Redundant data capture systems in drive-by-wire systems

Abstract

The embodiments described herein relate to a redundant sensing system comprising a first sensor, a second sensor, and an electronic control unit. The first sensor is configured to output initial data indicative of position data, and the second sensor is configured to output secondary data indicative of position data. The electronic control unit is configured to determine whether the initial data is within a first predetermined threshold range. If the initial data is outside the first predetermined threshold range, it then determines whether the secondary data is within a second predetermined threshold range.The electronic control unit is configured to control the redundant acquisition system so that it operates with the second sensor when the first data is outside the first predetermined threshold range and the second data is within the second predetermined threshold range.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This patent application claims priority to U.S. Provisional Patent Application No. 63 / 333,685, filed April 22, 2022, entitled “Redundant Electrical Control Units Having Buffer Arrays in Drive-By-Wire Systems,” the entire contents of which are incorporated herein in their entirety. TECHNICAL AREA

[0002] This specification relates generally to redundant electronic control units, and more specifically to redundant electronic control units that use a variety of buffer arrangements to meet failure-prone applications. BACKGROUND

[0003] It is known that in automotive systems, such as brake-by-wire and steering-by-wire systems, redundant electronic control units are desirable in case one of the electronic control units fails. However, in these applications, there are multiple sensors, and for this reason, multiple electronic control units and backup electronic control units are required to receive signals from each of the system's sensors. Such arrangements are expensive. Furthermore, these arrangements have more sensor data that must be interpreted by the electronic control units, which in turn increases the risk of more errors. For example, there is a greater likelihood of errors occurring in calculations. Furthermore, the individual electronic control units cannot be arranged in parallel because if one of the electronic control units fails and causes a short circuit, then the remaining electronic control units are also affected.

[0004] In and of itself, there is a need to limit the number of electronic control units while also having a redundant electronic control unit system. SUMMARY

[0005] In one embodiment, a redundant sensing system is provided. The redundant sensing system includes a first sensor, a second sensor, and an electronic control unit. The first sensor is configured to output first data indicative of position data. The second sensor is configured to output second data indicative of the position data. The electronic control unit is communicatively coupled to the sensor and the second sensor. The electronic control unit is configured to receive the first data indicative of the position data and the second data indicative of the position data. The electronic control unit is further configured to determine whether the first data indicative of the position data is within a first predetermined threshold range.wherein the first predetermined threshold range is a range of normal operation of the first sensor and the electronic control unit; that, when the first data is outside the first predetermined threshold range, it determines whether the second data indicative of the position data is within a second predetermined threshold range, wherein the second predetermined threshold range is a range of normal operation of the second sensor and the electronic control unit; and that it controls the redundant detection system such that the redundant detection system operates with the second sensor when the first data is outside the first predetermined threshold range and the second data is within the second predetermined threshold range.

[0006] In another embodiment, a redundant sensing system is provided. The redundant sensing system includes a first sensor, a second sensor, a third sensor, a first electronic control unit, a second electronic control unit, and a third electronic control unit. The first sensor is configured to output first data indicative of position data. The second sensor is configured to output second data indicative of the position data. The third sensor is configured to output third data indicative of the position data. The first electronic control unit is communicatively coupled to the first sensor, the second sensor, and the third sensor and is configured to output the first data indicative of the position data, the second data indicative of the position data, and the third data.which are indicative of the position data. The second electronic control unit is communicatively coupled to the first sensor, the second sensor, and the third sensor and is configured to receive the first data indicative of the position data, the second data indicative of the position data, and the third data indicative of the position data. The third electronic control unit is communicatively coupled to the first sensor, the second sensor, and the third sensor and is configured to receive the first data indicative of the position data, the second data indicative of the position data, and the third data indicative of the position data. The first electronic control unit is further configured to determine whether the first data indicative of the position dataare within a first predetermined threshold range, wherein the first predetermined threshold range is a range of normal operation of the first sensor and the first electronic control unit; that, when the first data is outside the first predetermined threshold range, it determines whether the second data indicative of the position data is within a second predetermined threshold range, wherein the second predetermined threshold range is a range of normal operation of the second sensor and the first electronic control unit; and that it controls the redundant detection system such that the redundant detection system operates with the second sensor when the first data is outside the first predetermined threshold range and the second data is within the second predetermined threshold range.

[0007] In yet another embodiment, a redundant sensing system is provided. The redundant sensing system includes a first integrated circuit, a second integrated circuit, and an electronic control unit. The first integrated circuit includes a first measurement sensor configured to output first data indicative of position data. The second integrated circuit includes a second measurement sensor configured to output second data indicative of the sensed position. The electronic control unit is communicatively coupled to the first integrated circuit and the second integrated circuit. The electronic control unit is configured to receive the first data indicative of the sensed position and the second data indicative of the sensed position. The electronic control unit is further configured tothat it determines whether the first data indicative of the detected position are within a first predetermined threshold range, wherein the first predetermined threshold range is a range of normal operation of the first integrated circuit and the electronic control unit, that if the first data are outside the first predetermined threshold range, it determines whether the second data indicative of the detected position are within a second predetermined threshold range, wherein the second predetermined threshold range is a range of normal operation of the second integrated circuit and the electronic control unit, and that it controls the redundant detection system such that the redundant detection system then operates with the second integrated circuit,if the first data is outside the first predetermined threshold range and the second data is within the second predetermined threshold range.

[0008] These and additional features provided with the embodiments described herein will be better understood in view of the following detailed description taken in conjunction with the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The embodiments shown in the drawings are illustrative and exemplary and are not intended to limit the subject matter defined in the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, in which like structures are designated by like reference numerals and in which: Fig. 1 schematically illustrates an exemplary suspended pedal assembly having a redundant sensor system constructed in accordance with one or more embodiments shown and described herein; Fig. 2 schematically shows an exemplary floor-mounted pedal assembly incorporating the redundant sensor system from the Fig. 1 constructed in accordance with one or more embodiments shown and described herein; Fig. 3 schematically shows an exemplary steer-by-wire assembly that incorporates the redundant detection system from the Fig. 1 constructed in accordance with one or more embodiments shown and described herein; Fig. 4 schematically shows an isolated view of a first aspect of the redundant detection system from the Fig. 1 constructed in accordance with one or more embodiments shown and described herein; Fig. 5 schematically shows an isolated view of a second aspect of the redundant detection system from the Fig. 1 constructed in accordance with one or more embodiments shown and described herein; and Fig. 6 schematically shows a flowchart of an illustrative method used to determine whether a failure of the redundant detection system is due to Fig. 1, and which is constructed in accordance with one or more embodiments shown and described herein. DETAILED DESCRIPTION

[0010] Embodiments included herein are directed to a redundant sensing system having redundant electronic control units (ECUs) and redundant sensors. The redundant sensing system may be a board-level implant and / or a chip-level implementation. As such, the redundant sensing system may be configured to determine whether data indicative of a sensed position is within a first predetermined threshold range, wherein the first predetermined threshold range is a range of normal operation of the sensor and one of the ECUs.If the data is outside the first predetermined threshold range, the electronic control unit can determine whether second data indicative of the detected position is within a second predetermined threshold range, wherein the second predetermined threshold range is a range for normal operation of the second sensor and the electronic control unit. The electronic control unit can control the redundant sensing system such that the redundant sensing system operates with the second sensor when the data is outside the first predetermined threshold range and the second data is within the second predetermined threshold range.Furthermore, the electronic control unit may be configured to compare the data received from the first sensor by one electronic control unit with the same data received from the first sensor by another electronic control unit and to determine whether there is a deviation indicative of abnormal operation of the first sensor, the second sensor, or the electronic control unit.

[0011] In and of itself, the redundant sensing system can be used in any sensing application where there is a need to minimize the number of sensors, electronic control units, and the amount of data that must be calculated or determined from the acquired information. Furthermore, as discussed herein, the redundant sensing system disclosed herein offers advantages over conventional systems by minimizing the number of sensors, minimizing the number of electronic control units, enabling communication between the electronic control units when deviations are detected to correct the root cause of the deviation, and automatically switching and / or assigning sensors or electronic control units for use in the system.

[0012] Examples of sensing applications include, but are not limited to, brake-by-wire systems, steering-by-wire systems, torque applications, and / or the like, where it is desirable to incorporate redundant electronic control units and where sensors are positioned to collect and transmit similar data to the corresponding electronic control units. It should be recognized that the sensing system is not limited to automotive applications and may be used in all-terrain vehicles (ATVs), off-road vehicles (ORVs), aerospace, marine, and / or other applications.

[0013] Various embodiments of the redundant detection system are described in detail here.

[0014] As used herein, the term “communicatively coupled” means that coupled components are capable of exchanging data signals and / or electrical signals with each other, such as electrical signals over a conductive medium, electromagnetic signals over air, optical signals over fiber optics, electrical power over a conductive medium or a non-conductive medium, data signals wirelessly and / or over a conductive medium or a non-conductive medium, and the like.

[0015] With initial reference to the Fig. 1, in one non-limiting example, a redundant sensing system 10 may be positioned to detect movement of an exemplary overhead pedal assembly 12, as schematically illustrated. It should be understood that although the overhead pedal assembly 12 is illustrated as an electronic throttle (ETC) pedal assembly, this is not limiting, and the overhead pedal assembly 12 may be an overhead brake pedal, an overhead clutch pedal, and / or any other overhead pedal assembly where detecting movement is desirable. As such, the overhead pedal assembly 12 will only be briefly described for exemplary purposes.

[0016] The exemplary suspended pedal assembly 12 includes a housing 14 and a pedal arm assembly 15. The pedal arm assembly 15 includes a pedal arm 16 including a hub portion 18. The hub portion 18 is pivotally mounted to the housing 14. The pedal arm 16 has a proximal end 20a and an opposite distal end 20b. A pedal pad 22 is positioned at a distal end 20b. As such, the pedal arm 16 pivots, moves, and / or rotates within the housing 14 based on pressure applied to the pedal pad 22 at the distal end 20b of the pedal arm 16.

[0017] The housing 14 may include a rear wall 24a and an opposite front wall 24b and a pair of side walls 24c to enclose positions of the hub portion 18. In this example, the redundant sensing system 10 may be integrated into a connector assembly 26 extending from the housing 14. That is, the redundant sensing system 10 may be positioned to detect any movement of the hub portion 18 caused by pressure applied to the pedal pad 22. The connector assembly 26 may include a plurality of ports 28 provided within a connector cavity 30 to communicatively and / or electrically connect the redundant sensing system 10 to other components of a vehicle, such as an electronic control module and / or a powertrain controller. In some embodiments, the connector assembly 26 may be overmolded.

[0018] As such, in the exemplary suspended assembly 12, the redundant sensor system 10 is configured to sense the amount of movement of the pedal arm 16 at the hub portion 18 within the housing 14 based on the pressure exerted on the pedal pad 22 at the distal end 20b of the pedal arm 16, as discussed in greater detail herein.

[0019] With reference now to the Fig. 2, in another non-limiting example, the redundant sensing system 10 may be positioned to detect movement of an exemplary floor-mounted pedal assembly 40, as schematically illustrated. It should be understood that although the floor-mounted pedal assembly 40 is illustrated as a brake pedal emulator pedal assembly, this is not limiting, and the floor-mounted pedal assembly 40 may be an accelerator pedal, such as an electronic accelerator pedal, a floor-mounted brake pedal, a floor-mounted clutch pedal, and / or any other floor-mounted pedal assembly for which detecting movement thereof is desirable. As such, the floor-mounted pedal assembly 40 will only be briefly described for exemplary purposes.

[0020] The floor-mounted pedal assembly 40 includes a housing 42, a pedal arm assembly 44, and an emulator assembly 46. The pedal arm assembly 44 includes a pedal arm 48 having a pedal pad end 50a and a pivot end 50b. In some embodiments, such as the illustrated embodiment, the pedal arm 48 may be generally L-shaped. In other embodiments, the pedal arm 48 may be shaped differently, such as a J or a T. The pivot end 50b is pivotally connected to the housing 42 about a pivot axis P1. The pedal pad end 50a receives a pedal pad 52 against which a user's foot would press for braking, accelerating, and / or activating a clutch control. The housing 42 includes an opening 54 that receives portions of the pedal arm 48.

[0021] In this example, the redundant sensing system 10 may be integrated into a connector assembly 56 extending from the housing 42. That is, the redundant sensing system 10 may be positioned to sense any movement of the pedal arm 48 at the pivot end 50b about the pivot axis P1 caused by pressure applied to / released from the pedal pad 52. The connector assembly 56 may include a plurality of terminals provided within a connector cavity 58 to communicatively and / or electrically connect the redundant sensing system 10 to other components of a vehicle, such as an electronic control module and / or a powertrain controller. In some embodiments, the connector assembly 56 may be overmolded.

[0022] As such, in the exemplary pedal assembly 40, the redundant sensing system 10 is configured to sense the amount of movement of the pedal arm 48 at the pivot end 50b about the pivot axis P1 caused by pressure applied to / released from the pedal pad 52, as discussed in greater detail herein.

[0023] With reference now to the Fig. 3, in yet another non-limiting example, the redundant sensing system 10 may be positioned to detect movement of a steer-by-wire system 70, such as a steering wheel assembly. The steer-by-wire system 70 may include an input shaft 72 that may be coupled or otherwise attached to a steering wheel for the vehicle. An output shaft 74 may be coaxial with the input shaft 72. The output shaft 74 may be connected to the steering linkage for the vehicle to provide the actual turning of the vehicle's wheels.

[0024] The input shaft 72 and the output shaft 74 may be coupled or otherwise connected by a torsion bar 76. This torsion bar 76 may allow a limited amount of angular deflection between the input shaft 72 and the output shaft 74 depending on the torque applied to the steering wheel. In the illustrated embodiment, the redundant sensing system 10 may include a first set of sensors 78 positioned or attached to the input shaft 72 adjacent to the torsion bar 76 such that a coupler 80 and the input shaft 72 rotate in unison with each other. Similarly, a second set of sensors 82 positioned or attached to the output shaft 74 adjacent to the torsion bar 76 and a second coupler 84 may be attached to the output shaft 74 such that the second coupler 84 rotates in unison with the output shaft 74.

[0025] A circuit board 86, which may be attached to the vehicle frame or other structure, may be positioned between the two couplers 80, 84 such that the circuit board 86 is generally parallel to the two couplers 80, 84. The circuit board 86 may be a printed circuit board, a flexible circuit board, or the like, and is configured to receive components of the redundant sensing system 10, as discussed in more detail herein.

[0026] In this example, the redundant sensing system 10 may be configured to detect an angular displacement between the two couplers 80, 84, which may be directly related to the torsion applied to the steering wheel. As such, the first set of sensors 78 and the second set of sensors 82 may be configured to detect the movement, displacement, rotation, and the like of the two couplers 80, 84, which is indicative of the movement of the input shaft 72 and the output shaft 74, and transmit it to the components of the circuit board 86.

[0027] With reference now to the Fig. 4, the redundant sensing system 10 includes electronic control units 102a, 102b and is illustrated with a third electronic control unit "N" 102c. It should be understood that the third electronic control unit "N" 102c is optional and may be any number of additional ECUs used in the redundant sensing system 10 (i.e., one or more third electronic control units 102c). Each of the electronic control units 102a, 102b, 102c includes a respective processor 108a, 108b, 108c, a respective memory unit 110a, 110b, 110c, and a respective data storage device 112a, 112b, 112c.

[0028] The processor 108a, 108b, 108c, such as a computer processing unit (CPU), may be the central processing unit of each of the electronic control units 102a, 102b, 102c to perform calculations, compare values ​​and received data, such as position data, and perform logical operations to execute a program, as discussed in greater detail herein. The processor 108a, 108b, 108c, alone or in conjunction with the other components, is an exemplary processing device, computing device, or a combination thereof. The processor 108a, 108b, 108c may include any processing component configured to receive and execute instructions (such as from the respective data storage device 112a, 112b, 112c and / or the respective memory unit 110a, 110b, 110c).

[0029] Each of the storage units 110a, 110b, 110c may be configured as a volatile and / or non-volatile computer-readable medium and may, in and of itself, comprise random access memory (including SRAM, DRAM, and / or other types of random access memory), read-only memory (ROM), flash memory, registers, compact discs (CDs), digital versatile discs (DVDs), and / or other types of storage components. Each of the storage units 110a, 110b, 110c may have one or more programming instructions thereon that, when executed by the processor 108a, 108b, 108c, cause the respective processor 108a, 108b, 108c to complete various processes, such as the processes described herein with respect to the Fig. 6. As such, each of the memory units 110a, 110b, 110c may include the programming instructions embodied as a plurality of software logic modules, each logic module providing programming instructions for completing one or more tasks, as described in more detail below with respect to the Fig. 6 is described.

[0030] Furthermore, in some embodiments, electronic control unit 102a may be a master device or master controller that performs the initial calculations, comparisons, determinations, and other logical functions for redundant sensing system 10, such that electronic control units 102b, 102c each function as a slave device. As a result, electronic control unit 102a may control redundant sensing system 10 to use a particular sensor, buffer arrangement, and / or transfer control to another electronic control unit (e.g., electronic control units 102b, 102c), as discussed in more detail herein.In and of itself, the electronic control unit 102a can be communicatively coupled to the electronic control units 102b, 102c via, for example, communication paths 114a, 114b for communication with the other electronic control units of the redundant detection system 10.

[0031] In some embodiments, communication between the electronic control units 102a, 102b, 102c using communication paths 114a, 114b may be bidirectional and may be wired or wireless. For example, the communication may be via a wide area network (WAN), such as the Internet, a mobile communications network, a metropolitan area network (MAN), and / or a public switched telephone network (PSTN), a local area network (LAN), a personal area network (PAN), a virtual private network (VPN), and / or another network, and / or may be wired together using techniques known to those skilled in the art.

[0032] In other embodiments, the electronic control units 102a, 102b, 102c may each communicate with each other to perform the calculations, comparisons, determinations, and the like discussed herein, and there may be no master device or master control unit, or the master device or master control unit may alternate between the electronic control units 102a, 102b, 102c.

[0033] The redundant sensing system 10 further includes sensors 104a, 104b and is shown with a third sensor "M" 104c. It should be understood that the third sensor "M" 104c may be optional or may be any number of additional sensors (i.e., one or more third sensors 104c) in the redundant sensing system 10 and may correspond to the third electronic control unit "N" 102c, as discussed in more detail herein. That is, there is generally one electronic control unit for each sensor, so, for example, in a system with four sensors, there would be four electronic control units, each configured to receive data or a signal from each of the sensors, as discussed in more detail herein.

[0034] The sensors 104a, 104b, 104c may each be configured to detect, generally in real time, the current or active positioning of various moving components, such as those described above with reference to the Fig. 1-3, and / or the like, to provide feedback during operation. In particular, the sensors 104a, 104b, 104c may each transmit a plurality of corresponding data outputs 116a, 116b, 116c indicative of a sensed position, either wired or wirelessly, to a corresponding buffer assembly, as explained in greater detail herein. It should be understood that the plurality of data outputs 116a, 116b, 116c are illustrated as a single output for each of the sensors 104a, 104b, 104c for clarity. This is non-limiting, and the plurality of data outputs 116a, 116b, 116c may each include one or more output signals from each of the sensors 104a, 104b, 104c, such as multiple data streams, high voltage signals, low voltage signals, and the like.

[0035] In some embodiments, sensors 104a, 104b, 104c may all be a Hall-effect sensor or an inductive-type sensor. In other embodiments, each of sensors 104a, 104b, 104c may be a Hall-effect sensor or an inductive-type sensor (e.g., a combination of sensor types such that one is a Hall-effect sensor and another is an inductive-type sensor). In still other embodiments, each of sensors 104a, 104b, 104c may be a laser-based sensor, a proximity sensor, a liquid level sensor, a pressure sensor, a capacitive-based sensor, a resistive-based sensor, any combination thereof, and / or any other type of sensor that one of ordinary skill in the art may appreciate.

[0036] Furthermore, the redundant sensing system 10 may include at least two buffer assemblies 106a, 106b communicatively coupled to a corresponding sensor (e.g., sensors 104a and 104b, respectively). That is, buffer assembly 106a is communicatively coupled to the first sensor 104a, and buffer assembly 106b is communicatively coupled to the second sensor 104b, in an in-line or series connection between the sensors 104a, 104b and the corresponding electronic control units 102a, 102b. In and of itself, each of the at least two buffer assemblies 106a, 106b is positioned to receive data signals and / or electrical signals from the sensors 104a, 104b and to send data signals and / or electrical signals to the electronic control units 102a, 102b.As such, the at least two buffer assemblies 106a, 106b are configured to send identical or similar signals (within a predetermined error percentage) to each of the electronic control units 102a, 102b indicative of the position data from the sensors 104a, 104b, respectively, so that each electronic control unit 102a, 102b analyzes identical or similar data.

[0037] In the illustrated embodiment, an additional buffer assembly "M" 106c is provided to be communicatively coupled to the third sensor "M" 104c and the third controller "N" 102c. It should be understood that multiple buffer assemblies "M" 106c (such as additional buffer assemblies or one or more third buffer assemblies 106c) may be present for any additional number of sensors "M" 104c in the redundant sensing system 10 and may also be positioned between any additional sensors "M" 104c and any number of additional controllers "N" 102c.In and of themselves, the buffer arrangements "M" 106c may be optional if only two sensors and electronic control units are present in the redundant sensing system 10, or additional buffer arrangements "M" 106c may be present if more than two sensors and corresponding electronic control units are present in the redundant sensing system 10. Furthermore, the buffer arrangement "M" 106c is identical to the buffer arrangements 106a, 106b.

[0038] As such, it should be appreciated that in systems with multiple sensors, the same number of buffer assemblies is used for the number of sensors, and furthermore, the same number of electronic control units is used. For example, in the illustrated embodiments, buffer assemblies 106a, 106b, 106c correspond to the respective sensors 104a, 104b, 104c. As such, in the redundant sensing system 10 arrangement, the number of sensors is reduced because each sensor is output to the electronic control units 102a, 102b, 102c, and all electronic control units 102a, 102b, 102c receive the same sensor output data.

[0039] In some embodiments, each of the buffer assemblies 106a, 106b, 106c may be configured as an analog-to-digital converter to convert the plurality of data outputs 116a, 116b, 116c (e.g., an analog signal indicative of the sensed position data) into identical or similar digital signals (e.g., within a predetermined error percentage), which are then transmitted through the buffer assemblies 106a, 106b, 106c to the corresponding electronic control units 102a, 102b, 102c using electrical components. Examples of electrical components may include, without limitation, A / D converters, integrated circuits, operational amplifiers, inverters, comparator circuits, and the like.As such, each of the buffer assemblies 106a, 106b, 106c receives the plurality of outputs 116a, 116b, 116c of the sensors 104a, 104b, 104c corresponding to the buffer assemblies 106a, 106b, 106c corresponding to the sensors 104a, 104b, 104c, which then convert the received analog signals, splitting the signal into three new outputs as digital output signals 118a, 118b, 118c, which are then transmitted to and received by the corresponding electronic control units 102a, 102b, 102c.

[0040] In other embodiments, each of the buffer arrays 106a, 106b, 106c may be a set of digital buffers whose inputs (e.g., the plurality of data outputs 116a, 116b, 116c) from the respective sensors 104a, 104b, 104c are converted into a digital signal. As such, the digital buffer may be an electronic circuit element that can be used to isolate the input to the buffer arrangement (e.g., the plurality of data outputs 116a, 116b, 116c of the sensors 104a, 104b, 104c) from the digital output signals 118a, 118b, 118c (e.g., data signals, voltage signals, combinations thereof, and the like) of the corresponding buffer arrangements 106a, 106b, 106c.

[0041] As such, in each embodiment, the digital output signals 118a, 118b, 118c of the respective buffer assemblies 106a, 106b, 106c reflect the input signal of the respective buffer assemblies 106a, 106b, 106b, but in a digital form (e.g., the plurality of data outputs 116a, 116b, 116c of the respective sensors 104a, 104b, 104c) and provides an inline buffer between each of the sensors 104a, 104b, 104c and each respective electronic control unit 102a, 102b, 102c of the redundant sensing system 10, such that a failure on the output side will not affect the input from the corresponding sensors 104a, 104b, 104c and the Input to the electronic control units 102a, 102b, 102c is not impaired to cause a malfunction of the electronic control units 102a, 102b, 102c.

[0042] It should be recognized that a variety of electronic devices, such as voltage buffers, comparators, and / or the like, can be used as digital buffers. Furthermore, these electronic devices can be dual-voltage buffers, dual comparators, and / or the like, which allow two inputs to be reflected by two outputs in one device.

[0043] As such, the digital output signals 118a, 118b, 118c are converted, transformed, adjusted, and the like such that each is identical or similar (within a predetermined error difference) for analysis by the corresponding electronic control units 102a, 102b, 102c, as discussed in greater detail herein. In some embodiments, the electrical components of the buffer assemblies 106a, 106b, 106c may also be configured to adjust a gain or trigger level of the signals such that the digital output signals 118a, 118b, 118c (e.g., high and low voltages) are each identical or similar (within a predetermined error difference) for analysis by the corresponding electronic control units 102a, 102b, 102c.For example, the low voltage can be set to be below 0.5 V, and the high voltage can be set to be above 4.1 V, so that the gain or trigger levels match those of the electronic control units 102a, 102b, 102c. In and of itself, this arrangement allows each of the electronic control units 102a, 102b, 102c to compare identical signals to easily identify failures, eliminate false failures, and the like.

[0044] This means that real-world differences in cables and electronic control units are minimized or eliminated, allowing the digital output signals 118a, 118b, 118c to be the same or identical to be analyzed independently by the electronic control units 102a, 102b, 102c. This, in and of itself, minimizes false failures. Furthermore, the redundant acquisition system 10 can determine an actual failure if there are discrepancies in the data.For example, in one case, there may be a discrepancy between any of the digital output signals 118a, 118b, 118c indicative of the position data output by the sensors 104a, 104b, 104c and received by one of the electronic control units 102a, 102b, 102c (e.g., a discrepancy between any of the digital output signals 118a, 118b, 118c input to one of the electronic control units 102a, 102b, 102c and analyzed by one of the electronic control units 102a, 102b, 102c), which may indicate a sensor failure.In another case, there may be a discrepancy between any of the digital output signals 118a, 118b, 118c that have been analyzed and compared between two different electronic control units 102a, 102b, 102c, which may be indicative of a failure of one of the electronic control units 102a, 102b, 102c, as discussed in more detail herein.

[0045] In operation, the data output 116a of the sensor 104a is received by the buffer assembly 106a, which generates the data output 116a indicative of the sensed position data, movement, and the like of a desired component, such as, for example, and without limitation, a component of the Fig. 1 to 3, from an analog to a digital signal within predetermined parameters and transmits the digital output signal 118a to each of the electronic control units 102a, 102b, 102c in the redundant sensing system 10. As such, each of the electronic control units 102a, 102b, 102c receives the same data acquired by the sensor 104a and can independently perform analysis on the received data (e.g., the digital output signals 118a, 118b, 118c).

[0046] Furthermore, the data output 116b of the sensor 104b is received by the buffer arrangement 106b, which stores the data output 116b indicative of the detected position data, the movement and the like of the desired component, such as, for example, and without limitation, the component from the Fig. 1 to 3, from an analog to a digital signal within predetermined parameters and transmits the digital output signal 118b to each of the electronic control units 102a, 102b, 102c in the redundant acquisition system 10. In and of itself, each of the electronic control units 102a, 102b, 102c receives the same data acquired by the sensor 104b and can independently perform an analysis with the received data. Furthermore, the data output 116b of the sensor 104b is the same acquired position, movement, and the like of the desired component, such as the components from the Fig. 1 to 3, so that secondary or redundant verification of the same position data is possible.

[0047] In addition, the data output 116c of the sensor 104c is received by the buffer arrangement 106c, which stores the data output 116c indicative of the sensed position data, the movement, and the like, of the desired component, such as, for example, and without limitation, the component from the Fig. 1 to 3, from an analog to a digital signal and transmits the digital output signal 118c to each of the electronic control units 102a, 102b, 102c in the redundant sensing system 10. As such, each of the electronic control units 102a, 102b, 102c receives the same data (e.g., data similar to the data sensed by the sensors 104a, 104b) sensed by the sensor 104c, and can independently perform analysis on the received data. Furthermore, the data output 116c of the sensor 104c is the same sensed position, movement, and the like of the desired component, such as the components from the Fig. 1 to 3, so that secondary or redundant verification of the same data is possible.

[0048] This arrangement provides several advantages over conventional systems. For example, there may be a discrepancy between the data analyzed by electronic control unit 102a and the same data analyzed by electronic control units 102b, 102c. In and of itself, this discrepancy may indicate a failure of one of electronic control units 102a. Furthermore, the various data received from sensors 104a, 104b, 104c may be compared by one of the corresponding electronic control units 102a, 102b, 102c to determine whether there is a failure in the sensor or the electronic control unit itself.For example, the electronic control unit 102a receives the position data from each of the sensors 104a, 104b, 104c so that the electronic control unit 102a can compare the data from each of the sensors 104a, 104b, 104c to determine if there is a discrepancy in the received data indicative of a failure of one of the sensors 104a, 104b, 104c or the electronic control unit 102a.

[0049] For example, if it is determined that there is a discrepancy in one of the digital output signals 118a, 118b, 118c received from the buffer assemblies 106a, 106b, 106c, the sensor and / or buffer assembly that generated the data may be exhibiting an abnormal function, such as a failure, a short circuit, or some other undesirable operating condition. In and of itself, the received data may not be used or trusted, and the electronic control unit 102a may switch the redundant sensing system 10 to use only data from the other sensors of the redundant sensing system 10. This means that the redundant sensing system 10 is configured to operate normally or within a normal range when one or more sensors fail, using the other normally operating sensors.

[0050] Furthermore, the comparison between the electronic control units 102a, 102b, 102c may be performed to determine whether the data provided by the sensors 104a, 104b, 104c and / or the buffer assemblies 106a, 106b, 106c may exhibit an abnormal function, such as a failure, a short circuit, or other undesirable condition, and / or the comparison may be used to determine whether there is a failure in one of the electronic control units 102a, 102b, 102c. As such, the redundant sensing system 10 is configured to function normally not only when one or more sensors fail, using the normally operating sensors, but also when one or more electronic control units fail, using the normally operating electronic control units.

[0051] It should be appreciated that this arrangement may enable each of the buffer assemblies 106a, 106b, 106c, which are communicatively inline and coupled between each of the sensors 104a, 104b, 104c and to transmit data to each of the corresponding electronic control units 102a, 102b, 102c, to determine if there are any discrepancies indicative of a component failure or a failure of the redundant sensing system 10.

[0052] Furthermore, it should be appreciated that with the redundant sensing system 10 arrangement, any failure of the electronic control units 102a, 102b, 102c, such as a short circuit, does not affect the output of the sensors 104a, 104b, 104c (e.g., the plurality of data outputs 116a, 116b, 116c). As such, the non-failing electronic control units would receive the output from the sensors 104a, 104b, 104c (e.g., the plurality of data outputs 116a, 116c through the buffer arrangements 106a, 106b, 106c) to continuously receive data indicative of the sensor values, as if there were no failing device.

[0053] With reference now to the Fig. 5, the redundant detection system 10' may also be implemented as a chip-level implementation to be integrated into an integrated circuit 122a, 122b, 122c, such as an application-specific integrated circuit (ASIC). Each of the integrated circuits 122a, 122b, 122c is identical to the redundant detection system 10 from the Fig. 4, except that the redundant detection system 10' is implemented in the integrated circuits 122a, 122b, 122c. As such, those skilled in the art will understand that similar components can be described, the only difference being the chip-level implementation compared to the redundant detection system 10 of the Fig. 4 exists.

[0054] Each of the integrated circuits 122a, 122b, 122c may include a sensor measurement 124a, 124b, 124c and an output driver circuit 126a, 126b, 126c. The sensor measurements 124a, 124b, 124c may be similar to the sensors 104a, 104b, 104c in that each of the sensor measurements 124a, 124b, 124c may include position data for desired components, such as, but not limited to, the components from the Fig. 1 to 3, and outputs this data as the plurality of data outputs 116a, 116b, 116c indicative of the position data.

[0055] Furthermore, each of the output driver circuits 126a, 126b, 126c of the integrated circuits 122a, 122b, 122c controls the plurality of data outputs 116a, 116b, 116c through the respective electrical components 128a, 128b, 128c and to the corresponding output pins 130a, 130b, 130c of the integrated circuits 122a, 122b, 122c. The electrical components 128a, 128b, 128c may be operational amplifiers, diodes, inverters, and the like.In and of itself, each of the electrical components 128a, 128b, 128c receives the output (e.g., the plurality of data outputs 116a, 116b, 116c) of the sensor measurement 124a, 124b, 124c corresponding to the particular output driver circuit 126a, 126b, 126c and its driver signals 127a, 127b, 127c, and the electrical components 128a, 128b, 128c, which are then adjusted, transformed, and / or modified such that identical signals are transmitted via the output pins 130a, 130b, 130c to the respective electronic control units 102a, 102b, 102c as the digital outputs 118a, 118b, 118c, as above with regard to the . Fig. 4 was discussed.

[0056] With further reference to the Fig. 1 to 5 and now also on the Fig. 6, there is shown a flowchart schematically illustrating an illustrative method 600 for determining whether a failure of the redundant sensing system has occurred. Although the steps associated with the blocks in the Fig. 6 are described as if they were separate tasks, the blocks may be combined or omitted in other embodiments. Furthermore, while the actions associated with the blocks in the Fig. 6 are described as being performed in a particular order, the actions are performed in a different order in other embodiments.

[0057] Furthermore, for clarity, the electronic control unit 102a, the sensor 104a, and the buffer arrangement 106a are now referred to as the first electronic control unit 102a, the first sensor 104a, and the first buffer arrangement 106a, respectively. Furthermore, the electronic control unit 102b, the sensor 104b, and the buffer arrangement 106b are now referred to as the second electronic control unit 102b, the second sensor 104b, and the second buffer arrangement 106b, respectively. Furthermore, the electronic control unit 102c, the sensor 104c, and the buffer arrangement 106c are now referred to as the one or more third electronic control units 102c, the one or more third sensors 104c, and the one or more third buffer arrangements 106c, respectively.

[0058] In block 605, the redundant detection system 10 receives a signal from each of the sensors 104a, 104b, 104c. The signal is indicative of the current, real-time position of the desired components to be monitored, such as, but not limited to, those related to the above Fig. 1-3. For example, the current position or movement of the pedal arms, shafts, and the like. In block 610, the first electronic control unit 102a of the redundant sensor system 10 analyzes the received data. This is non-limiting, and the data may be analyzed by any or all of the electronic control units 102a, 102b, 102c. In this non-limiting example, the first electronic control unit 102a is a master device or controller that initially performs all analysis. This is non-limiting, and any of the second electronic control unit 102b or the one or more third electronic control units 102c may be the master device or controller.The received data may have originally been generated or transmitted by the sensors 104a, 104b, 104c, and are then converted and adjusted or otherwise modified by the buffer arrangements 106a, 106b, 106c into the digital signals that are identical and transmitted to the electronic control units 102a, 102b, 102c.

[0059] Once the data has been received and analyzed by the first electronic control unit 102a, a determination is made as to whether the received position data output as the digital signal by the first sensor 104a via the first buffer arrangement 106a is within a predetermined threshold range or value, in block 615. The predetermined threshold range or value may be a range or value of normal operation of the sensors 104a, 104b, 104c and the buffer arrangements 106a, 106b, 106c. If the position data is within the predetermined threshold range or value, then the method 600 returns to block 605 and loops between blocks 605 to 615 until the received position data is no longer within the predetermined threshold range or value (for example, due to abnormal events).

[0060] If the position data transmitted from the first sensor 104a via the first buffer group 106a is not within the predetermined threshold range or value, then a determination is made in block 620 as to whether the position data received from another sensor (e.g., the second sensor 104b and / or the one or more third sensors 104c) is within the predetermined threshold range or value. Such a determination may be made by the first electronic control unit 102a using lookup tables and the like stored in the data storage device, and the determination may be made using the logic modules and / or the processor. Furthermore, the predetermined threshold range or value may be customized for each component to be monitored.This means that the different pedal assemblies shown above in the . Fig. 1 to 2 may have different predetermined threshold ranges or values, and that the steer-by-wire assembly, which is related to the Fig. 3 may have a different or distinct predetermined threshold range or value.

[0061] In another embodiment, if the position data transmitted from the first sensor 104a via the first buffer arrangement 106a is not within the predetermined threshold range or value, a determination is made at block 620 as to whether the position data received from all remaining sensors (e.g., from the second sensor 104b and from the one or more third sensors 104c) is within the predetermined threshold range or value. Such a determination may be made by the first electronic control unit 102a using lookup tables and the like stored in the data storage device, and the determination may be made using the logic modules and / or the method.The determination may also be made by the first electronic control unit 102a communicating with the second electronic control unit 102b using lookup tables and the like stored in the data storage device to compare the data received from all three sensors 104a, 104b, 104c.

[0062] If the position data of the second sensor 104b or the third or more sensors 104c is within the predetermined threshold range or value, then the first electronic control unit 102a instructs or controls the redundant sensing system 10 to continue operating with either the second sensor 104b or the one or more third sensors 104c in block 625. That is, it has been determined that the sensor 104a and / or the buffer assembly 106a is malfunctioning or has otherwise failed, and that the redundant sensing system 10 can operate normally using another one of the sensors, such as the second sensor 104b and / or the one or more third sensors 104c.Furthermore, it should be understood that the redundant sensing system 10 monitors the data output by the sensor now in use (e.g., the second sensor 104b and the one or more third sensors 104c) by beginning the method 600 again at block 605.

[0063] If, in block 630, the position data of the second sensor 104b (or the third or further sensors 104c) is not within, exceeds, or is below the predetermined threshold range or value, then the electronic control unit 102a compares the position data generated by one of the sensors (e.g., the first sensor 104a, the second sensor 104b, and / or the third or further sensors 104c) and received by the first control unit 102a with the position data generated by the same one of the sensors (e.g., sensors 104a, 104b, 104c) and received by at least one other of the control units (e.g., the second control unit 102b or the third or further control units 102c).That is, in the illustrated embodiment, if the position data of the second sensor 104b (or the one or more third sensors 104c) does not meet the predetermined threshold range or value in block 630, the first electronic control unit 102a compares the position data received from one of the sensors (e.g., from sensors 104a, 104b, 104c) with the position data received from one of the sensors (e.g., from sensors 104a, 104b, 104c) by a different electronic control unit (e.g., by the second electronic control unit 102b or by the one or more third electronic control units 102c).As a result, the comparison provides the redundant sensing system 10 with information about whether both the first electronic control unit 102a and the second electronic control unit 102b (or the one or more third electronic control units 102c) receive the same position data or whether there is a discrepancy between the first electronic control unit 102a and the second electronic control unit 102b (or the one or more third electronic control units 102c) that is indicative of a failure of the first electronic control unit 102a.

[0064] In another embodiment, if in block 630 the position data of the second sensor 104b (or the one or more third sensors 104c) does not meet the predetermined threshold range or value, the first electronic control unit 102a compares the position data received from all sensors (e.g., from sensors 104a, 104c) with the position data received from all sensors (e.g., from sensors 104a, 104b, 104c) via a different electronic control unit (e.g., the second electronic control unit 102b or the one or more third electronic control units 102c).As a result, the comparison provides the redundant detection system 10 with information about whether the first electronic control unit 102a and the second electronic control unit 102b (or the one or more third electronic control units 102c) are receiving the same position data or whether there is a deviation between the first electronic control unit 102a and the second electronic control unit 102b (or the one or more third electronic control units 102c) that is indicative of a failure of one of the electronic control units 102a, 102b, 102c, such as the first electronic control unit 102a.

[0065] As such, in block 635, an analysis of the comparison data is performed to determine whether there is a discrepancy between the same received data from the first electronic control unit 102a and the second electronic control unit 102b (or the one or more third electronic control units 102c). If there is no discrepancy, the electronic control unit 102a instructs or controls the redundant sensing system 10 to continue operating with the second sensor 104b and / or the one or more third sensors 104c, in block 625.

[0066] If the analysis of the comparison data in block 635 has determined that there is a discrepancy between the same received data from the first electronic control unit 102a and the second electronic control unit 102b (or the one or more third electronic control units 102c), then the data received from the second electronic control unit 102b (or the one or more third electronic control units 102c) is analyzed to determine whether the compared data is within an ECU-predetermined threshold range or value in block 640. The ECU-predetermined threshold range or value may be a range or value of normal operation of the electronic control units 102a, 102b, 102c.If the position data received from the second electronic control unit 102b (or from the one or more third electronic control units 102c) is not within or does not meet the ECU-predetermined threshold range or value, then the first electronic control unit 102a instructs or controls the redundant sensing system 10 to continue operating with the second sensor 104b and the one or more third sensors 104c, in block 625. That is, it is determined that the electronic control units 102a, 102b, 102c are operating normally, but a determination is made that the first sensor 104a and / or the first buffer group 106a or components thereof have failed.

[0067] If the received position data of the second electronic control unit 102b (or the third or further electronic control units 102c) is within or meets the ECU-predetermined threshold range or value, then the first electronic control unit 102a transfers control to the second electronic control unit 102b (or the third or further electronic control units 102c) at block 645 to act as the master controller or device and perform the operations of method 600. That is, it is determined that the first electronic control unit 102a is not operating normally, but that the first sensor 104a and / or the first buffer group 106a, or components thereof, are operating normally.

[0068] It should now be recognized that the redundant sensing systems disclosed here offer advantages over conventional systems by minimizing the number of sensors, minimizing the number of electronic control units, establishing communication between the electronic control units when deviations are detected to correct the underlying cause of the deviation, reducing false failures, and providing automatic switching and / or allocation of sensors or electronic control units for use in the redundant sensing system.

[0069] Although certain embodiments have been illustrated and described herein, it should be understood that various other changes and modifications may be made without departing from the spirit and scope of the claimed subject matter. Moreover, while various aspects of the claimed subject matter have been described herein, there is no need to use these aspects in combination. Therefore, it is intended that the appended claims cover all such changes and modifications that are within the scope of the claimed subject matter.

[0070] What is claimed is the following: QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] US 63 / 333,685

[0001]

Claims

[1] A redundant detection system comprising the following: - a first sensor configured to output first data indicative of position data; - a second sensor configured to output second data indicative of the position data; and - an electronic control unit communicatively coupled to the first sensor and the second sensor, the electronic control unit being configured to receive the first data indicative of the position data and the second data indicative of the position data, the electronic control unit being further configured to: - it determines whether the first data indicative of the position data is within a first predetermined threshold range, the first predetermined threshold range being a range of normal operation of the first sensor and the electronic control unit, - if the first data is outside the first predetermined threshold range, it determines whether the second data indicative of the position data is within a second predetermined threshold range, wherein the second predetermined threshold range is a range of normal operation of the second sensor and the electronic control unit, and - it controls the redundant detection system such that the redundant detection system operates with the second sensor when the first data is outside the first predetermined threshold range and the second data is within the second predetermined threshold range. [2] The redundant detection system of claim 1, further comprising: - a first buffer arrangement positioned to be communicatively coupled between the first sensor and the electronic control unit. [3] The redundant detection system of claim 2, further comprising: - a second buffer arrangement positioned to be communicatively coupled between the second sensor and the electronic control unit; and - a second electronic control unit communicatively coupled to the first buffer arrangement and the second buffer arrangement, the second electronic control unit configured to receive the first data indicative of the position data and the second data indicative of the acquired position data. [4] The redundant sensing system of claim 3, wherein the electronic control unit is further configured to: - it compares the first data received from the first sensor by the electronic control unit with the first data received from the first sensor by the second electronic control unit; and - it determines whether there is a deviation indicative of abnormal operation of the first sensor, the second sensor or the electronic control unit. [5] The redundant sensing system of claim 3, wherein the first buffer arrangement receives the first data indicative of the position data and outputs the first data as two data signals, one to the electronic control unit and one to the second electronic control unit. [6] The redundant sensing system of claim 3, wherein the second buffer arrangement receives the second data indicative of the position data and outputs the second data as two data signals, one to the electronic control unit and one to the second electronic control unit. [7] The redundant sensing system of claim 1, wherein the first sensor is either an inductive type sensor or a Hall effect sensor and the second sensor is either a Hall effect type sensor or an inductive type sensor. [8] A redundant detection system comprising the following: - a first sensor configured to output first data indicative of position data; - a second sensor configured to output second data indicative of the position data; - a third sensor configured to output third data indicative of the position data; - a first electronic control unit communicatively coupled to the first sensor, the second sensor, and the third sensor and configured to receive the first data indicative of the position data, the second data indicative of the position data, and the third data indicative of the position data - a second electronic control unit communicatively coupled to the first sensor, the second sensor, and the third sensor and configured to receive the first data indicative of the position data, the second data indicative of the position data, and the third data indicative of the position data; and - a third electronic control unit communicatively coupled to the first sensor, the second sensor, and the third sensor and configured to receive the first data indicative of the position data, the second data indicative of the position data, and the third data indicative of the position data, the first electronic control unit further configured to: - it determines whether the first data indicative of the position data is within a first predetermined threshold range, the first predetermined threshold range being a range of normal operation of the first sensor and the first electronic control unit, - if the first data is outside the first predetermined threshold range, it determines whether the second data indicative of the position data is within a second predetermined threshold range, wherein the second predetermined threshold range is a range of normal operation of the second sensor and the first electronic control unit, and - it controls the redundant detection system such that the redundant detection system operates with the second sensor when the first data is outside the first predetermined threshold range and the second data is within the second predetermined threshold range. [9] The redundant sensing system of claim 8, wherein the first sensor is either an inductive type sensor or a Hall effect sensor, the second sensor is either a Hall effect type sensor or an inductive type sensor, and the third sensor is either a Hall effect type sensor or an inductive type sensor. [10] The redundant detection system of claim 8, further comprising: - a first buffer arrangement positioned to be communicatively coupled between the first sensor and the electronic control unit; - a second buffer assembly positioned to be communicatively coupled between the second sensor and the second electronic control unit; and - a third buffer arrangement positioned to be communicatively coupled between the third sensor and the third electronic control unit. [11] The redundant sensing system of claim 10, wherein the first buffer arrangement receives the first data indicative of the position data and outputs the first data as three data signals, one to the first electronic control unit, one to the second electronic control unit, and one to the third electronic control unit. [12] The redundant sensing system of claim 10, wherein the second buffer arrangement receives the second data indicative of the position data and outputs the second data as three data signals, one to the first electronic control unit, one to the second electronic control unit, and one to the third electronic control unit. [13] The redundant sensing system of claim 10, wherein the first electronic control unit is further configured to: - it compares the first data received from the first sensor by the first electronic control unit with the first data received from the first sensor by the second electronic control unit; and - it determines whether there is a deviation indicative of abnormal operation of the first sensor, the second sensor or the first electronic control unit. [14] The redundant sensing system of claim 10, wherein the first electronic control unit is further configured to: - it compares the first data received from the first sensor by the second electronic control unit with the first data received from the first sensor by the third electronic control unit; and - it determines whether there is a deviation indicative of abnormal operation of the first sensor, the second sensor or the second electronic control unit. [15] The redundant sensing system of claim 10, wherein the first electronic control unit is further configured to: - it compares the first data received from the first sensor by the first electronic control unit with the first data received from the first sensor by the third electronic control unit; and - it determines whether there is a deviation indicative of abnormal operation of the first sensor, the second sensor or the first electronic control unit. [16] A redundant detection system comprising the following: - a first integrated circuit comprising a first measuring sensor configured to output first data indicative of position data; - a second integrated circuit comprising a second measuring sensor configured to output second data indicative of the detected position; and - an electronic control unit communicatively coupled to the first integrated circuit and the second integrated circuit, the electronic control unit being configured to receive the first data indicative of the detected position and the second data indicative of the detected position, the electronic control unit being further configured to: - it determines whether the first data indicative of the detected position is within a first predetermined threshold range, the first predetermined threshold range being a range of normal operation of the first integrated circuit and the electronic control unit, - if the first data is outside the first predetermined threshold range, it determines whether the second data indicative of the detected position is within a second predetermined threshold range, the second predetermined threshold range being a range of normal operation of the second integrated circuit and the electronic control unit, and - it controls the redundant detection system such that the redundant detection system operates with the second integrated circuit when the first data is outside the first predetermined threshold range and the second data is within the second predetermined threshold range. [17] The redundant sensing system of claim 16, wherein the first measuring sensor comprises data collected by either an inductive-type sensor or a Hall-effect sensor, and the second measuring sensor comprises data collected by either a Hall-effect sensor or an inductive-type sensor. [18] The redundant detection system of claim 16, further comprising: - a second electronic control unit communicatively coupled to the first integrated circuit and the second integrated circuit, the second electronic control unit configured to receive the first data indicative of the detected position and the second data indicative of the detected position. [19] The redundant detection system of claim 18, further comprising: - a first driver circuit and electrical components configured to receive the first data indicative of the position data and to output the first data as two data signals, one to the electronic control unit and one to the second electronic control unit; and - a second driver circuit and electrical components configured to receive the second data indicative of the position data and output the second data as two data signals, one to the electronic control unit and one to the second electronic control unit. [20] The redundant sensing system of claim 18, wherein the electronic control unit is further configured to: - it compares the first data received from the first measuring sensor by the electronic control unit with the first data received from the first measuring sensor by the second electronic control unit; and - it determines whether there is a deviation indicative of abnormal operation of the first measuring sensor, the second measuring sensor or the electronic control unit.

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