the vehicle is in motion.
[0053] The second part of the method is based on a third acceleration value 206 and the lateral acceleration 302 of the vehicle 100 measured by another acceleration sensor 120.
[0054] The second part may optionally include step 304.
[0055] In optional step 304, the third acceleration value 206 is filtered.
[0056] The second part may optionally include step 306.
[0057] In optional step 306, when performing step 304, the filtered third acceleration value is sampled at 100Hz, and otherwise the third acceleration value 206 is sampled at 100Hz.
[0058] The second part may optionally include step 308.
[0059] In optional step 308, the lateral acceleration 302 is filtered.
[0060] The second part includes step 310.
[0061] In step 310, it is checked whether the third acceleration value 206 is greater than the limit value used for the third acceleration value, especially 0.2g.
[0062] In step 310, it is checked whether the lateral acceleration 302 is greater than the limit value for the lateral acceleration 302, especially 0.2g.
[0063] If it is determined that the third acceleration value 206 is greater than the limit value for the third acceleration value 206 and the lateral acceleration 302 is greater than the limit value for the lateral acceleration 302, then proceed to step 312.
[0064] Otherwise, terminate the method.
[0065] If optional step 304 is performed, it is checked whether the filtered third acceleration value is greater than the limit value. If optional step 306 is performed, it is checked whether the sampled third acceleration value is greater than the limit value. If optional steps 304 and 306 are performed, it is checked whether the sampled and filtered third acceleration value is greater than the limit value.
[0066] If optional step 308 is performed, check whether the filtered lateral velocity is greater than the limit value.
[0067] In step 312, the difference between the lateral acceleration 302 and the third acceleration value 206 is determined. In this example, the difference between the detected lateral acceleration 302 and the third acceleration value 206 for a predetermined number n is determined. In this example, the average of the differences for the predetermined number n is determined.
[0068] If the predetermined quantity n is reached, then proceed to step 314.
[0069] In step 314, it is checked whether the average value is less than the limit value for the difference, in particular 0.05g, in absolute terms.
[0070] If the absolute value of the average is less than the limit value used for the difference, then the correct output of the third acceleration value 206 is determined. Otherwise, the correct output of the third acceleration value 206 is not determined.
[0071] This means that the correct output of the third acceleration value 206 is determined based on the third acceleration value 206 measured by the acceleration sensor 116 during driving and based on the lateral acceleration 302 of the vehicle 100 during driving, especially at the same time.
[0072] Figure 4 A flowchart of the third part of the method is shown.
[0073] The third part of the method is performed while the vehicle is in motion.
[0074] The third part of the method is based on the first acceleration value 202, the second acceleration value 204, and the longitudinal acceleration 402 of the vehicle 100 measured by another acceleration sensor 120.
[0075] The third part may optionally include step 404.
[0076] In optional step 404, the first acceleration value 204 is filtered.
[0077] The third part may optionally include step 406.
[0078] In optional step 406, when performing step 404, the filtered acceleration value is sampled, and otherwise the first acceleration value 202 is sampled at 100Hz.
[0079] The third part may optionally include step 408.
[0080] In optional step 408, the second acceleration value 204 is filtered.
[0081] The third part may optionally include step 410.
[0082] In optional step 410, when performing step 408, the filtered second acceleration value is sampled at 100Hz, and otherwise the second acceleration value 204 is sampled.
[0083] Part Three includes step 412.
[0084] In step 412, the total acceleration value along the longitudinal acceleration direction of the vehicle is determined based on the first acceleration value 202 and the second acceleration value 204.
[0085] The total acceleration value is, for example, the result of the vector sum of the first acceleration value 202 and the second acceleration value 204.
[0086] If optional step 404 is performed, the total acceleration value is determined based on the filtered first acceleration value. If optional step 406 is performed, the total acceleration value is determined based on the sampled first acceleration value. If optional steps 404 and 406 are performed, the total acceleration value is determined based on the sampled and filtered first acceleration value. Similarly, this also applies to steps 408 and 410 related to the second acceleration.
[0087] The third part may optionally include step 414.
[0088] In optional step 414, the longitudinal acceleration 402 is filtered.
[0089] The second part includes step 416.
[0090] In step 416, it is checked whether the total acceleration value is greater than the limit value used for the total acceleration value, especially 0.15g.
[0091] In step 416, it is checked whether the longitudinal acceleration 402 is greater than the limit value for the longitudinal acceleration 402, especially 0.15g.
[0092] If it is determined that the total acceleration value is greater than the limit value used for the total acceleration value and the longitudinal acceleration 402 is greater than the limit value used for the longitudinal acceleration 402, then proceed to step 418.
[0093] Otherwise, the method is terminated.
[0094] If optional step 414 is performed, check whether the filtered longitudinal acceleration is greater than the limit value.
[0095] In step 418, the difference between the longitudinal acceleration 402 and the total acceleration value is determined. In this example, the difference between the detected lateral acceleration 402 and the total acceleration value for a predetermined number n is determined. In this example, the average of the differences for the predetermined number n is determined.
[0096] If optional step 414 is performed, the difference is determined using the filtered longitudinal acceleration.
[0097] If the predetermined quantity n is reached, then proceed to step 420.
[0098] In step 420, it is checked whether the average value is less than the limit value for the difference, in particular 0.05g, in absolute terms.
[0099] If the average value, in absolute terms, is less than the limit value used for the difference, then the correct output of the first acceleration value 202 and the second acceleration value 204 is determined by the determined total acceleration. Otherwise, the correct output of the first acceleration value 202 and the second acceleration value 204 is not determined.
[0100] This means that the correct output of the first acceleration value 202 and the second acceleration value 204 is determined based on the first acceleration value 202 measured during driving and the second acceleration value 204 measured during driving, as well as the longitudinal acceleration 402 of the vehicle 100 measured simultaneously during driving.
[0101] Figure 5 A flowchart of the fourth part of the method is shown.
[0102] The fourth part of the method is based on the first acceleration value 202, the second acceleration value 204, and the vehicle speed 208.
[0103] The total acceleration is determined in Part IV as described in Part III.
[0104] Part Four includes step 502.
[0105] In step 502, the longitudinal acceleration of the vehicle is determined based on the velocity 208.
[0106] Part Four includes optional step 504.
[0107] In optional step 504, the vehicle longitudinal velocity is filtered.
[0108] Part Four includes step 506.
[0109] In step 506, it is checked whether the total acceleration value is greater than the limit value used for the total acceleration value, especially 0.1g.
[0110] In step 506, it is checked whether the vehicle's longitudinal acceleration is greater than the limit value for the vehicle's longitudinal velocity, especially 0.1g.
[0111] If it is determined that the total acceleration value is greater than the limit value used for the total acceleration value and the vehicle longitudinal acceleration is greater than the limit value used for the vehicle longitudinal acceleration, then proceed to step 508.
[0112] Otherwise, the method is terminated.
[0113] If optional step 504 is performed, check whether the filtered vehicle longitudinal acceleration is greater than the limit value.
[0114] In step 508, the difference between the vehicle's longitudinal acceleration and total acceleration values is determined. In this example, the difference between the detected vehicle longitudinal acceleration and total acceleration values is determined for a predetermined number n. In this example, the average of the differences for the predetermined number n is determined.
[0115] If optional step 504 is performed, the difference is determined using the filtered vehicle longitudinal acceleration.
[0116] If the predetermined quantity n is reached, then proceed to step 510.
[0117] In step 510, it is checked whether the average value is less than the limit value for the difference, in particular 0.05g, in absolute terms.
[0118] If the average value, in absolute terms, is less than the limit value used for the difference, then the correct output of the first acceleration value 202 and the second acceleration value 204 is determined by the determined total acceleration. Otherwise, the correct output of the first acceleration value 202 and the second acceleration value 204 is not determined.
[0119] This means that the correct output of the first acceleration value 202 is determined based on the first acceleration value 202 measured during driving, the second acceleration value 204 measured during driving, and the speed 208 of the vehicle 100 measured during driving.
Claims
1. A method for inspecting an acceleration sensor (116) in a steering system (102), said steering system (102) including an electromechanical steering actuator (104), said electromechanical steering actuator (104) including an acceleration sensor (116), said acceleration sensor (116) being configured to measure a first acceleration value (202) on a first axis, a second acceleration value (204) on a second axis, and a third acceleration value (206) on a third axis, wherein these axes are perpendicular to each other. The system determines whether the vehicle (100) is in a stationary state or in motion, wherein in the stationary state, the correct output of the first acceleration value (202), the second acceleration value (204), and the third acceleration value (206) is determined based on the first acceleration value (202) measured by the acceleration sensor (116) in the stationary state, the second acceleration value (204) measured by the acceleration sensor (116) in the stationary state, and the third acceleration value (206) measured by the acceleration sensor (116) in the stationary state.
2. The method according to claim 1, characterized in that, The correct output of the third acceleration value (206) is determined based on the third acceleration value (206) measured by the acceleration sensor (116) during driving and based on the lateral acceleration (302) of the vehicle (100) during driving. The correct output of the first acceleration value (202) and the second acceleration value (204) is determined based on the first acceleration value (202) measured during driving and based on the second acceleration value (204) measured during driving and based on the longitudinal acceleration (402) measured during driving or the longitudinal acceleration of the vehicle (100) determined from the vehicle speed (208).
3. The method according to claim 1 or 2, characterized in that, If it is determined (218) that the root of the sum of the squares of the first acceleration value measured by the accelerometer (116) in the stopped state, the second acceleration value measured by the accelerometer (116) in the stopped state, and the third acceleration value measured by the accelerometer (116) in the stopped state is within a predetermined tolerance around a predetermined value, especially 1g, especially 10%, then the correct output of the first acceleration value, the second acceleration value, and the third acceleration value is determined in the stopped state.
4. The method according to any one of the preceding claims, characterized in that, The steering system includes a steering actuator (104), wherein the steering actuator (104) includes a motor (112) for operating the steering actuator (104), wherein the motor (112) includes a rotor (114), wherein if it is determined (214) that the rotational speed of the rotor (114) is less than or equal to a predetermined speed, especially equal to zero, then the correct output of a first acceleration value, a second acceleration value, and a third acceleration value is determined in the stopped state.
5. The method according to any one of the preceding claims, characterized in that, If the speed of the vehicle (100) is less than or equal to a pre-given speed, especially equal to zero, then (212) is determined to be in a stopped state.
6. The method according to any one of the preceding claims, characterized in that, If it is determined that (310) the third acceleration value is greater than the limit value for the third acceleration value, in particular 0.2g and the measured lateral acceleration of the vehicle is greater than the limit value for lateral acceleration, in particular 0.2g, and if it is determined that (314) the difference between the lateral acceleration and the third acceleration value is less than the limit value for the difference, in particular 0.05g, then the correct output of the third acceleration value is determined.
7. The method according to claim 6, characterized in that, If it is determined that (314) the average of the differences between the lateral acceleration measured simultaneously during the vehicle's operation and the third acceleration value, in a predetermined number, is less than the limit value for the difference, then the correct output of the third acceleration value is determined.
8. The method according to any one of the preceding claims, characterized in that, (412) The total acceleration value is determined based on the first acceleration value measured during driving and the second acceleration value measured during driving, wherein if it is determined (416) that the total acceleration value is greater than the limit value for the total acceleration value, in particular 0.15g and the longitudinal acceleration is greater than the limit value for the longitudinal acceleration, in particular 0.15g and if it is determined (420) that the difference between the longitudinal acceleration and the total acceleration value is less than the limit value for the difference, in particular 0.05g, then the correct output of the absolute value of acceleration or acceleration value along the direction of longitudinal acceleration is determined.
9. The method according to claim 8, characterized in that, If it is determined that the average of the differences between the longitudinal accelerations measured simultaneously during driving and a given number of specific total acceleration values is less than the limit value for the difference, then the correct output of the first and second acceleration values is determined.
10. The method according to any one of the preceding claims, characterized in that, (412) A total acceleration value is determined based on a first acceleration value (202) measured during driving and a second acceleration value (204) measured during driving, wherein the vehicle longitudinal acceleration is determined based on the vehicle speed (208), wherein if it is determined (506) that the total acceleration value is greater than the limit value for the total acceleration value, in particular 0.1g and the vehicle longitudinal acceleration is greater than the limit value for the vehicle longitudinal acceleration, in particular 0.1g and if it is determined (510) that the difference between the vehicle longitudinal acceleration and the total acceleration value is less than the limit value for the difference, in particular 0.05g, then (412) the correct output of the total acceleration determined from the first acceleration value and the second acceleration value is determined.
11. The method according to claim 10, characterized in that, If it is determined that the average of the differences between the vehicle acceleration and the total acceleration value that occur simultaneously during driving (510) is less than the limit value used for the difference, then the correct output of the first and second acceleration values is determined.
12. An apparatus (118) for inspecting an acceleration sensor (116) in a steering system (102), wherein the steering system (102) includes an electromechanical steering actuator (104), wherein the electromechanical steering actuator (104) includes an acceleration sensor (116), wherein the acceleration sensor (116) is configured to measure a first acceleration value on a first axis, a second acceleration value on a second axis and a third acceleration value on a third axis, wherein these axes are perpendicular to each other, and wherein the apparatus (118) is configured to perform the method according to any one of the preceding claims.
13. A vehicle (100), characterized in that, The vehicle (100) includes a steering system (102), wherein the steering system (102) includes an electromechanical steering actuator (104), wherein the electromechanical steering actuator (104) includes an acceleration sensor (116), wherein the acceleration sensor (116) is configured to measure a first acceleration value on a first axis, a second acceleration value on a second axis and a third acceleration value on a third axis, wherein these axes are perpendicular to each other, and wherein the vehicle (100) includes the device (118) according to claim 12.