Sensor assembly for determining the angle of rotation of an object rotatable about an axis of rotation

Abstract

Sensor assembly for redundant determination of the angle of rotation of a rotatable object about an axis of rotation, comprising a first sensor device for detecting the angle of rotation of the rotatable object based on an electromagnetic measuring principle and a second sensor device for detecting the angle of rotation of the rotatable object based on an inductive measuring principle, wherein a magnetic device comprising a multipole magnet of the first sensor device and a coupling device of the second sensor device are each coupled non-rotatably relative to the rotatable object. At least one first evaluation and control unit of the first sensor device is arranged on a positionally fixed circuit carrier, receives signals caused by the rotational movement of the multipole magnet and generates a first electrical measuring signal representing the current angle of rotation of the rotatable object, wherein at least one second evaluation and control unit of the second sensor device is arranged on a positionally fixed circuit carrier, receives signals caused by the rotational movement of the coupling device and generates a second electrical measuring signal representing the current angle of rotation of the rotatable object redundantly. Here, a radial distance exists between the multipole magnet and the axis of rotation of the rotatable object.

Description

Technical Field

[0001] The present invention relates to a sensor assembly for redundantly measuring the rotation angle of an object rotatable about a rotation axis, as described in the preamble of claim 1. Background Technology

[0002] A sensor assembly for redundantly determining the rotation angle of an object rotatable about a rotation axis is known from document DE 10 2022 207 284 A1. This sensor assembly includes at least one circuit carrier, a first sensor device, and a second sensor device. The first sensor device includes a first evaluation and control unit disposed on the at least one circuit carrier and detects the rotation angle of the object rotatable about a rotation axis based on electromagnetic measurement principles. The second sensor device includes a second evaluation and control unit disposed on the at least one circuit carrier and detects the rotation angle of the object rotatable about a rotation axis based on inductive measurement principles. A magnet of the first sensor device and a coupling device of the second sensor device are respectively non-rotatably connected to the rotatable object. The first evaluation and control unit receives a signal caused by the rotational motion of the magnet and generates at least one first electrical measurement signal representing the current rotation angle of the rotatable object. The second evaluation and control unit receives a signal caused by the rotational motion of the coupling device and generates at least one redundant second electrical measurement signal representing the current rotation angle of the rotatable object. Summary of the Invention

[0003] The sensor assembly for redundantly determining the rotation angle of an object rotatable about a rotation axis, having the features of independent claim 1, has the following advantages: when using electromagnetic measurement principles to determine the rotation angle via the radial distance between a rotatable multipole magnet and the rotation axis, sensitivity to positional errors is reduced and the accuracy of angle assessment is improved. This is particularly advantageous when measuring small rotation angles in the range of 5 to 15 degrees. Furthermore, by combining electromagnetic measurement principles with inductive measurement principles, heterogeneous redundancy resolution for the rotational motion of an object rotatable about a rotation axis can be achieved.

[0004] Embodiments of the present invention provide a sensor assembly for redundantly determining the rotation angle of an object rotatable about a rotation axis. The sensor assembly includes: a first sensor device that detects the rotation angle of the object based on electromagnetic measurement principles; and a second sensor device that detects the rotation angle of the object based on inductive measurement principles. The magnetic device of the first sensor device, including a multipole magnet, and the coupling device of the second sensor device are both non-rotatably connected to the rotatable object. At least one first evaluation and control unit of the first sensor device is arranged on a fixed-position circuit carrier and receives signals caused by the rotational motion of the multipole magnet, generating at least one first electrical measurement signal representing the current rotation angle of the rotatable object. At least one second evaluation and control unit of the second sensor device is arranged on a fixed-position circuit carrier and receives signals caused by the rotational motion of the coupling device, generating at least one redundant second electrical measurement signal representing the current rotation angle of the rotatable object. Here, a radial distance exists between the multipole magnet and the rotation axis of the rotatable object.

[0005] Furthermore, the present invention also proposes a pedal for a vehicle, the pedal comprising a pedal bracket fixed to the vehicle body, a pedal rod rotatable about a rotation axis, and a sensor assembly for redundantly measuring the rotation angle of the rotatable pedal rod.

[0006] Since electromagnetic and inductive measurement principles are purely used to distinguish rotation angles, embodiments of the sensor assembly according to the invention can be implemented independently of the force-displacement characteristic curve of the pedal mechanism for a specific project. Therefore, embodiments of the sensor assembly according to the invention can be flexibly applied to and adapted for various pedals, such as accelerator pedals, brake pedals, or combined accelerator-brake pedals with different angle ranges, wherein the rotatable object corresponds to a rotatably supported pedal rod. Thus, braking or acceleration signals can be provided without mechanical intervention. Furthermore, the hardware can be easily adapted to customer needs through various configuration variations. Depending on customer requirements, separate or common plug-in connections can also be provided on at least one circuit carrier for each measurement principle.

[0007] An embodiment of a sensor assembly for redundantly measuring the rotation angle of an object rotatable about a rotation axis can be used in a vehicle to detect pedal action. For example, the pedal could be a brake pedal in a vehicle braking system for detecting a driver's braking request, or an accelerator pedal in a vehicle drive system for detecting an acceleration request.

[0008] The at least one circuit carrier is preferably designed as a multilayer printed circuit board. Furthermore, the at least one circuit carrier is preferably designed to provide independent power and / or ground for each measurement principle, for example, by using multiple layers and copper surfaces. The multipole magnet used is preferably of a sector shape. Of course, the multipole magnet can also have other shapes, such as elliptical, rectangular, etc. The number of pole pairs can be adjusted according to the required signal resolution. Furthermore, the first periodicity of the at least one first electrical measurement signal can be based on the number of poles of the magnet. For example, a rotatable object can correspond to a pedal lever that performs the rotational motion to be detected when manipulated. Manipulating the pedal lever causes the multipole magnet to rotate. A corresponding at least one first evaluation and control unit on the at least one circuit carrier detects the signal based on the rotating multipole magnet and converts the rotation into at least one first electrical measurement signal containing information about the rotation angle or deflection of the pedal lever.

[0009] In the current context, the evaluation and control unit can be understood as an electrical component or circuit that regulates, processes, or evaluates the detected sensor signals. Preferably, both the first and second evaluation and control units are designed as ASIC components (ASIC: Application-Specific Integrated Circuit). Furthermore, both the electromagnetic measurement principle and the inductive measurement principle used are based on differential measurement principles to optimize the electromagnetic compatibility (EMV) of the sensor components. This means that differential measurement principles are used when customer requirements for EMV are high. Depending on the EMV load in the area of ​​the rotatable object, non-differential measurement principles may also be employed. The evaluation and control unit may have at least one interface, which can be constructed in hardware and / or software. In a hardware configuration, the interface may be, for example, part of an ASIC component. However, the interface may also be a standalone integrated circuit, or at least partially composed of discrete components. In a software configuration, the interface may be a software module, which exists on a microcontroller, for example, along with other software modules.

[0010] The measures and improvements listed in the dependent claims enable advantageous improvements to the sensor assembly described in independent claim 1 for redundantly determining the rotation angle of an object rotatable about a rotation axis.

[0011] A particular advantage is that the magnetic device may include a support element non-rotatably coupled to a rotatable object, the support element carrying a multipole magnet at a radial distance from the axis of rotation. Here, the support element may be, for example, fan-shaped or T-shaped. Preferably, the support element may be arranged to project radially from an annular base. The annular base may slide into and be secured to a connecting element designed as a pin, which non-rotatably engages the rotatable object.

[0012] In an advantageous design of the sensor assembly, the carrier element of the magnetic device can be made of a ferromagnetic material having magnetized regions that form a multipole magnet. Alternatively, the carrier element of the magnetic device can be constructed as a plastic injection molded part that at least partially encapsulates the multipole magnet. Thus, the multipole magnet can be inserted into the injection mold as an insert, for example, during the injection molding process, and completely molded over it.

[0013] In another advantageous design of this sensor assembly, the first sensor device can be configured as a magnetic sensor having at least one magnetic angle sensor facing a rotatably supported multipole magnet and integrated into at least one first evaluation and control unit. Here, the multipole magnet can at least partially cover the at least one magnetic angle sensor of the first sensor device during rotational movement about a rotation axis. Furthermore, the at least one first evaluation and control unit can be designed to receive signals from the at least one magnetic angle sensor caused by the rotational movement of the multipole magnet and generate at least one first electrical measurement signal. Thus, the first sensor device can be implemented in a particularly space-saving manner.

[0014] In another advantageous design of this sensor assembly, the second sensor device can be configured as an inductive sensor having at least one excitation structure and at least one receiving structure, which are arranged on a fixed-position circuit carrier and face a rotatable coupling device. Here, the coupling device can at least partially cover at least one excitation structure and at least one receiving structure of the second sensor device during rotational movement about a rotation axis.

[0015] In another advantageous design of the sensor assembly, the radial distance from the multipole magnet to the axis of rotation can be predetermined such that the multipole magnet does not cover at least one excitation structure and at least one receiving structure of the second sensor device during its rotational movement about the axis of rotation. Therefore, the multipole magnet can preferably be arranged such that its path of motion extends above at least one excitation structure and at least one receiving structure. Here, at least one first evaluation and control unit is arranged on the circuit carrier above at least one excitation structure and at least one receiving structure. Alternatively, the multipole magnet can be arranged such that its path of motion extends below at least one excitation structure and at least one receiving structure. Here, at least one first evaluation and control unit is arranged on the circuit carrier below at least one excitation structure and at least one receiving structure.

[0016] In another advantageous design of the sensor assembly, at least one excitation structure may be coupled to at least one oscillator circuit, which, during operation, couples a periodically alternating signal to the at least one excitation structure. Here, the coupling device may be designed to influence the inductive coupling between the at least one excitation structure and the at least one receiving structure. At least one second evaluation and control unit may be designed to receive the signal from the at least one receiving structure caused by the rotational motion of the coupling device and generate at least one redundant second electrical measurement signal. Furthermore, the at least one excitation structure may have at least one excitation coil. The at least one receiving structure may have at least one receiving coil. The at least one receiving coil may preferably have a periodically repeating loop structure. The coupling device may have multiple conductive coupling segments. Here, the second periodicity of the second measurement signal may be based on the number of conductive coupling segments of the coupling device. The coupling device (also referred to as the target) used for the inductive measurement principle may preferably be designed as a rotor with a specific number of blades as conductive coupling segments and is typically made of aluminum. However, other conductive materials may also be used. The number of blades may be adapted to the requirements of the angle range to be resolved. The rotation of the coupling device may be resolved by at least one receiving structure and at least one second evaluation and control unit on the circuit carrier and converted into at least one second electrical measurement signal.

[0017] In another advantageous design of the sensor assembly, the first sensor device may include two redundant evaluation control units and two redundant magnetic angle sensors, each facing a rotatable multipole magnet and integrated into one of the two first evaluation control units. Here, the multipole magnet can at least partially cover the two magnetic angle sensors of the first sensor device during rotation about its axis of rotation. The electromagnetic measurement principle of the first sensor device can be embodied in a homogeneous redundancy manner by replicating the evaluation and control units and replicating the magnetic angle sensors themselves. For measurement, the two magnetic angle sensors can use the same multipole magnet, and the two redundant evaluation and control units can each generate a first measurement signal. Combined with the inductive measurement principle, a total of triple redundancy can be achieved using only a single circuit carrier. This allows for the execution of a selection procedure when an unreasonable measurement signal is detected, thereby improving system availability.

[0018] In another advantageous design of the sensor assembly, the second sensor device may include two redundant evaluation and control units, two redundant excitation structures, and two redundant receiving structures, all arranged on a fixed circuit carrier and facing a rotatable coupling device. Here, the coupling device can at least partially cover the two excitation structures and two receiving structures of the second sensor device during rotation about a rotation axis. By replicating the evaluation and control unit, excitation structures, and receiving structures on at least one circuit carrier, the inductive measurement principle of the second sensor device can be designed in a homogeneous redundancy manner. For measurement, the two receiving structures can use the same coupling device. Combined with the electromagnetic measurement principle, this achieves a total of triple redundancy using only one circuit carrier, or a total of quadruple redundancy if the first sensor device employs a homogeneous redundancy design. This allows for the execution of a selection procedure when an abnormality in the measurement signal is detected, thereby improving system availability.

[0019] Embodiments of the present invention are shown in the accompanying drawings and explained in more detail in the following description. In the drawings, the same reference numerals denote parts or elements that perform the same or similar functions. Attached Figure Description

[0020] Figure 1 A schematic perspective view of a pedal for a vehicle is shown, having an embodiment of a sensor assembly according to the invention for redundantly determining the rotation angle of an object rotatable about a rotation axis.

[0021] Figure 2 It shows Figure 1 A schematic cross-sectional view of a portion of the middle pedal;

[0022] Figure 3 It shows Figure 1 and Figure 2 An enlarged view of a sensor assembly according to the present invention, showing a first embodiment having a connecting device shown in a transparent manner and a magnetic device shown in a transparent manner;

[0023] Figure 4 It shows Figures 1 to 3 A schematic perspective view of the connection device and magnetic device of the sensor assembly according to the present invention;

[0024] Figure 5 A schematic diagram of a second embodiment of the coupling device and magnetic device according to another embodiment of the sensor assembly according to the present invention (not shown) is shown. Detailed Implementation

[0025] from Figure 1 and Figure 2As can be seen, the illustrated embodiment of the pedal 1 for a vehicle according to the present invention includes a pedal bracket 3 fixed to the vehicle body, a pedal rod 4A rotatable about a rotation axis DA, and a sensor assembly 10 according to the present invention for redundantly measuring the rotation angle of the rotatable pedal rod 4A.

[0026] from Figure 1 and Figure 2 As can be seen, the pedal lever 4A includes a control surface 9 at its free end for receiving the control force applied by the driver's foot, and at its other end it is non-rotatably inserted into a rotating shaft 5, which is rotatably supported in two rotating support members 7. These two rotating support members 7 are arranged opposite to each other in the pedal bracket 3.

[0027] In the illustrated embodiment, pedal 1 is designed as brake pedal 1A. In an alternative embodiment not shown, pedal 1 is designed as accelerator pedal.

[0028] from Figures 1 to 4 As can be seen, the first embodiment of the sensor assembly 10 according to the present invention for redundantly determining the rotation angle of an object 4 (designed herein as a pedal lever 4A) rotatable about a rotation axis DA includes: a first sensor device 20, which detects the rotation angle of the object 4 rotatable about a rotation axis DA based on an electromagnetic measurement principle; and a second sensor device 30, which detects the rotation angle of the object 4 rotatable about a rotation axis DA based on an inductive measurement principle. The magnetic device 24 of the first sensor device 20, including a multipole magnet 26, and the coupling device 38 of the second sensor device 30 are respectively non-rotatably connected to the rotatable object 4. At least one first evaluation and control unit 22 of the first sensor device 20 is arranged on a fixed-position circuit carrier 14 and receives signals caused by the rotational motion of the multipole magnet 26, and generates at least one first electrical measurement signal representing the current rotation angle of the rotatable object 4. At least one second evaluation and control unit 32 of the second sensor device 30 is arranged on the fixed circuit carrier 14 and receives signals caused by the rotational movement of the coupling device 38, and generates at least one redundant second electrical measurement signal representing the current rotation angle of the rotatable object 4. Here, there is a radial distance A between the multipole magnet 26 and the rotation axis DA of the rotatable object 4.

[0029] from Figures 1 to 5 It can also be seen that, in the illustrated embodiments, the magnetic device 24 includes a support element 28 that is non-rotatably connected to the rotatable object 4. This support element carries the multipole magnet 26 at a radial distance A from the axis of rotation DA. Here, the support element 28 of the magnetic device 24 is constructed as a plastic injection molded part, which at least partially encapsulates the multipole magnet 26.

[0030] from Figures 1 to 4 It can also be seen that, in the first embodiment of the magnetic device 24A, the carrier element 28 is constructed as a sector 28A connected to the annular member. Here, the annular member is non-rotatably connected to the connecting element 16, which is designed as a pin 16A. Therefore, the annular member of the carrier element 28 of the magnetic device 24 is non-rotatably inserted into one end of the connecting element 16, which is designed as a pin 16A. From Figure 5 It can also be seen that the supporting element 28 in the second embodiment of the magnetic device 24B is constructed as a ring-shaped member 28B with a protrusion. Similar to the first embodiment of the magnetic device 24A, the ring-shaped member 28B with the protrusion is non-rotatably connected to the connecting element 16, which is designed as a pin 16A, and is non-rotatably inserted into one end of the connecting element 16, which is designed as a pin 16A. From Figures 2 to 5 It can also be seen that the multipole magnet 26 has a different distance A from the axis of rotation DA.

[0031] from Figures 1 to 5 It can also be seen that the connecting device 38 is designed as a rotor 38A, which has ten blades arranged on an annular member as conductive connection sections 38.1. Here, the period of the first electrical measurement signal depends on the number of magnetic poles of the multipole magnet 26, while the period of the second measurement signal depends on the number of conductive connection sections 38.1 or blades of the rotor 38A. Similar to the carrier element 28 of the magnetic device 24, the annular member of the connecting device 38 is non-rotatably connected to the connecting element 16, which is designed as a pin 16A. For this purpose, the connecting device 38 is non-rotatably inserted into one end of the connecting element 16, which is designed as a pin 16A, after the carrier element 28 of the magnetic device. Here, the non-rotatable connection 18 between the carrier element 28 of the magnetic device and the connecting device 38 and the connecting element 16, which is designed as a pin 16A, is designed as a plastic-coated molded part 18A. The other end of the connecting element 16, which is designed as a pin 16A, is non-rotatably inserted into and held in a corresponding opening in the rotation shaft 5 of the pedal 1.

[0032] exist Figures 1 to 4 In the embodiment of the magnetic device 24A shown, the corresponding first multipole magnet 26A has a first distance A1 from the rotation axis DA, and... Figure 5 In the embodiment of the magnetic device 24B shown, the corresponding second multipole magnet 26B has a second distance A2 with the rotation axis DA, which is smaller than the first distance A1.

[0033] In an alternative embodiment of the magnetic device 24 (not shown), the carrier element 28 may have other suitable shapes, such as a T-shape. Furthermore, in an alternative embodiment (not shown), the carrier element 28 of the magnetic device 24 may be made of a ferromagnetic material having magnetized regions that form a multipole magnet 26.

[0034] In the illustrated embodiment of sensor assembly 10, the first sensor device 20 is configured as a magnetic sensor 20A, having at least one magnetic angle sensor 23 facing a rotatably supported multipole magnet 26, and integrated into at least one first evaluation and control unit 22. The multipole magnet 26 at least partially covers the at least one magnetic angle sensor 23 of the first sensor device 20 during rotational motion about a rotation axis DA. The at least one first evaluation and control unit 22 receives signals from the at least one magnetic angle sensor 23 caused by the rotational motion of the multipole magnet 26 and generates at least one first electrical measurement signal. In the illustrated embodiment, both the at least one first evaluation and control unit 22 of the first sensor device 20 and the at least one second evaluation and control unit 32 of the second sensor device 30 are designed as ASIC components and connected to a higher-level controller (not shown in detail) via at least one electrical interface 15. In the higher-level controller, the generated measurement signals can be further evaluated to determine the detected rotational motion.

[0035] The second sensor device 30 is configured as an inductive sensor 30A, having at least one excitation structure 34 and at least one receiving structure 36, which are arranged on a fixed circuit carrier 14 and face a rotatable coupling device 38. In the illustrated embodiment, both the at least one excitation structure 34 and the at least one receiving structure 36 are annular in shape. The coupling device 38 at least partially covers the at least one excitation structure 34 and the at least one receiving structure 36 of the second sensor device 30 during rotational movement about a rotation axis DA. In the illustrated embodiment, the circuit carrier 14 is designed as a multilayer printed circuit board 14A. Here, the at least one excitation structure 34 includes at least one excitation coil designed as a planar coil, and the at least one receiving structure 36 includes at least one receiving coil designed as a planar coil and having a periodically repeating loop structure. These coils are arranged on the circuit carrier 14 around an opening in the circuit carrier 14 through which a connecting element 16 designed as a pin 16A passes. In the illustrated embodiment, at least one excitation coil of the at least one excitation structure 34 surrounds at least one receiving coil of the at least one receiving structure 36. In an alternative embodiment not shown, at least one receiving coil of the at least one receiving structure 36 surrounds at least one excitation coil of the at least one excitation structure 34.

[0036] In the illustrated embodiment, the at least one excitation structure 34 is coupled to at least one oscillator circuit, which is preferably integrated into at least one second evaluation and control unit 32, and coupled a periodic alternating signal to the at least one excitation structure 34 during operation. Here, the coupling device 38 affects the inductive coupling between the at least one excitation structure 34 and at least one receiving structure 36. The at least one second evaluation and control unit 32 receives the signal from the at least one receiving structure 36 caused by the rotational movement of the coupling device 38 and generates at least one redundant second electrical measurement signal.

[0037] Especially from Figure 3 It can also be seen that, in the illustrated embodiment of sensor assembly 10, the first sensor device 20 includes two redundant evaluation and control units 22 and two redundant magnetic angle sensors 23. These two redundant magnetic angle sensors face a rotatable multipole magnet 26A and are respectively integrated into one of the two first evaluation and control units 22. Here, the first magnetic angle sensor 23A is integrated into the first evaluation and control unit 22A arranged above, while the second magnetic angle sensor 23B is integrated into the first evaluation and control unit 22B arranged below. Figure 3 It can also be seen that both first evaluation units and control unit 22 are arranged on the circuit carrier 14, above at least one excitation structure 34 and at least one receiving structure 36. The radial distance A from the multipole magnet 26A to the rotation axis DA corresponds to the first distance A1 in the illustrated first magnetic device 24A, and is configured such that the multipole magnet 26A does not cover at least one excitation structure 34 and at least one receiving structure 36 of the second sensor device 30 during rotational movement about the rotation axis DA. At the same time, the multipole magnet 26A at least partially covers the two magnetic angle sensors 23 of the first sensor device 20 during rotational movement about the rotation axis DA.

[0038] In the illustrated embodiment of sensor assembly 10, the second sensor device 30 includes two redundant evaluation and control units 32, two redundant excitation structures 34, and two redundant receiving structures 36. The two redundant excitation structures and two redundant receiving structures are all arranged on a fixed circuit carrier 14 and face a rotatable coupling device 38. Here, the coupling device 38 at least partially covers the two excitation structures 34 and the two receiving structures 36 of the second sensor device 30 during rotational movement about the rotation axis DA. Figure 3It can also be seen that two second evaluation and control units 32 are arranged on the circuit carrier 14, above the two excitation structures 34 and the two receiving structures 36. Here, the first oscillator circuit integrated in the second evaluation and control unit 32A on the left connects a periodic alternating signal to the first excitation structure 34A during operation. In addition, the second evaluation and control unit 32A on the left receives the signal from the first receiving structure 36A caused by the rotational movement of the connecting device 38, and generates a corresponding redundant second electrical measurement signal. The second oscillator circuit integrated in the second evaluation and control unit 32B on the right connects a periodic alternating signal to the second excitation structure 34B during operation. The second evaluation and control unit 32B on the right receives the signal from the second receiving structure 36B caused by the rotational movement of the connecting device 38, and generates a corresponding redundant second electrical measurement signal.

[0039] Therefore, the illustrated embodiment of the sensor assembly achieves a total of four redundancies using only one circuit carrier 14. This allows a selection procedure to be executed when an unreasonable measurement signal is detected, thereby improving system availability.

[0040] In use Figure 5 In the magnetic device 24B shown, two first evaluation and control units 22 of the first sensor device 20, designed as a magnetic sensor 20A, are arranged on the circuit carrier 14, below at least one excitation structure 34 and at least one receiving structure 36. The radial distance A of the multipole magnet 26B to the rotation axis DA corresponds to a smaller second distance A2, and is configured such that the multipole magnet 26B does not cover at least one excitation structure 34 and at least one receiving structure 36 of the second sensor device 30 during rotational movement about the rotation axis DA. Simultaneously, the multipole magnet 26B at least partially covers the two magnetic angle sensors 23 of the first sensor device 20 during rotational movement about the rotation axis DA.

Claims

1. A sensor assembly (10) for redundantly measuring the rotation angle of an object (4) rotatable about a rotation axis (DA), the sensor assembly comprising: The first sensor device (20) detects the rotation angle of an object (4) that can rotate around the rotation axis (DA) based on the electromagnetic measurement principle. as well as The second sensor device (30) detects the rotation angle of the object (4) that can rotate about the rotation axis (DA) based on the inductance measurement principle. In this configuration, the magnetic device (24) of the first sensor device (20) including a multipole magnet (26) and the connecting device (38) of the second sensor device (30) are respectively non-rotatably connected to the rotatable object (4). At least one first evaluation and control unit (22) of the first sensor device (20) is arranged on a fixed-position circuit carrier (14) and receives signals caused by the rotational motion of the multipole magnet (26), generating at least one first electrical measurement signal representing the current rotation angle of the rotatable object (4). Furthermore, at least one second evaluation and control unit (32) of the second sensor device (30) is arranged on the fixed-position circuit carrier (14) and receives signals caused by the rotational motion of the connecting device (38), generating at least one redundant second electrical measurement signal representing the current rotation angle of the rotatable object (4). The feature is that there is a radial distance (A) between the multipole magnet (26) and the axis of rotation (DA) of the rotatable object (4).

2. The sensor assembly (10) according to claim 1, characterized in that, The magnetic device (24) includes a carrier element (28) that is non-rotatably coupled to a rotatable object (4), the carrier element carrying the multipole magnet (26) at a radial distance (A) from the axis of rotation (DA).

3. The sensor assembly (10) according to claim 2, characterized in that, The carrier element (28) is fan-shaped or T-shaped.

4. The sensor assembly (10) according to claim 2 or 3, characterized in that, The carrier element (28) of the magnetic device (24) is made of ferromagnetic material with magnetized regions, which form the multipole magnet (26).

5. The sensor assembly (10) according to claim 2 or 3, characterized in that, The carrier element (28) of the magnetic device (24) is constructed as a plastic injection molded part, which at least partially encapsulates the multipole magnet (26).

6. The sensor assembly (10) according to any one of claims 1 to 5, characterized in that, The first sensor device (20) is configured as a magnetic sensor (20A) having at least one magnetic angle sensor (23) facing the rotatably supported multipole magnet (26) and integrated into the at least one first evaluation and control unit (22), wherein the multipole magnet (26) at least partially covers the at least one magnetic angle sensor (23) of the first sensor device (20) during rotational movement about the rotation axis (DA), wherein the at least one first evaluation and control unit (22) receives the signal of the at least one magnetic angle sensor (23) caused by the rotational movement of the multipole magnet (26) and generates the at least one first electrical measurement signal.

7. The sensor assembly (10) according to any one of claims 1 to 6, characterized in that, The second sensor device (30) is configured as an inductive sensor (30A) having at least one excitation structure (34) and at least one receiving structure (36), the at least one excitation structure and the at least one receiving structure being arranged on the circuit carrier (14) which is fixed in position and facing a rotatable connecting device (38), wherein the connecting device (38) at least partially covers at least one excitation structure (34) and at least one receiving structure (36) of the second sensor device (30) during rotational movement about the rotation axis (DA).

8. The sensor assembly (10) according to claim 7, characterized in that, The radial distance (A) from the multipole magnet (26) to the rotation axis (DA) is predetermined such that the multipole magnet (26) does not cover at least one excitation structure (34) and at least one receiving structure (36) of the second sensor device (30) during rotational motion about the rotation axis (DA).

9. The sensor assembly (10) according to claim 7 or 8, characterized in that, The at least one excitation structure (34) is connected to at least one oscillator circuit, which connects a periodic alternating signal to the at least one excitation structure (34) during operation, wherein the connection device (38) affects the inductive connection between the at least one excitation structure (34) and the at least one receiving structure (36), wherein the at least one second evaluation and control unit (32) receives the signal of the at least one receiving structure (36) caused by the rotational motion of the connection device (38) and generates the at least one redundant second electrical measurement signal.

10. The sensor assembly (10) according to any one of claims 6 to 9, characterized in that, The first sensor device (20) includes two redundant evaluation and control units (22) and two redundant magnetic angle sensors (23), the two redundant magnetic angle sensors facing a rotatable multipole magnet (26) and respectively integrated into one of the two first evaluation and control units (22), wherein the multipole magnet (26) at least partially covers the two magnetic angle sensors (23) of the first sensor device (20) during rotational movement about the rotation axis (DA).

11. The sensor assembly (10) according to any one of claims 6 to 10, characterized in that, The second sensor device (30) includes two redundant evaluation and control units (32), two redundant excitation structures (34), and two redundant receiving structures (36), the two redundant excitation structures (34) and the two redundant receiving structures (36) being disposed on the fixed circuit carrier (14) and facing a rotatable coupling device (38), wherein the coupling device (38) at least partially covers the two excitation structures (34) and the two receiving structures (36) of the second sensor device (30) during rotational movement about the rotation axis (DA).

12. The sensor assembly (10) according to any one of claims 7 to 11, characterized in that, The at least one excitation structure (34) has at least one excitation coil, and the at least one receiving structure (36) has at least one receiving coil.

13. The sensor assembly (10) according to any one of claims 1 to 10, characterized in that, The connection device (38) has multiple conductive connection sections (38.1).

14. A pedal (1) for a vehicle, the pedal comprising a pedal bracket (3) fixed to the vehicle body and a pedal rod (4A) rotatable about a rotation axis (DA), characterized in that, The sensor assembly (10) for redundantly measuring the rotation angle of the rotatable pedal lever (4A) is designed according to any one of claims 1 to 13.

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