MODULAR ELECTRONIC CONTROL UNIT FOR A MOTOR VEHICLE AND MOTOR VEHICLE WITH SUCH A CONTROL UNIT AND COMPUTING MODULE UNIT FOR THE CONTROL UNIT

Description

[0001] The invention relates to an electronic control unit for a motor vehicle. The control unit has a communication unit by means of which the control unit can exchange communication data with at least one external vehicle component, for example, another control unit. The invention also includes a motor vehicle with such a control unit and a computing module unit that can be provided as a component of the control unit.

[0002] In order to provide a vehicle function in a motor vehicle, for example, a driving function for autonomous driving, this vehicle function can be implemented on the basis of a control unit. Such a control unit can have at least one processor system, which can be provided in a housing together with a suitable power supply and a cooling device for dissipating waste heat. Operating software for the at least one processor system then implements the desired vehicle function, so that when the control unit is operating and the operating software is executed, the vehicle function is thereby present in the motor vehicle. A "processor system" refers to a circuit board with at least one microprocessor and the processor peripherals necessary for the operation of the at least one microprocessor, for example, a RAM (Random Access Memory).

[0003] To prevent overloading of the at least one processor system during operation of the control unit, the computing power of the at least one processor system must be designed such that all computational steps required to execute the operating software can be performed in a timely manner to meet the vehicle's functional requirements. Likewise, the power supply and cooling system for the at least one processor system must be suitably dimensioned to ensure stable operation.

[0004] When implementing a vehicle function, a computing power is determined by selecting and / or dimensioning the at least one processor system and the cooling device and / or the power supply via the power supply unit is then dimensioned accordingly.

[0005] However, with a vehicle function, particularly autonomous driving, it may happen that during development it is not known how much computing power the driving function will ultimately require because it turns out during development that additional functions are necessary. In addition, there may be an interest in further developing the vehicle function, which may then also increase the demand for computing power. If a new version of a vehicle function is available that requires more computing power than the control unit (i.e. its hardware) currently intended for this vehicle function is capable of providing, a redesign of the control unit is also necessary, which makes the development of such a vehicle function complex. The control unit cannot simply be expanded to implement new or additional functionalities that require more computing power.

[0006] DE 10 2004 022 614 B3 discloses a control unit for a motor vehicle whose technical features can be expanded by plugging additional circuits into the control unit's housing, which also provide additional connection options for additional sensors and actuators. These circuits are therefore always required when a specific sensor or actuator is to be connected. Flexible use of such an additional circuit is therefore not possible, as each circuit involves a specific sensor / actuator interface.

[0007] DE 10 2008 000 817 A1 discloses a scalable driver assistance system for a motor vehicle. Scalability refers to the number of connectable cameras and the number of interconnected control units. If more computing power is required, a corresponding number of control units must be interconnected. However, this increases the networking effort.

[0008] DE 10 2012 009 482 A1 discloses a functionally expandable control unit into which multiple application modules can be optionally plugged, providing the functionalities of the control unit. Since all application modules are located in the same housing, the control unit's air conditioning must be designed for the maximum possible number of application modules. However, this can often result in oversizing.

[0009] DE 101 59 480 A1 states that additional cells can be connected in a control unit. These cells can be FPGA components that can be adapted to different calculation tasks in the control unit as required.

[0010] DE 10 2014 219 469 A1 discloses that an additional module can be inserted into a control unit through an opening in the housing to provide an additional microcontroller within the control unit. The microcontroller already present in the control unit and the additional microcontroller communicate via DMA (Direct Memory Access).

[0011] It is known from DE 10 2005 010 476 A1 that freely configurable modules can be provided on partial chip areas on the chip area of ​​a control unit, which can be operated as FPGAs and thus adapted.

[0012] The invention is based on the object of being able to flexibly adapt a control unit for a motor vehicle to the computing power requirements of a vehicle function that is to be implemented or provided in the motor vehicle by means of the control unit.

[0013] This object is achieved by the subject matter of the independent patent claims. Advantageous embodiments of the invention are described by the dependent patent claims, the following description, and the figure.

[0014] The invention provides an electronic control unit (ECU) for a motor vehicle. The control unit has a housing, referred to here as the central module housing. A communication unit is arranged in the central module housing, which is configured to exchange communication data with at least one vehicle component external to the device using a predetermined communication protocol. "External to the device" means that the respective vehicle component is not part of the control unit, but rather represents, for example, another control unit, a sensor unit, or an actuator unit. The communication protocol can be, for example, a bus protocol, such as the CAN bus (CAN - Controller Area Network), or a network protocol, such as the Ethernet protocol, or IP (Internet Protocol).Via a communication unit of the type mentioned, a processor system of the control unit can, for example, exchange communication data, for example status data of the at least one vehicle component and / or control commands for the at least one vehicle component, with the latter, i.e. receive them from the latter and / or send them to the latter.

[0015] In the control unit according to the invention, a device-internal bus system is provided for forwarding or distributing the communication data within the control unit via the said communication unit. "Device-internal" here means that the bus lines of the bus system extend only within the control unit and are not routed out of the control unit to, for example, at least one vehicle component.

[0016] For communication using a communication protocol, addresses are necessary to identify a sender and / or a recipient of a communication message or data packet. A controller device of the bus system is configured to forward said communication data within the control unit using a bus protocol that differs from the at least one communication protocol in that the address space of the bus protocol is independent of the address space of the at least one device-external communication protocol.Within the control unit, the communication data in the control unit according to the invention is transmitted via the bus system, in which bus addresses are used that are different or at least independent of the communication addresses used outside the control unit for transmitting the communication data between the control unit, on the one hand, and the at least one vehicle component, on the other. The reason for this is that within the control unit, the communication data is transmitted or forwarded via the device-internal bus system, which is not used for the device-external transmission of the communication data.

[0017] The bus system is used to make the control unit scalable in terms of its performance or computing power. For this purpose, the bus system is provided with at least one bus connection for at least one respective additional computing module unit of the control unit, which is different from the communication unit, and the at least one bus connection is configured to connect the respective computing module unit to the central module housing from the outside. In other words, bus participants can be connected to the bus system, which can then send or receive the communication data. For example, a computing module unit or a processor system provided in the computing module unit can be provided as a bus participant, each of which can be connected to a bus connection. This respective bus connection is configured to couple the processor system of the respective computing module unit to the central module housing from the outside.In other words, at least one additional computing module unit with at least one additional processor system contained therein can be connected from the outside to the fully constructed central module housing. This then allows the computing power of the at least one additional computing module unit to be used in the control unit. The communication data to be processed and / or the communication data generated during processing are distributed by means of the communication unit of the central module housing, i.e. transmitted or exchanged between the at least one computing module unit on the one hand and the at least one vehicle-external vehicle component on the other. An individual processor system can be implemented, for example, on the basis of a circuit board and / or an SoC (System on Chip).

[0018] The invention offers the advantage of providing a modularly expandable control unit in which an additional computing module unit can be connected or added via at least one bus connection, preferably several bus connections, which can then provide additional computing power in the control unit. Once the central module housing with the communication unit has been fully constructed, it no longer needs to be redesigned.

[0019] In the invention, the controller device is configured to perform an address assignment (also referred to as address mapping) between a respective communication address, which is specified according to the at least one communication protocol (for device-external data exchange), on the one hand, and a respective bus address of the address space of the bus system, on the other hand. In other words, a communication address for the at least one device-external communication protocol can be mapped to a respective corresponding bus address of the bus system. Thus, the communication addresses for device-external communication (exchange of communication data) are mapped to the address scheme of the bus system. This is done by the controller unit, so that the bus system remains transparent during communication for the bus users of the bus system and / or for the at least one device-external vehicle component.Therefore, no adaptation of at least one vehicle component external to the device is necessary if an embodiment of the control unit is to be installed in a motor vehicle.

[0020] The invention provides that the at least one computing module unit each has its own module housing. The central module housing and the respective module housing of the at least one additional computing module unit each have its own power supply (i.e. its own power supply and / or voltage stabilization) and / or its own cooling device. In other words, each module housing can be operated independently of each other module housing in terms of energy supply and / or cooling. If an additional computing module unit is connected to the central module housing in which the communication unit is located, this does not result in any additional load on the power supply and / or the cooling device of the central module housing. Instead, each computing module unit has its own power supply and / or its own cooling device.Thus, when expanding the control unit with an additional computing module, no redesign of the hardware of the central module housing is necessary. All that is then required is to integrate or integrate the newly added computing module into the data communication system, for example, by specifying a new routing table, so that the communication data intended for the new computing module is transmitted to it via the bus system.

[0021] Alternatively or additionally, the invention provides that the at least one computing module unit has installation locations for a plurality of processor systems, and that each installation location of the computing module unit is designed to connect the processor system of this installation location to the bus system individually, i.e. independently of any other processor system of the computing module unit. In other words, more than one processor system can be linked to or integrated into the control unit via the bus connection of the bus system to which a computing module unit is connected. In this case, however, each processor system is connected independently. This results in the advantage that each processor system in the computing module unit can be operated regardless of whether all installation locations are occupied.Thus, the computing power within the computing module unit can also be scaled by specifying how many processor systems are installed or provided in the computing module unit. Each slot provides an independent connection option for a processor system to the bus system, for example, a connection between the processor system's circuit board and the bus connector on the central module housing.

[0022] Alternatively or additionally, the invention provides that the at least one computing module unit is consistently designed as an internal device extension, in that the at least one computing module unit in the control unit is provided with a data connection to the device-external periphery, i.e., in particular, to the at least one vehicle component, exclusively via the communication unit in the central module housing. The at least one computing module unit therefore does not have its own communication connection to the device-external periphery, which would bypass the central module housing, in particular its communication unit.

[0023] The invention also includes embodiments which provide additional advantages.

[0024] In one embodiment, the controller unit of the bus system is configured to route or transmit the communication data according to a predefined routing table in the bus system. In other words, the routing table specifies to which bus participant, for example to which computing module unit, incoming communication data must be transmitted and / or to which vehicle component the communication data of a specific computing module unit must be transmitted. This routing table can be specified so that the routing or transmission in the bus system is configurable. The routing table can be stored, for example, as a file or as a data set in the control unit. If the control unit is modified with regard to the number of connected computing module units, this can be taken into account by adapting the routing table.

[0025] In one embodiment, the controller device of the bus system is configured to dynamically assign a respective bus address for a respective device-internal bus device connected to the bus system upon startup each time the control unit is started. In other words, the address space is automatically managed or configured by the controller device. Thus, the control unit can be retrofitted while still ensuring that bus addresses are uniquely assigned to bus devices.

[0026] As already explained, the bus system is independent of the communication technology provided externally to the device and to which the control unit can be connected. In other words, it is particularly intended that the device-internal bus system be based on a bus protocol that is different from the at least one device-external communication protocol. It has proven particularly advantageous if the bus system is provided on the basis of PCle technology (PCle - Peripheral Component Interconnect Express). This provides the bandwidth for transmitting communication data, as required by a control unit, particularly for communication data to provide an autonomous driving function.

[0027] In one embodiment, the at least one computing module unit has a single processor system that is added to the control unit by the subsequent computing module unit.

[0028] In one embodiment, at least one basic processor system is already arranged in the central module housing, which is configured to provide a vehicle function, i.e., to generate the said communication data (for transmitted communication data) and / or to process it (for received communication data), independently of an additional computing module unit, i.e., without an additional computing module unit being connected to a bus connection. In other words, the control unit can also be operated exclusively on the basis of the central module housing. For this purpose, basic computing power is provided in the central module housing based on the at least one basic processor system. If the control unit is intended, for example, for an autonomous driving function, the image processing, i.e., computer vision processing, which is required in any case, can be implemented in the central module housing.If additional functionalities of the autonomous driving function, for example an object classification of detected objects, are to be provided, the computing power required for this can be added or connected by means of at least one additional computing module unit in the control unit.

[0029] In one embodiment, the controller device of the bus system is configured to operate or use at least one of the following as the at least one communication protocol: Ethernet, at least one data bus protocol, in particular CAN and / or LIN (Local Interconnect Network), sensor communication with at least one sensor unit, in particular a camera and / or a radar. Thus, common communication connections to a device-external peripheral can be supported or operated in the control unit by means of the controller device.

[0030] No complex adaptation of the software for at least one computing module unit is necessary, since the actual communication can already be supported by the controller device.

[0031] In one embodiment, more than one bus connection is provided for each computing module unit. For example, two bus connections may be provided. In one embodiment, the controller unit is configured to also perform device-internal data transmission and / or device-internal DMA (Direct Memory Access) transfer between the different bus connections, i.e., between different computing module units, via the bus system. In other words, the controller unit is configured to also connect the processor systems to one another for data exchange or data transmission.During DMA transfer, the memory contents of a data memory, in particular a RAM (Random Access Memory), are copied from one processor system to a data memory, in particular a RAM, of another processor system by the controller device after one of the processor systems has initiated or triggered this data transfer. This enables, for example, interprocess communication across the bus system. This accelerates the coordination and / or collaboration between program processes running or being executed on different processor systems.

[0032] In one embodiment, the control unit comprises operating software for an autonomous driving function of the motor vehicle. The control unit is configured to provide the autonomous driving function during operation using the operating software. In other words, the control unit is part of an autopilot. For example, the control unit can implement environmental detection based on, for example, at least one camera and / or at least one radar and / or at least one lidar.

[0033] The invention also encompasses the motor vehicle having an embodiment of the control unit according to the invention. The motor vehicle according to the invention can be, for example, a motor vehicle, such as a passenger car or a truck. The motor vehicle can also be a motorcycle.

[0034] In order to be able to modularly expand the control unit according to the invention, the described computing module unit is necessary for the control unit. The invention accordingly also encompasses such a computing module unit with a module housing which has a connection device for connecting the computing module unit to a bus connection of a bus system of a central module housing of the control unit. In addition, at least one processor system is provided in the module housing of the computing module unit. By means of the computing module unit, the control unit can therefore be expanded to include the at least one processor system by connecting the connection device of the computing module unit to a bus connection of the bus system of the central module housing. The connection device can, for example, provide a plug connection in order to be able to plug the module housing of the computing module unit into the central module housing.Additionally or alternatively, a mechanical connection can be provided, for example by means of a screw connection and / or a snap-in connection.

[0035] The invention also encompasses embodiments of the computing module unit with those additional features already described in connection with the embodiments of the control unit according to the invention. For this reason, these additional features will not be described again here.

[0036] Further features of the invention emerge from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective specified combination, but also in other combinations or on their own.

[0037] The invention will now be explained in more detail using a preferred embodiment and with reference to the drawing. The single figure (Fig.) shows a schematic representation of an embodiment of the motor vehicle according to the invention.

[0038] In the figure, identical reference symbols denote functionally identical elements.

[0039] The figure shows a motor vehicle 10. The motor vehicle 10 can be configured as a motor vehicle, for example, a passenger car or truck, or as a motorcycle. A control unit 11 can be provided in the motor vehicle 10. The control unit 11 can provide a vehicle function in the motor vehicle 10, for example, a driving function for autonomous driving (autonomous driving function).

[0040] In order to be able to flexibly adapt the hardware of the control unit 11 as the vehicle function is further developed, i.e. to be able to cover an increasing demand for computing power as the vehicle function is expanded, the control unit 11 can be designed in a modular manner.

[0041] For this purpose, the control unit 11 can have a central module housing 12, in which a communication unit 13 can be provided, through which a data exchange of communication data 22 with the device-external peripherals 14 and, in addition, a device-internal data exchange can be carried out. The device-external peripherals 14 can comprise at least one vehicle component 15 of the motor vehicle 10, for example, at least one other control unit and / or at least one sensor. The communication unit 13 can be formed, for example, on the basis of a circuit board 16.

[0042] The communication unit 13 can provide or operate a bus system 17 for device-internal data transmission in the control unit 11. The bus system 17 can, for example, have at least one data splitter or switch 18. The figure shows three switches A, B, and C as examples. The bus system can be, for example, a PCIe bus system. To illustrate communication paths, data lines 19 of the bus system 17 are shown in the figure. For the sake of clarity, not all data lines are provided with a reference system.

[0043] A controller device 20 of the bus system 17 can be configured to dynamically assign a bus address to the bus participants then connected to the bus system 17 upon start-up of the control unit 11, in order to be able to uniquely address each bus participant. It can additionally be provided that a routing table 21 of the controller device 20 specifies how communication data 22 are to be routed or assigned in the bus system 17. The controller device 20 can be provided as at least one integrated circuit.

[0044] A power supply unit 23 for supplying power and / or a cooling device 24 for dissipating waste heat can be provided in the central module housing 12 for operating the communication unit 13. Thus, the module housing 12 can be connected to an electrical power supply of the motor vehicle 10, for example, an on-board electrical system, and the communication unit 13 can then be operated in the central module housing 12.

[0045] In addition to the communication unit 13, at least one basic processor system 25 can be provided in the central module housing 12, which can, for example, be based on its own circuit board 26. A basic functionality of the control unit 11 can be implemented or realized by the at least one basic processor system 25. For this purpose, for example, at least one computing unit 27 can be provided, by which an operating software or a part of an operating software of the control unit 11 can be executed. For example, image processing, i.e., computer vision processing, can be implemented or performed by the basic processor system 25.

[0046] In order to be able to expand the computing power beyond the at least one basic processor system 25, the bus system 17 can have at least one bus connection 28, to which an additional computing module unit 29 can be connected. Each computing module unit 29 can have its own module housing 30, in which its own power supply unit 31 and / or its own cooling device 32 can be provided. In each computing module unit 29, one or more than one separate processor system 33 can be provided, ie, in each module housing 30, there can be at least one installation location 34 for a respective processor system 33. In this case, a connection device 35 can be provided in each computing module unit 29, via which the respective processor system 33 of the computing module unit 29 can be connected individually, ieindependently of any other processor system 33 of the same computing module unit 29, to the bus connection 28 of the bus system 17 in the central module housing 12. Thus, a computing module unit 29 with multiple slots 34 can also be connected, although not all slots 34 need to be occupied or equipped with a respective processor system 33.

[0047] Due to the respective separate power supply 31 and / or the respective separate cooling device 32 in each computing module unit 29, connecting a computing module unit 29 to the central module housing 12 does not represent any additional load for the power supply 23 and / or the cooling device 24.

[0048] The two bus connections 28 shown are only examples. A single bus connection 28 or more than two bus connections 28 may be provided in the control unit 11.

[0049] The controller device 20 can transmit communication data 22 between the processor systems 25, 33 among themselves and between the base processor systems 25, 33, on the one hand, and connection controllers 36 for the peripherals 14, i.e., for the at least one vehicle component 15 or external bus systems leading to them, on the other hand. This occurs in particular through tunneling, i.e., the conversion or translation of communication addresses for device-external communication, on the one hand, and bus addresses of the bus system 17, on the other hand, can be carried out independently by the controller device 20.

[0050] Connection controllers 36 can be provided for connecting a bus network (e.g., CAN and / or LIN) and / or at least one radar sensor and / or at least one camera and / or at least one lidar and / or at least one microphone arrangement and / or at least one fallback control unit. A logging device 37 can also be supplied with logging data via the bus system 17.

[0051] A direct readout connection 38 may be provided for reading debugging data from the bus system 17.

[0052] A monitoring circuit 39 can be provided for each processor system 25, 33, which can, for example, provide a so-called heartbeat functionality. If a defect occurs in a processor system 25, 33, the monitoring circuit 39 of this processor system 25, 33 can signal this. The controller device 20 can then, for example, adapt the routing of the communication data 22 and / or the device-internal data transmission in order to replace the software function of the defective processor system 25, 33 with at least one other, still functional processor system 25, 33.

[0053] The figure also shows how, for each processor system 33 of a computing module unit 29, in addition to the actual microprocessor arrangement 40, a function monitoring system 42 can monitor the functionality and / or plausibility of the function of the processor system 33 via a communication chip 41, independently of the actual microprocessor arrangement 40. This can increase the safety level of the processor system 33, for example, to the ASIL-D level.

[0054] In the control unit 11, modular expandability of the computing power of the control unit 11 is enabled by splitting or dividing the provided vehicle function into several separate computing module units and coupling or linking the computing module units via the communication unit, particularly based on PCIe technology. The use of PCIe technology guarantees sufficient bandwidth, abstraction, and expandability. Preferably, two to five independent computing module units 29 can be provided, each with its own module housing 30, its own power supply via its own power supply unit 31, and cooling via its own cooling device 32.

[0055] The computing module devices are preferably connected to the communication unit of the central module housing via PCIe, making them part of the control unit. This allows the control unit to be modularly expanded, as each expansion can provide its own power supply and cooling via a separate computing module unit. List of reference symbols

[0056] 10Motor vehicle 11Control unit 12Module housing 13Communication unit 14Peripherals 15Vehicle component 16Circuit board 17Bus system 18Switch 19Data lines 20Controller device 21Routing table 22Communication data 23Power supply 24Cooling device 25Basic processor system 26Circuit board 27Computing unit 28Bus connection 29Computing module unit 30Module housing 31Power supply 32Cooling device 33Processor system 34Installation location 35Connection device 36Connection controller 37Logging device 38Readout connection 39Monitoring circuit 40Microprocessor arrangement 41Communication chip 42Function monitoring

Claims

1. Electronic controller (11) for a motor vehicle (10), having - a central module housing (12) and - a communication unit (13) arranged in the module housing (12) and that is designed to exchange communication data (22) with at least one vehicle component (15) external to the controller by way of at least one predetermined communication protocol, wherein the communication unit (13) provides a bus system (17) internal to the controller, wherein a controller apparatus (20) of the bus system (17) internal to the controller makes provision to forward the communication data (22) within the controller (11) by way of a bus protocol that has an address space independent of the at least one communication protocol, and the bus system (17) internal to the controller has at least one bus connection (28) for a respective additional computing module unit (29), different from the communication unit (13), of the controller (11), wherein the at least one bus connection (28) is designed to connect the respective computing module unit (29) externally to the central module housing (12), characterized in that the controller apparatus (20) is designed to perform address assignment between a respective communication address, which is predefined in accordance with the at least one communication protocol, on the one hand, and a respective bus address of the address space of the bus system (17), on the other hand, such that the bus system (17) internal to the controller remains transparent during the communication for the at least one vehicle component (15) external to the controller, wherein - the at least one computing module unit (29) has a respective dedicated module housing (30) and the central module housing (12) and the respective module housing (30) of the at least one additional computing module unit (29) each have a dedicated electric power supply (23, 31) and / or a dedicated cooling apparatus (24, 32), and / or - the at least one computing module unit (29) has respective installation spaces (34) for multiple processor systems (33) and each installation space (34) of the respective computing module unit (29) is designed to connect the processor system (33) of this installation space (34) to the bus system (17) independently of every other processor system (33) of the computing module unit (29), and / or - in the case of the controller (11), a data connection to a peripheral (14) external to the controller is provided solely via the communication unit (13) of the central module housing (12) for the at least one computing module unit (29).

2. Controller (11) according to Claim 1, wherein the controller apparatus (20) is designed to route the communication data (22) in the bus system (17) in accordance with a predefined routing table (21).

3. Controller (11) according to either of the preceding claims, wherein the controller apparatus (20) is designed to perform dynamic address allocation of a respective bus address from the address space of the bus system (17) to a respective bus subscriber, internal to the controller and connected to the bus system (17) upon respective starting of the controller (11), of the bus system (17) during the respective starting.

4. Controller (11) according to one of the preceding claims, wherein the bus system (17) is based on a bus protocol different from the at least one communication protocol.

5. Controller (11) according to one of the preceding claims, wherein the bus system (17) is provided on the basis of a PCIe technology.

6. Controller (11) according to one of the preceding claims, wherein at least one basic processor system (25) is provided in the central module housing (12), which basic processor system is designed to generate and / or to process the communication data (22) without a connected additional computing module unit (29).

7. Controller (11) according to Claim 6 when referring back to the second alternative in Claim 1, wherein provision is made, for each processor system (25, 33), for a respective monitoring circuit (39) that is designed such that, if there is a defect in a processor system (25, 33), the monitoring circuit (39) of this processor system (25, 33) signals this, and routing of the communication data (22) and / or of the data transmission internal to the controller is adjusted in response by the controller apparatus (20) in order to replace the software function of the defective processor system (25, 33) with at least one other processor system (25, 33) that is still functional.

8. Controller (11) according to one of the preceding claims, wherein the controller apparatus (20) of the communication unit (13) is designed to operate at least one of the following as the at least one communication protocol: Ethernet, at least one data bus protocol, in particular CAN and / or LIN, sensor communication with at least one sensor unit, in particular a camera and / or a radar and / or a lidar.

9. Controller (11) according to one of the preceding claims, wherein more than one bus connection (28) is provided for a respective computing module unit (29) and the controller apparatus (20) is designed to perform data transmission internal to the controller and / or a DMA transfer internal to the controller between the different bus connections (28) via the bus system (17).

10. Controller (11) according to one of the preceding claims, wherein the controller (11) has operating software for an autonomous driving function of the motor vehicle (10) and is designed to provide the autonomous driving function during operation by way of the operating software.

11. Motor vehicle (10) having at least one controller (11) according to one of the preceding claims.