Apparatus and method for providing sensor data

Abstract

An apparatus for providing sensor data (10) of a sensor (20) to a redundantly controllable vehicle system (50). The apparatus comprises a first controller (110) configured to control the vehicle system based on the sensor data (10), a second controller (120) configured to control the vehicle system based on the sensor data (10), and a switching device (130) configured to selectively forward the sensor data (10) indirectly via the second controller (120) or directly to the first controller (110).

Description

Technical Field

[0001] The present invention relates to an apparatus and method for providing sensor data, and more particularly to an apparatus and method for utilizing wheel speed sensors for redundant systems in an autonomous vehicle. Background Technology

[0002] In autonomous vehicles, numerous vehicle systems are redundantly configured. These include, for example, braking systems, steering systems, electrical systems, stability systems, and secondary systems. Each vehicle system is typically controlled by its respective controller. A conventional redundant braking system may include, for example, two primary operating brake controllers, where only one controller is responsible for executing the operating brake request at any given time. The braking request is regulated, for example, via wheel speed sensors. If only one speed sensor exists (e.g., one per wheel), the currently active operating brake controller also reads the sensor data from that speed sensor. If the sensor data from that speed sensor needs to be read by another controller, a handover (including the operating brake function) is performed to that other controller.

[0003] If a fault is identified in one brake controller, replacement of the other brake controller is carried out. The same applies to other redundant vehicle controllers (such as steering and stability systems). However, complete replacement of controllers is typically costly and not always necessary.

[0004] Therefore, a flexible approach is needed to quickly and reliably identify faults in the vehicle controller and take remedial measures. Summary of the Invention

[0005] At least some of the above problems are solved by the device according to claim 1, the braking system according to claim 11, and the method according to claim 12. The dependent claims define other advantageous embodiments of the subject matter of the independent claims.

[0006] This invention relates to an apparatus for providing sensor data from sensors to a vehicle system capable of redundant control. The apparatus includes a first controller, a second controller, and a switching device. The first controller is configured to control the vehicle system based on the sensor data. The second controller is similarly configured to control the vehicle system based on the sensor data (e.g., when the first controller does not do so). The switching device is configured to selectively forward the sensor data indirectly via the second controller or directly to the first controller.

[0007] Within the scope of this disclosure, "direct" or "indirect" provision means providing sensor data without bypassing another controller (direct provision) or providing sensor data via a bypass of another controller (indirect provision). It should be understood that even in the case of direct provision, other components (e.g., pneumatic modules) may exist between the controller and the sensor. These other components may, for example, be components of a vehicle system controlled by the controller (e.g., the main braking system).

[0008] Therefore, a redundant controller is particularly relevant, wherein, for example, when the first controller fails, the second controller serves as a backup controller. The switching device itself may also be a controller, or may be wholly or partially installed in one of the vehicle controllers or in a sensor. To control and forward sensor data, independent sensor lines or read permissions may be assigned, wherein the sensor may be configured to provide sensor data (e.g., with valid read permission) to only one unit at a given point in time.

[0009] Optionally, the first controller can be configured to control the vehicle system, while sensor data is read in parallel (e.g., simultaneously) by the second controller and forwarded to the first controller. Therefore, the forwarding of sensor data from the second controller to the first controller does not necessarily imply that the first controller is faulty or unable to control the vehicle system. More precisely, it only requires a fault in the detection of sensor data by the first controller or a fault in the forwarding of sensor data, so that the reading of sensor data can optionally be left to the second controller. Similarly, it only needs to be a test to verify the functionality of the second controller. In this way, the accuracy and reliability of reading sensor data can be significantly improved, as the most suitable controller can take over the reading of sensor data or achieve continuous monitoring.

[0010] Therefore, the switching device can optionally be configured to monitor the correct detection of sensor data by the first controller and / or the second controller. In this way, technical defects can be identified promptly when sensor data is read out by one of the controllers, and countermeasures can be taken immediately. Checks can be performed periodically, for example, at predetermined time intervals.

[0011] Optionally, the switching device is also configured to perform the monitoring as needed, including at least one of the following: The vehicle has a predetermined speed (e.g., when stationary or at a constant speed). The vehicle was not on the slope. The vehicle's engine was shut off. The vehicle brakes were released. The vehicle brakes were activated.

[0012] Vehicle brakes can be, for example, parking brakes or running brakes.

[0013] Optionally, the first and second controllers are configured to read (detect) or forward sensor data from the sensor at approximately the same speed. This provides the advantage that both controllers can be switched equally to read sensor data, utilizing the optimal controller for detecting sensor data or being able to test each other. Therefore, there is no determinable speed difference, for example, when receiving sensor data. In other words, whether the respective controller acquires sensor data directly or via a detour through the other controller will be nearly identical (or within tolerance).

[0014] Optionally, the switching device is also configured to control the provision of sensor data by authorizing or revoking read permissions. Optionally, before changing read permissions, it can be checked whether the first controller and / or the second controller or another corresponding controller can read the sensor data without failure. This in particular ensures that when read permissions are revoked and reauthorized, the new controller (e.g., the second controller) is also actually able to detect sensor data or read it more accurately than the other controller (e.g., the first controller).

[0015] Alternatively, the sensor can be controlled via separate lines along with the first and second controllers, where a special protocol can be used for access. In this case, dedicated read permissions are not required. More precisely, the first and second controllers agree on who is authorized to access the sensor using the special protocol. Therefore, according to the embodiment, the switching device can be implemented decentralizedly, with the first part implemented in the first controller and the second part implemented in the second controller. Thus, the sensor itself does not need to be connected to the vehicle bus, but rather communicates directly with the controller.

[0016] Optionally, the switching device is also configured to selectively provide or modify the provided sensor data as needed, including at least one of the following: When the vehicle is stationary, Only within a predetermined time period, Only during the duration of the (read) failure, Only until the next time the vehicle comes to a stop, Immediately after identifying the read failure, Test runs initiated by the autonomous driving system System initialization (e.g., reboot or final pre-departure testing). Instructions are received from external systems (such as from an autonomous driving system or the vehicle's central computer). Engage automatic driving mode. Terminate automatic driving mode (not engaged).

[0017] This offers the following advantages: Replacing the controller will not cause sensor data to become temporarily unusable in potentially critical situations (such as during braking), simply because the previous controller could not read the optimal sensor data. However, if the sensor data reading becomes completely unusable, the controller can be replaced immediately.

[0018] Alternatively, sensor monitoring can be performed using other sensors. For example, for monitoring speed sensors, different speed sensors can be used on different wheels to perform a rationale analysis (e.g., the speed sensors should all provide the same rotational speed when driving straight).

[0019] According to another embodiment, the primary system (or similarly, the secondary system) can periodically monitor the sensor data detection, which indicates that the system is functioning correctly in other aspects. This allows for targeted switching during sensor data detection at regular intervals to monitor the correct functioning of the corresponding braking system. This provides the advantage of timely identification of dormant faults. These faults may, for example, involve incorrect installation of the speed sensor or detect altered orientation of the speed sensor, which may occur, for example, due to vibration and result in erroneous sensor data. In particular, interference in the sensor interface or electrical connections can also be identified by the secondary system (e.g., cable breakage / poor contact).

[0020] Optionally, the vehicle system is a braking system. The braking system may include a main brake and a secondary brake, each having one or more electro-pneumatic modules. A first controller may control the main brake, and a second controller may control the secondary brake (or vice versa). The main brake may, for example, be pneumatically braked. The secondary brake may also be (electropneumatically) braked or electrically braked. However, the secondary brake may also be a parking brake. Other components of the main and / or secondary systems may be a traction controller, a foot brake module, or other valves or pneumatic amplifiers.

[0021] Optionally, the electro-pneumatic module is configured to read sensor data and selectively forward it to a first controller, or to transfer the right to read sensor data to a second controller.

[0022] Optionally, the first controller is configured to provide sensor data forwarded by the second controller to at least one of the following systems: Anti-lock braking system, Electronic stabilization program, Automatic traction control Automatic driving system Central vehicle control equipment (electronic control unit of the vehicle manufacturer; OEM ECU). Parking brake.

[0023] An automated driving system, for example, can (fully) control the vehicle in an automated driving mode.

[0024] The embodiments also relate to a vehicle braking system, which is particularly applicable to commercial vehicles, wherein the vehicle braking system has the devices described above.

[0025] The sensor may exemplarily be a wheel speed sensor. However, other sensors may also be used. The sensor may also be one of several different sensors, all of which should be monitored periodically or their readouts should be flexibly handled by other controllers. Similarly, the exemplary braking system may also be another vehicle system or include such a vehicle system. The embodiments are intended for such systems and can be employed in the same manner.

[0026] The embodiments also relate to a method for providing sensor data (e.g., a speed sensor) to a vehicle system that can be redundantly controlled by a first controller and a second controller. The method includes: The sensor data is read by the second controller; The sensor data read by the second controller is forwarded to the first controller; The first controller controls the vehicle system based on the forwarded sensor data.

[0027] Other optional steps of this method include: The vehicle system is controlled by the first controller based on sensor data (e.g., when the first controller is working without faults). The sensor data is read by the first controller (e.g., when the first controller is able to read the sensor data with high quality). The vehicle system is controlled by the second controller based on sensor data read by the second controller or the first controller (e.g., when the first controller is faulty or should be checked).

[0028] It should be understood that the two steps of control are usually not executed simultaneously. Instead, control of the vehicle system by the second controller is only executed when the first controller does not control the vehicle system or is unable to do so.

[0029] Furthermore, it should be understood that all the functions previously described for the device can be configured as additional optional method steps. It should also be understood that the order mentioned is not necessarily the order in which the method steps are executed. These steps can also be executed in another order, or only a portion of the method steps can be executed.

[0030] The method, or at least a portion thereof, can also be implemented or stored as instructions in software or on a computer program product, wherein the stored instructions are capable of executing the steps according to the method when the method is run on a processor. Therefore, the invention also relates to a computer program product having software code (software instructions) stored thereon, the software code being configured to perform one of the methods described above when executed by a processing unit. The processing unit can be any form of computer or control unit having a corresponding microprocessor capable of executing the software code. Embodiments also include computer products comprising a computer-readable storage medium storing program code that, when executed on one or more processors, performs the method.

[0031] The embodiments overcome the problems of the previously mentioned conventional systems in the following way: in a device with only one exemplary wheel speed sensor, information such as wheel speed (sensor data) can be jointly accessed by the corresponding system and provided to another system. Parallel readouts can be avoided.

[0032] According to the embodiments, the ability of the exemplary wheel speed sensor to correctly read sensor data from at least two redundant systems can be periodically checked. Therefore, redundant systems, which in conventional systems are only used in the event of a primary system failure, can read sensor data and forward it to the currently active braking system. Furthermore, continuous checking of both systems can be achieved.

[0033] This approach offers the following advantages: in cases of failure involving only the reading or forwarding of sensor data, it eliminates the need to completely replace the exemplary brake controller and the associated performance degradation. Therefore, optimal performance of the entire system (e.g., in autonomous vehicles) can always be ensured overall. Attached Figure Description

[0034] The embodiments of the present invention will be better understood through the following detailed description of various embodiments and accompanying drawings; however, these should not be construed as limiting the present disclosure to the particular implementation, but are merely for illustration and understanding.

[0035] Figure 1 An apparatus for providing sensor data according to an embodiment of the present invention is shown.

[0036] Figure 2 The operating mode of the braking system according to another embodiment is explained.

[0037] Figure 3 A schematic flowchart of a method for providing sensor data according to an embodiment is shown. Detailed Implementation

[0038] Figure 1 An embodiment of a device for providing sensor data 10 is shown. Sensor data 10 may be detected, for example, by sensor 20 (e.g., a speed sensor) and utilized in vehicle system 50 (e.g., a braking system). Sensor data 10 is selectively read by a first controller 110 or a second controller 120. The first controller 110 may be, for example, a main controller primarily responsible for controlling vehicle system 50. The second controller 120 may be, for example, a secondary controller capable of being redundantly utilized for controlling vehicle system 50. For example, the second controller 120 may provide backup functionality. For example, when the first controller 110 or the main vehicle braking system is unavailable or malfunctions, the second controller 120 may take over control.

[0039] Furthermore, the device includes a switching device 130 configured to selectively provide sensor data 10 to either a first controller 110 or a second controller 120. For this purpose, the switching device 130 may, for example, authorize read access or otherwise cause one of the controllers 110 or 120 to take over the reading of sensor data 10. Sensor 20 may, for example, be configured to provide sensor data 10 to only one receiver at a given time point, for example, if that receiver has valid read access at that time point. Therefore, the management of read access can ensure which controller 110 or 120 is allowed to receive sensor data 10.

[0040] Additionally or alternatively, the switching device 130 may be configured to operate the first controller 110 and / or the second controller 120 such that at a given time point only one of the two controllers 110 and 120 reads sensor data 10 from the sensor 20.

[0041] The switching device 130 may be incorporated into the vehicle control unit (e.g., the controller), or implemented separately or in part in the first controller 110 and / or in part in the second controller 120 (e.g., by means of installed software). Alternatively, the switching device 130 may be integrated into the sensor 20 or into the associated readout circuitry to provide the corresponding switching function.

[0042] According to the embodiments, sensor 20 can involve any vehicle sensor, but in particular a speed sensor that measures the rotational speed of the wheels. Vehicle system 50 can be any vehicle system, but in particular a braking system. This braking system can, for example, have a main brake and a secondary brake, wherein the main brake and / or the secondary brake can be a running brake or a parking brake. Especially in autonomous vehicles, the system is redundant and can be used alternately. The embodiments can, in principle, be applied to all these systems.

[0043] For such a redundant system, ensuring reliable function at all times is crucial. Therefore, according to the embodiment, regular monitoring is performed on the main system and / or secondary systems. In this way, faults can be identified promptly and output to the driver or operator of the autonomous vehicle, for example, via warnings. Thus, for monitoring purposes, responsibility for reading sensor data 10 can be switched when the vehicle is stationary and then returned when it is subsequently stationary. Here, functional testing can be performed during the period of operation.

[0044] Figure 2 A braking system is illustrated as an exemplary implementation of the vehicle system 50 described above, which, according to embodiments, can operate in (at least) two operating modes. The illustrated braking system includes a first controller 110, a second controller 120, a sensor 20, and an electro-pneumatic module 51. The first controller 110 is connected to the electro-pneumatic module 51 via a first control line 11 and to the second controller via a second control line 12. The sensor 20 is connected to the electro-pneumatic module 51 via a first sensor line 21 and to the second controller 120 via a second sensor line 22. The first sensor line 21 and the second sensor line 22 may, in particular, be independently constructed lines, wherein sensor data 10 from the sensor 20 can be selectively read via the first sensor line 21 or via the second sensor line 22.

[0045] In the illustrated embodiment, the switching device 130 is constructed in a decentralized manner. A first component (part) of the switching device 130 is implemented in the first controller 110, and a second component (part) of the switching device 130 may be implemented in the second controller 120. These two components of the switching device 130 can communicate with each other via the second control line 12 and, for example, determine which of the two controllers 110, 120 should receive or read the sensor data 10.

[0046] The first controller 110, together with the electro-pneumatic module 51, can form a primary braking system. The second controller 120, using a corresponding actuator (not shown), can form a secondary braking system. However, this can also be reversed; that is, the electro-pneumatic module 51 can form a secondary braking system together with the first controller 110. The primary braking system can be the one preferred to be used when functioning normally. The secondary braking system can correspondingly be a backup system, which can be used when the primary braking system is unusable or only adequately usable due to a malfunction.

[0047] The braking system shown, according to an embodiment, can operate in at least two operating modes, which are described below. Figure 2The signal lines are drawn with dashed lines (through which sensor-based signals are not transmitted), while the lines are shown with solid lines (through which sensor-based signals are transmitted). Sensor-based signals are, in particular, sensor data 10 itself, but also derived signals or data, such as those transmitted between controllers 110 and 120 (e.g., wheel stationary signals, calculated wheel speeds, threshold exceedances, etc.).

[0048] In working mode 1 (see...) Figure 2 Sensor data 10 from sensor 20 is provided to the electro-pneumatic module 51 (on the left side). The electro-pneumatic module 51 can operate the service brake based on the provided sensor data 10 and based on control commands from the first controller 110 (via the first control line 11). The illustrated braking system also includes a second controller 120, which is connected to sensor 20 via second sensor line 22 and to the first controller 110 via second control line 12. In the illustrated operating mode 1, no signals are transmitted via second sensor line 22 or second control line 12, at least no signals associated with sensor data 10 are transmitted.

[0049] exist Figure 2 The right side shows operating mode 2. In this second operating mode, sensor 20 provides sensor data 10 to the second controller 120. This utilizes the second sensor line 22. Accordingly, no sensor data 10 is sent to the electro-pneumatic module 51 via the first sensor line 21 or directly to the first controller 110. However, the second controller 120 communicates with the first controller 110 via the second control line 21 and, according to an embodiment, can send the sensor data 10 itself or derived data to the first controller 110. The first controller 110 can use the forwarded sensor data 10 to control the exemplary electro-pneumatic module 51 (or the main braking system).

[0050] In the second operating mode, the second controller 120 detects and transmits sensor data 10, enabling the first controller 110 to control the electro-pneumatic module 51 based on the sensor data 110 received by the second controller 120. The first controller 110 can form or control a main braking system together with the electro-pneumatic module 51. The second controller 120 can be, for example, a secondary controller that controls a secondary braking system.

[0051] Typical scenarios can be illustrated as follows.

[0052] Since the secondary braking system is used very rarely in certain situations, and the vehicle operates reliably using the main braking system for extended periods, it is meaningful to test the secondary braking system at regular intervals. This can be achieved, in particular, by switching the detection of sensor data 10 by the switching device 130 while the vehicle is stationary, i.e., switching from the main controller (first controller 110) to the secondary controller (second controller 120). In this way, the ability of the secondary controller 120 to detect sensor data with sufficiently high quality can be tested. Simultaneously, this allows dormant faults to be identified earlier, rather than only manifesting when the vehicle relies on the secondary braking system.

[0053] On the other hand, the main braking system or the first controller 110 may not receive or only poorly receive the relevant sensor data 10 (e.g., wheel speed). The determination of a fault or defect can also be made, for example, by performing a rationale analysis taking into account other sensor data (e.g., from other wheels). In such a fault situation, the second controller 120 may be prompted to provide relevant wheel speed signal data so that the main braking system can continue to execute the service braking request, including stability functions based on wheel speed data, such as ABS (Anti-lock Braking System), ESP (Electronic Stability Program), and ATC (Automatic Traction Control).

[0054] Therefore, the embodiment enables the termination of normal reading of wheel speed information by the electro-pneumatic module 51 and allows the secondary controller 120 to alternatively read exemplary speed information (wheel speed sensor). This information is forwarded by the second controller 120 (e.g., a secondary braking control device) to the first controller 110 (e.g., a primary braking control device), which still has control over executing the braking request.

[0055] Advantageously, the delay in transmitting sensor data 10 from the electro-pneumatic module 51 to the first controller 110 is approximately equal to the transmission time from the second controller 120 to the first controller 110 (including any possible signal processing). In this way, no performance loss occurs when switching by the switching device 130.

[0056] Preferably, the switch between reading sensor data by the electro-pneumatic module 51 and reading sensor data by the second controller 120 is performed only during periods of rest to minimize the risk of data loss (e.g., wheel jogging).

[0057] According to one embodiment, it is feasible for the second controller 120 to read the sensor data 10 for only a short period of time, for example, to test the connection to the sensor 10. This short test can be performed, in particular, under non-critical driving conditions (monotonous straight-line driving). However, according to other embodiments, it is also feasible to use a longer period of time (e.g., until the vehicle comes to a stop for the next time or the time after that) to implement extended monitoring of the sensor 10.

[0058] If it is determined during testing, for example, that the speed information of the main wheel is impaired, then according to the embodiment, the secondary side (e.g., the second controller 120) can first check whether the problem also exists on its side in order to obtain more information about the cause of the failure (e.g., whether it is incorrect wiring or internal sensor failure).

[0059] In particular, according to the embodiments, it is feasible to reverse the responsibility of the main braking system and the secondary braking system for sensor data detection (e.g., speed sensor readings) each time the vehicle comes to a standstill. This transition during the standstill ensures that no relevant data is lost. Additional criteria (conditions), such as minimal operation of the operating brakes, not stopping on a steep uphill slope, or with the parking brake engaged, can be used to reduce or minimize the probability of losing relevant wheel speed data during the transition of sensor data detection.

[0060] Figure 3 A schematic flowchart of a method for providing sensor data to a vehicle system is shown. The method includes the following steps: The second controller reads the data from the S110 sensor; The sensor data read by the second controller is forwarded to the first controller in S120; The S110 vehicle system is controlled by the first controller based on the forwarded sensor data.

[0061] It should be understood that all the functions of the evaluation circuit described above can be constructed as alternative method steps. Furthermore, it should be understood that the order mentioned is not necessarily the order in which the method steps are performed. These steps can also be performed in another order, or only a portion of the method steps can be performed.

[0062] This method can also be implemented by a computer; that is, it can be executed by instructions stored on a storage medium and capable of performing the steps of the method when the method is run on a processor. The instructions typically include one or more instructions that can be stored in different ways on different media inside or outside the control unit (having a processor). When the instructions are read and executed by the control unit, they cause the control unit to perform the functions, functionalities, and operations necessary for carrying out the method according to the invention.

[0063] The features of the invention disclosed in the specification, claims and drawings are essential for the implementation of the invention, both individually and in any combination.

[0064] List of reference numerals 10 Sensor Data 11 First Control Circuit 12 Second control circuit 20. Sensors (e.g., speed sensors) 21 First Sensor Circuit 22 Second sensor circuit 50 Vehicle Systems 51 Electro-pneumatic module 110 First controller (e.g., main controller) 120 Secondary controller (e.g., secondary controller) 130 Switching Device

Claims

1. An apparatus for providing sensor data (10) from a sensor (20) to a vehicle system (50) capable of redundant control, characterized in that, Given: A first controller (110) is configured to control the vehicle system based on the sensor data (10); A second controller (120) is configured to control the vehicle system based on the sensor data (10); A switching device (130) is configured to selectively forward the sensor data (10) indirectly to or directly to the first controller (110) via the second controller (120).

2. The device according to claim 1, wherein, The first controller (110) is configured to control the vehicle system (50), while the sensor data (10) is read by the second controller (120) and forwarded to the first controller (110) in parallel.

3. The device according to claim 1 or claim 2, wherein, The switching device (130) is configured to monitor the correct detection of the sensor data (10) by the first controller (110) and / or the second controller (120).

4. The device according to claim 3, wherein, The sensor (20) is a speed sensor, and the switching device (130) is also configured to perform the monitoring as needed, including at least one of the following: The vehicle has a predetermined speed. The vehicle is not on a slope or is on a slope. The vehicle's engine was shut off. The vehicle brakes were released. The vehicle brakes were activated.

5. The device according to any one of the preceding claims, wherein, The first controller (110) and the second controller (120) are configured to read the sensor data (10) from the sensor (20) at approximately the same speed and / or provide the sensor data (10) to the corresponding other controller at the same speed as each controller itself can read the sensor data.

6. The device according to any one of the preceding claims, wherein, The switching device (130) is also configured to control the provision of the sensor data (10) by authorizing or revoking the reading permission, and to check whether the first controller (110) and / or the second controller (120) can read the sensor data (10) without failure before changing the reading permission.

7. The device according to any one of the preceding claims, wherein, The switching device (130) is also configured to selectively provide the sensor data (10) as needed, including at least one of the following: When the vehicle is stationary, Only within a predetermined time period, Only during the duration of the fault, Only until the next time the vehicle comes to a stop, Immediately after identifying the read failure, Test runs initiated by the autonomous driving system System initialization, Receive instructions from an external system Engage automatic driving mode. Terminate automatic driving mode.

8. The device according to any one of the preceding claims, wherein, The vehicle system (50) is a braking system, and the braking system includes a main brake and a secondary brake having one or more electro-pneumatic modules (51), wherein the first controller (110) is configured to control the main brake, and the second controller (120) is configured to control the secondary brake.

9. The device according to claim 8, wherein, The electro-pneumatic module (51) is configured to read the sensor data (10) and selectively forward it to the first controller (110), or transfer the reading permission of the sensor data (10) to the second controller (120).

10. The device according to claim 8 or claim 9, wherein, The first controller (110) is configured to provide sensor data (20) forwarded by the second controller (120) to at least one of the following systems: Anti-lock braking system, Electronic stabilization program, Automatic traction control Automatic driving system Vehicle central computer Parking brake.

11. A vehicle braking system, particularly for commercial vehicles, characterized in that, The device is provided according to any one of the preceding claims.

12. A method for providing sensor data (10) from a speed sensor (20) to a vehicle system (50) capable of redundant control, the method comprising: The sensor data (10) is read (S110) by the second controller (120); The sensor data (10) read by the second controller (120) is forwarded (S120) to the first controller (110); The vehicle system (50) is controlled (S130) by the first controller (110) based on the forwarded sensor data (10).

13. The method of claim 12, further comprising: Stop reading (S110) and forwarding (S120) of the sensor data (10) by the second controller (120), and then... The sensor data (10) is read (S140) by the first controller (110).

14. A computer product comprising a computer-readable storage medium having stored program code that, when executed on one or more processors, performs the method according to claim 12.

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