Control device and method for operating a first electrically controllable component and a second electrically controllable component of a braking, drive, steering and / or damping system of a vehicle

Abstract

The present invention relates to a control device (10) for at least one electrically controllable component (14) of a braking, drive, steering and / or damping system of a vehicle, which is designed and / or programmed such that at least the first electrically controllable component (14) can be controlled taking into account at least one first value (x1a, x1b) which is read or derived by means of the control device (10) from at least one first sensor signal (S1a, S1b) output by at least one first actuating element sensor (20a) and provided via a first cable connection (18a), wherein at least the first electrically controllable component (14) can be controlled by means of the control device (10) using at least one first output value (y1),which is selected from a first set of values ​​and / or calculated taking into account at least two values ​​of the first set of values ​​according to a predefined relation, is controllable, and wherein the first set of values ​​comprises at least one first value (x1a, x1b) and at least one second value (x2a, x2b) output to the control device (10) by a control device (12) of at least one second electrically controllable component (16) of the braking, drive, steering and / or damping system.

Description

[0001] The present invention relates to a control device for at least a first electrically controllable component of a braking, drive, steering, and / or damping system of a vehicle. The invention also relates to a control device for at least a second electrically controllable component of the braking, drive, steering, and / or damping system of the vehicle for interaction with the control device, a control system for at least a first and a second electrically controllable component of a braking, drive, steering, and / or damping system of a vehicle, and a braking, drive, steering, and / or damping system for a vehicle. Furthermore, the invention relates to a method for operating a first electrically controllable component and a second electrically controllable component of a braking, drive, steering, and / or damping system of a vehicle. State of the art

[0002] In DE 10 2011 075 968 A1, a control device for a vehicle's braking system is described, which can be electrically connected to at least one brake actuation element sensor of the vehicle via a cable connection and by means of which at least one electrically controllable component of the braking system is controlled taking into account at least one sensor signal provided via the cable connection.

[0003] In addition, DE 10 2016 201 261 A1 discloses the control of a first hydraulic brake circuit and a second hydraulic brake circuit by means of a first control module, as well as the control of the first hydraulic brake circuit and the second hydraulic brake circuit by means of a second control module.

[0004] Further control strategies for brake system components are disclosed in DE 10 2020 101 524 A1, DE 10 2021 107 303 A1 and DE 10 2022 104 852 A1. Disclosure of the invention

[0005] The present invention provides a control device for at least a first electrically controllable component of a braking, drive, steering and / or damping system of a vehicle with the features of claim 1, a control device for at least a second electrically controllable component of the braking, drive, steering and / or damping system of the vehicle with the features of claim 5, a control system for at least a first and a second electrically controllable component of a braking, drive, steering and / or damping system of a vehicle with the features of claim 8, a braking, drive, steering and / or damping system for a vehicle with the features of claim 9 and a method for operating a first electrically controllable component and a second electrically controllable component of a braking, drive, steering and / or damping system of a vehicle with the features of claim 11.

[0006] Also described here is a control device for at least one electrically controllable component of a braking, drive, steering and / or damping system of a vehicle, which is not included in the present invention, and which can be electrically connected or is connected to at least one first actuation element sensor of the vehicle via a first cable connection and is designed and / or programmed such that at least the first electrically controllable component can be controlled by means of the control device taking into account at least one first value which is read or derived by means of the control device from at least one first sensor signal output by the at least one first actuation element sensor and provided via the first cable connection, wherein the control device is additionally designed and / or programmed such thatthat at least the first electrically controllable component can be controlled by means of the control device using at least one first output value, which is selected from a first set of values ​​and / or calculated taking into account at least two values ​​of the first set of values ​​according to a predefined relation, and wherein the first set of values ​​includes the at least one first value.

[0007] Also described is a control device for at least the second electrically controllable component of the vehicle's braking, drive, steering and / or damping system for interaction with the aforementioned control device, which is not included in the present invention, and which can be electrically connected or is connected via a second cable connection to the at least one first actuating element sensor and / or to at least one second actuating element sensor of the vehicle and is designed and / or programmed such that at least the second electrically controllable component can be controlled by means of the control device taking into account the at least one second value,which can be controlled by means of the control device from the at least one first sensor signal provided via the second cable connection and / or from at least one second sensor signal output by the at least one second actuator sensor and read or derived via the second cable connection. The control device can additionally be designed and / or programmed such that at least the second electrically controllable component can be controlled by means of the control device using at least one second output value, which is selected from a second set of values ​​and / or calculated taking into account at least two values ​​of the second set of values ​​according to a predefined relationship, wherein the second set of values ​​comprises the at least one second value. Advantages of the invention

[0008] The present invention implements a control strategy for at least one electrically controlled component of a vehicle's braking, drive, steering, and / or damping system, which exhibits comparatively high robustness against a range of possible fault patterns. In particular, the present invention enables the creation of an advantageous control architecture into which a reliable fail-operational strategy can be implemented with relatively little effort and at comparatively low hardware costs. Since the control architecture enabled by the invention is significantly more fault-tolerant compared to the prior art, it can be used to implement a so-called true brake-by-wire braking system, in which failure of the respective braking system caused by an electrical fault is not a concern.

[0009] As will become clear from the following description, the present invention can be realized / implemented by means of a relatively simple design and / or programming of the respective electronics. Therefore, the use of the present invention does not involve any / hardly any (significant) additional costs. Furthermore, the installation space required for the respective braking, drive, steering, and / or damping system of a vehicle for which the present invention is used is not / hardly increased as a result of its use.

[0010] In an advantageous embodiment, the control device is additionally designed and / or programmed such that the at least one first value can be output to the actuator via the control device. As will become clear from the following description, in this case the actuator can be authorized, by means of the output of the at least one first value by the control device, to operate with greater fault tolerance when controlling at least a second electrically controllable component of the vehicle's braking, drive, steering, and / or damping system.

[0011] Preferably, the control device is additionally designed and / or programmed such that it can determine whether the first value, or at least one of the first values, lies outside a predefined normal range, and, if necessary, output a value request signal to the control device. Thus, the output of the at least one second value by the control device to the control device can be limited to situations in which the at least one first value is deemed unsuitable for controlling at least the first electrically controllable component.

[0012] In particular, the control device can additionally be designed and / or programmed in such a way that, by means of the control device, taking into account at least two first values ​​which are read out or derived within a specified time interval from the at least one first sensor signal provided via the first cable connection, it is possible to determine whether at least one of the at least two first values ​​deviates from a comparison value, which is selected or calculated taking into account the at least one further first value, by at least a specified limit deviation, and, if applicable, a value output request signal can be output by means of the control device to the control device.This also ensures that the output of the at least one second value by the actuating device to the control device is limited to situations in which there are at least justified doubts about the suitability of the at least one first value for controlling at least the first electrically controllable component.

[0013] As an advantageous further development, the control device can additionally be designed and / or programmed such that at least the second electrically controllable component can be controlled by the control device using at least one second output value, which is selected from a second set of values ​​and / or calculated taking into account at least two values ​​of the second set of values ​​according to a predefined relationship, wherein the second set of values ​​comprises the at least one second value and the at least one first value output by the control device to the control device. This leads to the more fault-tolerant operation of the embodiment of the control device described here when controlling at least the second electrically controllable component, as already mentioned above.

[0014] Advantageously, the control device can also be designed and / or programmed such that the at least one second value can be output to the control device in response to a value output request signal issued by the control device to the control device. The output of the at least one second value by the control device to the control device is thus limited to situations in which the control device triggers the control device to do so by issuing the value output request signal.

[0015] The advantages described above are also guaranteed in a control system for at least one first and one second electrically controllable component of a braking, drive, steering and / or damping system of a vehicle with such a control device and a corresponding control device.

[0016] A braking, drive, steering and / or damping system for a vehicle with such a control system, the first electrically controllable component and the second electrically controllable component, which can be controlled by the control device of the control system, also ensures the aforementioned advantages.

[0017] For example, the braking, drive, steering, and / or damping system can be a brake-by-wire system. Due to the relatively high robustness of the control system's architecture against a range of possible faults, a failure of the brake-by-wire system due to an electrical fault is (essentially) impossible.

[0018] Furthermore, implementing a corresponding method for operating at least a first electrically controllable component of a vehicle's braking, drive, steering, and / or damping system also provides the advantages explained above. It is expressly noted that the method can be further developed according to the embodiments of the control device, the actuating device, the control system, and the braking, drive, steering, and / or damping system described above. Brief description of the drawings

[0019] Further features and advantages of the present invention are explained below with reference to the figures. They show: Fig. 1 a schematic representation of a first embodiment of the control device and the cooperating control device; Fig. 2a and Fig. 2b Schematic representations of a second embodiment of the control device and the cooperating control device; Fig. 3 a schematic representation of a third embodiment of the control device and the cooperating control device; Fig. 4 a schematic representation of a control device and a control device, which are not covered by the present invention; and Fig. 5 a flowchart to explain an embodiment of the method for operating a first electrically controllable component and a second electrically controllable component of a braking, drive, steering and / or damping system of a vehicle. Embodiments of the invention

[0020] Fig. Figure 1 shows a schematic representation of a first embodiment of the control device and the cooperating control device.

[0021] It is pointed out that the usability of the in Fig. The control device 10 outlined in Figure 1 and the control device 12 that may interact with it are not limited to any specific component type of any electrically controllable component 14 and 16, to any specific type of brake, drive, steering and / or damping system equipped with the electrically controllable components 14 and 16, or to any specific vehicle type / motor vehicle type of the vehicle equipped with the respective system. By way of example only, in the embodiment described here, the first component 14, which can be electrically controlled by the control device 10, is a brake-by-wire actuator 14 of a hydraulic brake system, and the second component 16, which can be electrically controlled by the control device 12, is at least one motorized pump 16 of the hydraulic brake system.However, the examples mentioned here for the first electrically controllable component 14 and the second electrically controllable component 16 are not to be interpreted restrictively.

[0022] It is expressly pointed out that the control device 10 and the possibly interacting actuator 12 can be understood as "spatially separate" devices 10 and 12. Preferably, the control device 10 and the actuator 12 can be mounted / are mounted at different locations and spatially separated from each other on the respective vehicle. The vehicle can be, in particular, a land vehicle, such as a passenger car, a truck, and / or an agricultural vehicle. The term "land vehicle" may, if applicable, exclude aircraft.

[0023] The control device 10 is electrically connectable / connected to at least one first actuation element sensor 20a of the vehicle via a first cable connection 18a. Additionally, the control device 10 is designed and / or programmed such that at least the first electrically controllable component 14 can be controlled / is controlled by the control device 10 taking into account at least one first value x1a and x1b, wherein the at least one first value x1a and x1b is read or derived by the control device 10 from at least one first sensor signal S1a and S1b. As in Fig. As can be seen from 1, the at least one first sensor signal S1a and S1b is each a signal output by the at least one first actuating element sensor 20a and provided via the first cable connection 18a.

[0024] The control device 12 is also electrically connectable / connected to the at least one first actuation element sensor 20a and / or to at least one second actuation element sensor 20b of the vehicle via a second cable connection 18b. Therefore, the at least one first sensor signal S1a and S1b output by the at least one first actuation element sensor 20a and / or at least one second sensor signal S2a and S2b output by the at least one second actuation element sensor 20b are also provided to the control device 12 via the second cable connection 18b.By means of a design and / or programming of the control device 12, it is additionally ensured that at least the second electrically controllable component 16 can be controlled / is controlled by means of the control device 12 taking into account at least one second value x2a and x2b, wherein the at least one second value x2a and x2b is read out or derived by means of the control device 12 from the at least one provided first sensor signal S1a and S1b and / or from the at least one provided second sensor signal S2a and S2b.

[0025] As in Fig. As shown in Figure 1, the control device 12 is also designed and / or programmed such that the at least one second value x2a and x2b can be output to the control device 10 by means of the control device 12. The control device 10 has a design and / or programming that ensures that at least the first electrically controllable component 14 can be controlled by means of the control device 10 using at least one first output value y1, wherein the at least one first output value y1 is selected from a first set of values ​​and / or calculated taking into account at least two values ​​of the first set of values ​​according to a predefined relation. The first set of values ​​includes not only the at least one first value x1a and x1b, but also the at least one second value x2a and x2b output by the control device 12 to the control device 10.The at least one first output value y1 is thus a physical value that incorporates not only the at least one first sensor signal S1a and S1b, but also the at least one second value x2a and x2b output by the actuator 12 to the control device 10. Accordingly, the control device 10 exhibits relatively high robustness against a fault in the at least one first actuator sensor 20a, a failure of the at least one first actuator sensor 20a, and / or an interruption or damage to the at least one first cable connection 18a. Even the occurrence of at least one "false" first sensor signal S1a and S1b can be reliably compensated for by considering or using the at least one second value x2a and x2b in the selection and / or calculation of the at least one first output value y1.The control of at least the first electrically controllable component 14 by means of the control device 10 is therefore relatively fault-resistant.

[0026] As an advantageous further development, the control device 10 can also be designed and / or programmed to output the at least one first value x1a and x1b to the control device 12. Optionally, the control device 12 is preferably designed and / or programmed such that at least the second electrically controllable component 16 can be controlled / is controlled by the control device 12 using at least one second output value y2, wherein the at least one second output value y2 is selected from a second set of values ​​and / or calculated taking into account at least two values ​​of the second set of values ​​according to a predefined relation, and wherein the second set of values ​​comprises the at least one second value x2a and x2b and additionally the at least one first value x1a and x1b output by the control device 10 to the control device 12.Thus, good fault robustness of the control of at least the second electrically controllable component 16 by means of the control device 12 can also be ensured.

[0027] As the at least one first value x1a and x1b output by the control device 10 to the control device 12 and / or as the at least one second value x2a and x2b provided by the control device 12 to the control device 10, all sensor values ​​read from the at least one first / second sensor signal S1a and S1b and / or S2a and S2b (possibly including their status), sensor values ​​read only from the at least one first / second sensor signal S1a and S1b and / or S2a and S2b and recognized as valid (possibly including their status) or an output of a voting (possibly including the status), or any combination thereof, can be exchanged.

[0028] The at least one first actuation element sensor 20a and / or the at least one second actuation element sensor 20b are of a sensor type by means of which the actuation force of an actuation of at least one actuation element of the vehicle for requesting braking, propulsion, steering / a change of direction and / or active damping of the vehicle can be measured. The at least one actuation element can be, for example, a brake pedal, an accelerator pedal, a drive pedal and / or a steering wheel of the vehicle. Preferably, the at least one first actuation element sensor 20a and / or the at least one second actuation element sensor 20b are each redundant sensors, in particular with homogeneous or heterogeneous redundancy. Heterogeneous redundancy can be understood as redundancy that is not based solely on an increase in the number of sensors 20a and 20b, but also has other properties.For example, the at least one first actuation element sensor 20a and / or the at least one second actuation element sensor 20b can be based on different sensor principles. In particular, at least one actuation element sensor 20a or 20b according to a first sensor principle and at least one further actuation element sensor 20a or 20b according to a second (different) sensor principle can be electrically connected to each device 10 and 12. Alternatively, only actuation element sensors 20a according to a first sensor principle can be electrically connected to the control device 10, and only actuation element sensors 20b according to a second (different) sensor principle can be electrically connected to the actuator 12. The at least one first actuation element sensor 20a and / or the at least one second actuation element sensor 20b are preferably hard-wired to the control device 10 or the actuator 12. The in . Fig. The total number of exactly four first and second actuation element sensors 20a and 20b shown schematically is only to be interpreted as an example.

[0029] If desired, the at least one first actuation element sensor 20a and / or the at least one second actuation element sensor 20b can each be electrically connected to the respective first / second cable connection 18a or 18b via a connection part 22a or 22b. Optionally, a ground signal (GND) and / or a supply current / voltage can also be provided via the first / second cable connection 18a and 18b.

[0030] The control device 10 and / or the actuating device 12 can each have a sensor signal readout device 10a or 12a, by means of which the at least one first value x1a and x1b or the at least one second value x2a and x2b can be read or derived from the at least one first sensor signal S1a and S1b and / or from the at least one second signal S2a and S2b. This can also be described as the at least one first sensor signal S1a and S1b and / or the at least one second sensor signal S2a and S2b being monitored by the respective signal evaluation device 10a or 12a. This monitoring refers only to interface-specific monitoring, such as monitoring a protocol, specifically whether the checksum is correct and / or the value range is valid.

[0031] To select and / or calculate the at least one first output value y1 or the at least one second output value y2, the control device 10 and / or the actuator 12 can each have a signal processing and / or signal monitoring unit 10b or 12b. For example, in the respective signal processing and / or signal monitoring unit 10b or 12b, the values ​​x1a and x1b and x2a and x2b can be converted and then compared with each other. In this way, the at least one first output value y1 or the at least one second output value y2 can be determined, in particular by a voting process. Optionally, at least one monitoring function can also be implemented within the respective signal processing and / or signal monitoring unit 10b or 12b.If desired, the respective signal processing and / or signal monitoring device 10b or 12b can also output additional information l1 or l2 to a downstream control device 10c or 12c, in addition to the at least one first / second output value y1 or y2. The control device 10c or 12c of the control device 10 or control device 12 then outputs at least one control signal 24a or 24b to at least the first / second electrically controllable component 14 or 16, using the at least one first / second output value y1 or y2 and possibly the additional information l1 or l2.

[0032] In the embodiment of the Fig. 1. The control device 10 and the actuator 12 are each designed and / or programmed such that the at least one first / second value x1a and x1b or x2a and x2b can be output by the respective device 10 or 12 (only) in response to a value output request signal 26 issued by the other device 10 or 12. For example, the control device 10 and / or the actuator 12 can be designed and / or programmed to determine whether the first / second value x1a and x1b or x2a and x2b, or at least one of the first / second values ​​x1a and x1b or x2a and x2b, lies outside a predefined normal value range, and, if applicable, output the value output request signal 26 to the other device 10 or 12.Alternatively or additionally, the control device 10 and / or the actuating device 12 can also be designed and / or programmed to determine, taking into account at least two first / second values ​​x1a and x1b or x2a and x2b, which are read or derived within a specified time interval from the at least one first / second sensor signal S1a and S1b or S2a and S2b provided via the first / second cable connection 18a or 18b, whether at least one of the at least two first / second values ​​x1a and x1b or x2a and x2b deviates from a comparison value, which is selected or calculated taking into account the at least one further first / second value x1a and x1b or x2a and x2b, by at least a specified limit deviation, and, if necessary, output the value output request signal 26 to the other device 10 or 12.In the embodiment of the . A value exchange of first / second values ​​x1a, x1b, x2a and x2b between the control device 10 and the actuator 12, initiated by the output of the value output request signal 26, is thus . Fig. 1 is only activated if at least one of the devices 10 and 12 detects a deviation from at least one first / second sensor signal x1a and x1b or x2a and x2b, which it receives directly via the respective first / second cable connection 18a or 18b. The control device 10 and the actuating device 12 are thus only synchronized in such a situation. The control device 10 and the actuating device 12 therefore implement a (complex) switching logic by means of which voting, monitoring, and an interface are possible.

[0033] Each interface between the control device 10 and the actuator 12 can be redundant. Optionally, the control device 10 and the actuator 12 can exchange the first / second values ​​x1a, x1b, x2a and x2b and possibly the value output request signal 26 via a vehicle bus (e.g., a CAN bus) or via at least one third cable connection.

[0034] Fig. 2a and Fig. Figure 2b shows schematic representations of a second embodiment of the control device and the cooperating control device.

[0035] In contrast to the previously described embodiments of the Fig. 1 are the ones in the Fig. 2a and Fig. The devices 10 and 12, shown schematically in Figure 2b, are designed / programmed for the continuous exchange of first / second values ​​x1a, x1b, x2a, and x2b between each other. This allows both the control device 10 and the actuator 12 to always decide, based on all values ​​x1a, x1b, x2a, and x2b, whether to control at least the first / second electrically controllable component 14 and 16. Any delays in controlling at least the first / second electrically controllable component 14 or 16 by the control device 10 / actuator 12, due to considering all values ​​x1a, x1b, x2a, and x2b, can be rectified by countermeasures. The redundant interface between the control device 10 and the actuator 12 can thus be used advantageously, as both devices 10 and 12 always operate synchronously.

[0036] As in Fig. As shown schematically in Figure 2b, the respective signal processing and / or signal monitoring unit 10b or 12b of the control device 10 or actuator 12 can include a signal conditioning subunit 10b-1 or 12b-1, which processes the at least one first / second value x1a and x1b or x2a and x2b provided by the associated sensor signal readout unit 10a or 12a. Processing can include, for example, conversion to usable value ranges, filtering, and / or model-based monitoring.

[0037] The respective signal processing and / or signal monitoring device 10b or 12b of the control device 10 or control device 12 may also have a network monitoring subunit 10b-2 or 12b-2 in which monitoring of the at least one first value x1a and x1b (or x1a' and x1b') output by the control device 10 to the control device 12 or of the at least one second value x2a and x2b (or x2a' ​​and x2b') provided by the control device 12 is performed.

[0038] In a voting subunit 10b-3 or 12b-3, which is subordinate to the respective signal conditioning subunit 10b-1 or 12b-1 and the respective network monitoring subunit 10b-2 or 12b-2, at least one first / second output value y1 or y2 can be selected or calculated from the processed values ​​x1a', x1b', x2a', and x2b' and possibly their status. Optionally, the additional information l1 or l2 can also be specified. For example, the additional information l1 or l2 can include the number of processed values ​​x1a', x1b', x2a', and x2b' used to generate the respective output value y1 or y2 and / or their variance.

[0039] In a monitoring sub-unit 10b-4 or 12b-4, which interacts with the voting sub-unit 10b-3 or 12b-3, a decision is made based on the values ​​x1a', x1b', x2a', and x2b' as to their plausibility. Implausible values ​​can be passively filtered out by the monitoring system, so that they have no influence on the voting and thus on the voting outcome. The monitoring itself, performed in the monitoring sub-unit 10b-4 or 12b-4, has no direct influence on the respective output values ​​y1 or y2, but is helpful in increasing robustness against second and third errors. Several fundamentally different implementations are conceivable for the monitoring. Crucially, a monitoring algorithm must robustly and quickly passivate conspicuous / erroneous values ​​x1a', x1b', x2a' ​​and x2b' so that for future voting steps only values ​​x1a', x1b', x2a' ​​and x2b' that have not shown any anomalies so far are used.Values ​​x1a', x1b', x2a' ​​and x2b' that were excluded from the monitoring for voting can be re-enabled through the monitoring, provided the signal meets certain quality criteria.

[0040] The goal of the voting carried out by the voting sub-unit 10b-3 or 12b-3 is to ensure the longest possible tolerance to single faults. The algorithm used for voting can be, for example, one of the equations (Eq. 1) to (Eq. 4) listed below. The choice of equation (Eq. 1) to (Eq. 4) may depend on the number of (valid) values ​​x1a', x1b', x2a', and x2b'.

[0041] Given four (valid) values ​​in the set {x1a', x1b', x2a', x2b'}, these can be sorted such that: v min = Minimum from the set {x1a', x1b', x2a', x2b'}; v max = Maximum from the set {x1a', x1b', x2a', x2b'}; v1 and v2 = elements from the set {x1a', x1b', x2a', x2b'} with v min ≤ v1 ≤ v2 ≤ v max ; Equation (Eq. 1) then defines the initial value y1 or y2 with: y1 or y2 = (v1 + v2) / 2; Instead of the average value determined according to equation (Eq. 1), the initial value y1 or y2 can also be set equal to the maximum v2 to possibly avoid under-braking.

[0042] With (only) three (valid) values ​​in the set {x1a', x1b', x2a', x2b'}, these can be sorted such that: v min = Minimum from the set {x1a', x1b', x2a', x2b'}; v max = Maximum from the set {x1a', x1b', x2a', x2b'}; v1 = element from the set {x1a', x1b', x2a', x2b'} with v min ≤ v1 ≤ v max ; where v min , v max and v minvalid values ​​of the set {x1a', x1b', x2a', x2b'} are; Equation (Eq. 2) then defines the initial value y1 or y2 with: y1 or y2 = v1; Instead of the average value determined according to Equation (Eq. 2), the initial value y1 or y2 can also be equal to the maximum v max to be determined in order to possibly avoid under-braking.

[0043] If there are (only) two (valid) values ​​in the set {x1a', x1b', x2a', x2b'}, they can be sorted such that: v min = Minimum from the set {x1a', x1b', x2a', x2b'}; v max = Maximum from the set {x1a', x1b', x2a', x2b'}; Equation (Eq. 3) then defines the initial value y1 or y2 with: y1 or y2 = (v min + v max ) / 2; Instead of the average value determined according to equation (Eq. 3), the initial value y1 or y2 can also be equal to the maximum v max to be determined in order to possibly avoid under-braking.

[0044] If there is (only) one (valid) value in the set {x1a', x1b', x2a', x2b'}, equation (Eq. 4) determines the initial value y1 or y2 with: y1 or y2 = v1, where v1 = element from the set {x1a', x1b', x2a', x2b'}.

[0045] However, it should be noted that the preceding equations (Eq. 1) to (Eq. 4) are only to be interpreted as examples.

[0046] Optionally, a cluster voting sub-unit 10b-5 or 12b-5 and / or a dynamic response sub-unit 10b-6 or 12b-6 can also be used to "pre-tension" the controlled first / second component 14 or 16. This allows for a faster pressure build-up by the first / second electrically controlled component 14 or 16, because the use of the respective sub-unit 10b-5, 10b-6, 12b-5 and / or 12b-6 compensates for a slight time delay caused by the voting process. Noise reduction and the removal of any limitations in the hydraulics of the respective hydraulic braking system can also be achieved in this way.

[0047] Although the sub-devices 10b-1 to 10b-6 and 12b-1 to 12b-6 only in connection with the embodiments of the Fig. 2a and Fig. 2b described here, they can also be used for all other preceding or subsequent control devices 10 and actuating devices 12.

[0048] Regarding further properties and characteristics of the control device 10 and the actuating device 12 of the Fig. 2a and Fig. 2b and its advantages will be described in the description of the embodiments of the Fig. 1 referred.

[0049] Fig. Figure 3 shows a schematic representation of a third embodiment of the control device and the cooperating control device.

[0050] As further training on the embodiments of the Fig. 1 are the ones in Fig. The three schematically depicted devices 10 and 12 are each electrically connected to all actuator sensors 20a and 20b of the vehicle via a cable connection 18a and 18b, respectively. This can also be described as each device 10 and 12 being hard-wired to each actuator sensor 20a and 20b. Special safety measures can be implemented to prevent short circuits. The in Fig. The control architecture shown schematically in section 3 is just as fast as the control architecture of the Fig. 1 and at the same time their voting algorithm is relatively robust.

[0051] Regarding further properties and characteristics of the control device 10 and the actuating device 12 of the Fig. 3 and their advantages will be described in the description of the embodiments of the Fig. 1 referred.

[0052] Fig. Figure 4 shows a schematic representation of a control device and a control device, which are not covered by the present invention.

[0053] Fig. Figure 4 shows a control device 10 for at least one first electrically controllable component 14 of a braking, drive, steering and / or damping system of a vehicle, which can be electrically connected or is connected via a first cable connection 18a to at least one first actuation element sensor 20a of the vehicle and is designed and / or programmed such that at least the first electrically controllable component 14 can be controlled / is controlled by means of the control device 10 taking into account at least one first value x1a and x1b, which is read or derived by means of the control device 10 from at least one first sensor signal S1a and S1b output by the at least one first actuation element sensor 20a and provided via the first cable connection 18a, wherein the control device 10 is additionally designed and / or programmed such thatthat at least the first electrically controllable component 14 can be controlled by means of the control device 10 using at least one first output value y1, which is selected from a first set of values ​​and / or calculated taking into account at least two values ​​x1a and x1b of the first set of values ​​according to a predefined relation, and wherein the first set of values ​​comprises the at least one first value x1a and x1b.

[0054] In Fig. Figure 4 also shows a control device 12 for at least the second electrically controllable component 16 of the vehicle's braking, drive, steering and / or damping system for interaction with the control device 10, which can be electrically connected or is connected via a second cable connection 18b to the at least one first actuating element sensor 20a and / or to at least one second actuating element sensor 20b of the vehicle and is designed and / or programmed such that at least the second electrically controllable component 16 can be controlled by the control device 12 taking into account the at least one second value x2a and x2b.which is / is controllable by means of the control device 12 from the at least one first sensor signal S1a and S1b provided via the second cable connection 18b and / or from at least one second sensor signal S2a and S2b output by the at least one second actuation element sensor 20b and provided via the second cable connection 18b. The control device 12 can additionally be designed and / or programmed such that at least the second electrically controllable component 16 can be controlled by means of the control device 12 using at least one second output value y2, which is selected from a second set of values ​​and / or calculated taking into account at least two values ​​x2a and x2b of the second set of values ​​according to a predefined relation, wherein the second set of values ​​comprises the at least one second value x2a and x2b.

[0055] Devices 10 and 12 of the Fig. 4. They do not exchange signals with each other. Therefore, they have a comparatively fast control architecture.

[0056] The further in Fig. The four features of devices 10 and 12 shown in the illustrations are to be interpreted only as examples. For their explanation, please refer to the preceding description.

[0057] All devices 10 and 12 described above can be parts of a control system for at least a first and a second electrically controllable component 14 and 16 of a braking, drive, steering, and / or damping system of a vehicle. The control system can be part of a braking, drive, steering, and / or damping system for a vehicle, wherein the braking, drive, steering, and / or damping system additionally comprises at least the first electrically controllable component 14, which can be controlled by means of the control device 10 of the control system, and the second electrically controllable component 16, which can be controlled by means of the control device 12 of the control system. The braking, drive, steering, and / or damping system can, in particular, be a brake-by-wire braking system.

[0058] Fig.Figure 5 shows a flowchart to explain an embodiment of the method for operating a first electrically controllable component and a second electrically controllable component of a braking, drive, steering and / or damping system of a vehicle.

[0059] The method comprises a process step St-1 in which at least the first electrically controllable component is controlled by means of a control device, which is electrically connected to at least one first actuation element sensor of the vehicle via a first cable connection. The control of at least the first electrically controllable component by means of the control device takes into account at least one first value, which is read or derived by the control device from at least one first sensor signal output by the at least one first actuation element sensor and provided via the first cable connection.

[0060] In process step St-2 of the process, at least the second electrically controllable component is controlled by means of a control device, which is electrically connected via a second cable connection to the at least one first actuation element sensor and / or to at least one second actuation element sensor of the vehicle. The control of at least the second electrically controllable component by means of the control device takes into account at least one second value, which is read or derived by the control device from the at least one first sensor signal provided via the second cable connection and / or from at least one second sensor signal output by the at least one second actuation element sensor and provided via the second cable connection.

[0061] In process step St-3, at least one second value is also output from the actuator to the control device. Therefore, when executing process step St-1, at least the first electrically controllable component is controlled by the control device using at least one first output value, wherein the at least one first output value is selected from a first set of values ​​and / or calculated taking into account at least two values ​​of the first set of values ​​according to a predefined relation, and wherein the first set of values ​​comprises the at least one first value and the at least one second value.

[0062] The process steps St-1 to St-3 can be carried out in any chronological order, overlapping in time and / or simultaneously. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2011 075 968 A1

[0002] DE 10 2016 201 261 A1

[0003] DE 10 2020 101 524 A1

[0004] DE 10 2021 107 303 A1

[0004] DE 10 2022 104 852 A1

[0004]

Claims

[1] Control device (10) for at least one first electrically controllable component (14) of a braking, drive, steering and / or damping system of a vehicle, which can be electrically connected or is connected via a first cable connection (18a) to at least one first brake, drive, steering and / or damping actuation element sensor (20a) of the vehicle and is designed and / or programmed in such a way that at least the first electrically controllable component (14) can be controlled by means of the control device (10) taking into account at least one first value (x1a, x1b) which is read or derived by means of the control device (10) from at least one first sensor signal (S1a, S1b) output by the at least one first brake, drive, steering and / or damping actuation element sensor (20a) and provided via the first cable connection (18a) each; characterized by , that the control device (10) is additionally designed and / or programmed such that at least the first electrically controllable component (14) can be controlled by means of the control device (10) using at least one first output value (y1), which is selected from a first set of values ​​and / or calculated taking into account at least two values ​​of the first set of values ​​according to a predefined relation; wherein the first set of values ​​includes at least one first value (x1a, x1b) and at least one second value (x2a, x2b) output to the control device (10) by a control device (12) of at least one second electrically controllable component (16) of the braking, drive, steering and / or damping system. [2] Control device (10) according to claim 1, wherein the control device (10) is additionally designed and / or programmed such that the at least one first value (x1a, x1b) can be output to the control device (12) by means of the control device (10). [3] Control device (10) according to claim 1 or 2, wherein the control device (10) is additionally designed and / or programmed such that it is possible to determine by means of the control device (10) whether the first value (x1a, x1b) or at least one of the first values ​​(x1a, x1b) is outside a predetermined normal value range, and, if applicable, a value output request signal (26) can be output by means of the control device (10) to the control device (12). [4] Control device (10) according to one of the preceding claims 3, wherein the control device (10) is additionally designed and / or programmed such that, by means of the control device (10), taking into account at least two first values ​​(x1a, x1b) which are read or derived within a predetermined time interval from the at least one first sensor signal (S1a, S1b) provided via the first cable connection (18a), it is possible to determine whether at least one of the at least two first values ​​(x1a, x1b) deviates from a comparison value, which is selected or calculated taking into account the at least one further first value (x1a, x1b), by at least a predetermined limit deviation, and, if applicable, a value output request signal (26) can be output by means of the control device (10) to the control device (12). [5] Control device (12) for at least the second electrically controllable component (16) of the braking, drive, steering and / or damping system of the vehicle for interaction with the control device (10) according to one of the preceding claims, which can be electrically connected or is connected via a second cable connection (18b) to the at least one first actuation element sensor (20a) and / or to at least one second actuation element sensor (20b) of the vehicle and is designed and / or programmed such that at least the second electrically controllable component (16) can be controlled by means of the control device (12) taking into account the at least one second value (x2a, x2b) which is read or derived by means of the control device (12) from the at least one first sensor signal (S1a, S1b) provided via the second cable connection (18b) and / or from at least one second sensor signal (S2a, S2b) output by the at least one second actuation element sensor (20b) and provided via the second cable connection (18b), wherein the control device (12) is additionally designed and / or programmed such that the at least one second value (x2a, x2b) can be output to the control device (10) by means of the control device (12). [6] Actuating device (12) according to claim 5 for cooperating with the control device (10) according to claim 2, wherein the control device (12) is additionally designed and / or programmed such that at least the second electrically controllable component (16) can be controlled by means of the control device (12) using at least one second output value (y2), which is selected from a second set of values ​​and / or calculated taking into account at least two values ​​of the second set of values ​​according to a predefined relation, and wherein the second set of values ​​includes at least one second value (x2a, x2b) and at least one first value (x1a, x1b) output by the control device (10) to the actuator (12). [7] Control device (12) according to claim 5 or 6 for cooperating with the control device (10) according to claim 3 or 4, wherein the control device (12) is designed and / or programmed such that the at least one second value (x2a, x2b) can be output to the control device (10) by means of the control device (12) in response to the value output request signal (26) issued by the control device (10) to the control device (12). [8] Control system for at least a first and a second electrically controllable component (14, 16) of a braking, drive, steering and / or damping system of a vehicle comprising: a control device (10) according to any one of claims 1 to 4; and a control device (12) according to one of claims 5 to 7. [9] Braking, drive, steering and / or damping system for a vehicle with: a tax system according to claim 8; the first electrically controllable component (14) that can be controlled by means of the control device (10) of the control system; and the second electrically controllable component (16) which can be controlled by means of the control device (12) of the control system. [10] Braking, drive, steering and / or damping system according to claim 9, wherein the braking, drive, steering and / or damping system is a brake-by-wire braking system. [11] Method for operating a first electrically controllable component (14) and a second electrically controllable component (16) of a braking, propulsion, steering and / or damping system of a vehicle comprising the steps: Controlling at least the first electrically controllable component (14) by means of a control device (10), which is electrically connected via a first cable connection (18a) to at least one first actuation element sensor (20a) of the vehicle, taking into account at least one first value (x1a, x1b) which is read or derived by means of the control device (10) from at least one first sensor signal (S1a, S1b) output by the at least one first actuation element sensor (20a) and provided via the first cable connection (18a); and Controlling at least the second electrically controllable component (16) by means of a control device (12) which is electrically connected via a second cable connection (18b) to the at least one first actuation element sensor (20a) and / or to at least one second actuation element sensor (20b) of the vehicle, taking into account at least one second value (x2a, x2b) which is read or derived by means of the control device (12) from the at least one first sensor signal (S1a, S1b) provided via the second cable connection (18b) and / or from at least one second sensor signal (S2a, S2b) output by the at least one second actuation element sensor (20b) and provided via the second cable connection (18b) (St-2); characterized by , that at least one second value (x2a, x2b) is output from the actuator (12) to the control device (10) (St-3); and at least the first electrically controllable component (14) is controlled by means of the control device (10) using at least one first output value (y1), which is selected from a first set of values ​​and / or calculated taking into account at least two values ​​of the first set of values ​​according to a given relation, wherein the first set of values ​​includes the at least one first value (x1a, x1b) and the at least one second value (x2a, x2b) (St-1).

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