Controller, vehicle system, vehicle, and method for operating the controller

Abstract

The invention relates to a controller (1) for a vehicle system (100), comprising: - at least one terminal (4.k) for exchanging signals (S) with a peripheral device (G.i) connected to the terminal (4.k); - a processing unit (6) which is connected or can be connected to the at least one terminal (4.k) and which is designed to process signals (S) that can be transmitted via the terminal (4.k); and - at least one operating unit (BE) for operating the at least one terminal (4.k). According to the invention, the controller (1) has a switching unit (8) which is designed to switch between at least two operating modes (B.I) for the at least one terminal (4.k), wherein the switching unit (8) is designed to select the operating mode (B.I) according to whether the peripheral device (G.i) which is connected to the respective terminal (4.k) - is simultaneously also connected to another controller (20) via a Y-connection (9) or - is directly wired solely to the respective terminal (4.k) of the controller (1).

Description

[0001] Control unit, vehicle system, vehicle and method for operating the control unit

[0002] The invention relates to a control unit, a vehicle system with such a control unit, in particular a braking system, a vehicle, in particular a commercial vehicle, and a method for operating the control unit.

[0003] In vehicles, especially commercial vehicles with a higher level of automation, especially Level 3 or higher, it has been shown that improved or expanded diagnostic capabilities must be provided when a driver who monitors the ferry operation and the functionalities of the vehicle or commercial vehicle is no longer present. A number of sensors and control units are already installed in the vehicle, so that additional control units, in particular, require additional installation space and also increase the effort required for integration and costs. Appropriate control units that enable reliable redundant control must also be provided for actuators, particularly wheel brake actuators, which can also be controlled redundantly or are present in higher levels of automation.

[0004] Vehicle systems, in particular electronic braking systems (EBS), generally have a central primary control unit that, during normal operation, generates and outputs electrical brake control signals. Depending on these signals, brake pressures can be controlled via wheel brake actuators on a front and rear main axle of the vehicle. In some cases, the use of a second secondary control unit is provided, which can maintain auxiliary or at least rudimentary braking in the event of a fault in the central primary control unit, which is also referred to as a fail operation braking system (FOBS). During normal operation of the braking system, the primary control unit can generally perform braking operation including vehicle dynamics control via the individual wheel brake actuators on the main axles. In the event of a fault or in backup operation of the braking system, vehicle dynamics control is possible, at least to a limited extent.This is described as an example in DE 10 2019 106 243 A1.

[0005] In order to be able to carry out braking operations under driving dynamics in the respective situations, the control units access sensor signals, in particular wheel speed signals from wheel speed sensors, which are assigned to the brakeable wheels of the main axle. Various cabling options are possible between the sensors and the respective control unit, whereby the cabling depends on which sensors should be available to the respective control unit in normal operation or in backup mode, and how the aforementioned redundancy is to be implemented. Possible cabling options include, for example, branched cabling via a Y-connection, as shown as an example in DE 10 2017 005 071 A1, or unbranched direct cabling.DE 10 2016 006 763 A1 further describes connecting several wheel speed sensors via several connections to an axle modulator with an internal control unit that evaluates the wheel speed signals.

[0006] Depending on the desired range of functions in normal operation and in backup operation, the wiring of the redundantly present or redundantly controllable actuators, in particular wheel brake actuators, with the respective control unit can be carried out either via a branched wiring with a y-connection or directly wired in order to be able to maintain the braking operation in the respective operating mode.

[0007] In order to operate such sensors or actuators in the vehicle with the aforementioned control units in the respective situation (normal operation, backup operation), the respective control units must be coordinated with one another, in particular to regulate access authorization. This is particularly important when a sensor or actuator is connected to two different control units via a Y-connection in order to enable redundant access in the event of a fault. In this case, for actively operated sensors or actuators that are also supplied with power by the control units, such power supply is not possible from two control units at the same time, so mutual coordination between the control units is necessary to allow only the responsible control unit access to the sensor or actuator.

[0008] Reading out sensors (by measuring a current) by two control units simultaneously can also lead to signal interference, as each of the control units always has a slight feedback on the lines over which the signals are transmitted. Furthermore, controlling an actuator by two control units simultaneously can also lead to interference. The accuracy of determining measured values ​​from each sensor or controlling each actuator can therefore be compromised without mutual coordination taking into account pre-defined access authorization. However, if the respective sensor or actuator is read out or controlled by only one control unit using direct wiring, no such feedback or signal interference occurs and therefore no mutual coordination is necessary for reading out or controlling the respective sensor or actuator.

[0009] Therefore, during the design and configuration of such a fail-operational vehicle system with sensors and / or actuators, a control unit type is selected in advance. Depending on the cabling used, this type of control unit either enables coordination or access management with another control unit of the vehicle system (when using Y-cabling) or does not allow this (when using direct cabling). If the cabling is subsequently changed, the control unit must also be replaced. Therefore, a correspondingly different control units must be kept on hand or stored, which are selected from stock and then installed depending on the design and configuration of the vehicle system. This increases the effort involved in storing and constructing such vehicle systems.

[0010] The object of the invention is therefore to provide a control unit that can be used flexibly and variably while still enabling reliable operation of a vehicle system. A further object of the invention is to specify a vehicle system, in particular a braking system, a vehicle, and a method for operating the control unit.

[0011] This object is achieved by a control unit, a vehicle system, a vehicle, and a method according to the independent claims. The subclaims specify preferred developments.

[0012] Accordingly, a control unit for a vehicle system, in particular a braking system in a vehicle, is provided, comprising:

[0013] - at least one connection for exchanging signals, e.g. sensor signals or actuator signals, and / or preferably also energy with a peripheral device connected to the connection, e.g. a sensor, in particular a wheel speed sensor, and / or an actuator, in particular a wheel brake actuator and / or an ABS control valve and / or an axle modulator;

[0014] - a processing unit connected or connectable to the at least one connection, wherein the processing unit is designed to generate signals that can be transmitted via the at least one connection, in particular the above-mentioned actuator signals, and / or to process them, for example the sensor signals; and

[0015] - at least one operating unit for operating the at least one connection, e.g. for carrying out access management and / or signal interference suppression and / or other functionalities relating to the operation of the respective connection.

[0016] According to the invention, the control device further comprises a switching unit, wherein the switching unit is designed to switch between at least two operating modes for the at least one connection, wherein the switching unit is designed to select the operating mode to be set depending on whether the peripheral device connected to the respective connection

[0017] - is simultaneously connected to another control unit via a y-connection, whereupon, for example, a first operating mode is selected and set, or

[0018] - is directly wired only to the respective connection of the control unit, whereupon, for example, a second operating mode is selected and set.

[0019] According to the invention, a vehicle system, in particular a braking system, with at least one such control unit, a vehicle with the vehicle system and a method for operating the control unit are also provided.

[0020] The solution according to the invention enables variable, flexible and scalable operation of the respective control unit or of the vehicle system, since, for example, operating units, i.e. hardware components of the control unit and / or software components installed on the control unit, can be operated depending on whether and / or in which parameterization they are actually needed for the respective connection in the constructive implementation of the vehicle system. How these operating units are operated is then simply determined by which operating mode is selected and set. The control unit according to the invention can therefore be specifically set, preferably on a connection-by-connection basis, for operation with a y-connection or with direct cabling. For example, operating units in the respective control unit can be permanently switched off orremain deactivated if they are not required for operation in the current configuration (according to the selected operating mode), and are activated or enabled accordingly if this is desired for the operation of the respective vehicle system (according to the selected operating mode), which can be easily specified by selecting the respective operating mode.

[0021] This is particularly advantageous when sensors are operated as peripheral devices via the respective connection. The evaluation of sensor signals is usually very complex and sensitive, meaning that feedback effects on the respective sensor caused by parallel access from different control units, by unnecessary operating units in the control unit, or by generally set operating parameters with which the operating units are operated can have a negative impact on signal evaluation. By setting the appropriate operating mode according to the invention, interference is advantageously suppressed during this sensitive and complex evaluation of the sensor signals. This makes sensor operation more reliable.

[0022] This eliminates the need to maintain different control units, as the same control unit can always be used, regardless of the vehicle system's design, and the respective operating mode is then switched depending on the design. Switching to the respective operating mode on a per-connection basis also provides good scalability and a very high degree of flexibility, as each connection can be individually configured to operate it.

[0023] Preferably, the operating mode to be set can be selected automatically by the switching unit, for example, depending on signals transmitted or transmittable via the at least one connection, for example, through signal diagnostics, or the operating mode to be set can be manually specified by the switching unit. Therefore, both a designer and the switching unit or the control unit itself can perform the selection and subsequent switching.

[0024] Preferably, the control unit is configured in such a way that each operating mode selectable by the switching unit is uniquely and unchangeably assigned how the respective connection is to be operated by the respective operating unit. Therefore, no dynamic change is provided, i.e., the control unit or the switching unit is specified in advance, for example via a configuration tool, which operating units are to be controlled with which operating parameters in the respectively selected and set operating mode. The control unit cannot then change this specification independently and is therefore fixed when operating the respective connections.

[0025] Additionally or alternatively, only the operating parameters with which the operating units are operated can be selected or specified depending on the operating mode selected and set by the switching unit for the respective connection. For example, individual operating units are relevant for different cabling types, but these are operated differently depending on the cabling type, for example with different parameters, in particular different tolerances or value ranges. In this regard, too, it is then preferably provided that the operating parameters with which the operating unit can be operated in the respective operating mode are specified once and / or permanently for the operating unit, for example before or during installation of the control unit, in particular via a configuration tool.In this way, the operation of the respective connection is also determined according to a previous parameterization and cannot be changed dynamically. The operating parameters can also be determined depending on whether a sensor or an actuator is connected to the respective connection as a peripheral device. Thus, different tolerances or value ranges may be appropriate, particularly for the complex and sensitive evaluation of sensor signals, than for the less sensitive processing of actuator signals. In this respect, the definition of different operating parameters is particularly advantageous when operating a sensor on a respective connection.

[0026] Preferably, the switching unit is also configured to select the operating mode for the respective connection once during or after installation of the control unit and to set the selected operating mode permanently or dynamically. This also determines how the respective connection is to be operated, which cannot be adjusted by the control unit itself.

[0027] Only in exceptional cases, for example if the design of the vehicle system changes subsequently, for example due to modified cabling, can the operating mode for the respective connection then be switched back if necessary, so that the respective operating unit is then available again or is operated under different operating parameters. This makes it possible in selected cases to easily adapt to the changed design without replacing the control unit. When using the control unit according to the invention with a branching y-connection, in which several control units are allowed to access a peripheral device, e.g. sensor and / or actuator, it may be necessary, for example, to coordinate the control units with one another via a corresponding operating unit in the respective control unit, which regulates access to the respective peripheral device or coordinates them with one another.This is particularly advantageous when a sensor is used as a peripheral device, since the evaluation of the sensor signals, as already described, is more sensitive and complex than the signal processing for an actuator as a peripheral device and this evaluation can therefore be more severely affected by uncoordinated simultaneous access by two control units.

[0028] It can therefore preferably be provided that the at least one operating unit is an access determination unit and / or an access determination algorithm, wherein the access determination unit and the access determination algorithm are each designed to determine an access authorization, wherein the access authorization indicates whether or not the control unit is permitted to access a peripheral device connected to the respective connection, in particular the sensor whose signals are more sensitive and complex to evaluate, via the respective connection. This can preferably be done via an access circuit that, depending on the access authorization, connects the connection to the peripheral device in a signal-conducting manner or electrically decouples or separates them.

[0029] It can be easily specified that the access determination unit and / or the access determination algorithm

[0030] - in a first operating mode which can be set by the switching unit and in which the peripheral device connected to the respective connection is simultaneously connected to another control device via a Y-connection, is enabled for the operation of the respective connection, and

[0031] - in a second operating mode, which can be set by the switching unit, in which the peripheral device connected to the respective port is directly connected to the respective port of the control unit via a cable, the respective port is not enabled for operation. The effort required for access management can thus be limited to the respective operating mode in which this access management is actually necessary.

[0032] Preferably, it is further provided that the access determination unit and / or the access determination algorithm are designed to determine the access authorization based on an external status signal and / or an internal status signal, wherein the control unit is designed to receive the external status signal externally, and the internal status signal is determined in the control unit itself, in particular in the access determination unit and / or by the access determination algorithm. Accordingly, access management can be carried out by a corresponding external signal, which is specifically exchanged for coordination, for example between the relevant control units that wish to access the peripheral device, e.g. the sensor or actuator, or by internal signal evaluation, for example via test pulses or test signals that are emitted or received via the respective connection and from which access can be derived.

[0033] According to a further embodiment, the operating unit is an interference suppression unit for suppressing the signals transmitted via the cables to the respective peripheral device. This can also be operated differently depending on the operating mode, i.e. with different operating parameters, particularly since such interference suppression can change depending on the type of cabling, in particular with different tolerances and / or value ranges. The use of such an interference suppression unit can be advantageous, in particular with a sensor as a peripheral device, wherein the operating parameters (tolerances and / or value ranges) for the interference suppression unit can then advantageously be individually tailored to a sensitive evaluation.

[0034] In the vehicle system according to the invention, it can then be additionally provided that it has at least two control units, a primary control unit and a secondary control unit, wherein the switching unit is formed in the respective control unit, for the respective connection optionally

[0035] - to switch to a first operating mode if a peripheral device connected to the at least one connection of the primary control unit is simultaneously connected to a connection of the secondary control unit via a Y-connection, and

[0036] - to switch to a second operating mode if a peripheral device is connected via a directly wired connection to at least one connection of only one control unit, the primary control unit or the secondary control unit. In this way, in a redundant vehicle system, for example a braking system, in particular a fail-operational braking system (FOBS), the switchable control unit can be used, which is then present at least twice (redundantly) to ensure normal operation and backup operation of the vehicle system, and which can be switched to the respective operating mode depending on the redundant connection type (y-connection or direct wiring to the peripheral device or sensor / actuator), preferably on a connection-by-connection basis.

[0037] In the method according to the invention for operating the control device according to the invention, it is accordingly provided that for the at least one connection, it is possible to switch between at least two operating modes, wherein the operating mode to be set is selected depending on whether the peripheral device connected to the respective connection - is simultaneously connected to another control device via a y-connection, or

[0038] - directly wired only to the respective connection of the control unit.

[0039] Preferably, each selectable operating mode is uniquely and permanently assigned to the respective connection's operation by the respective operating unit, thus eliminating the need for dynamic adjustment of the operating modes. Preferably, the operating mode is then selected once for the respective connection during or after installation of the control unit, and the selected operating mode is subsequently permanently set. Switching may only be provided in exceptional situations, e.g., if the wiring type subsequently changes.

[0040] The invention is explained in more detail below with reference to the figures. They show:

[0041] Fig. 1 , 2 schematic views of a control device according to the invention, and

[0042] Fig. 3 is a schematic view of a four-axle vehicle with two control units according to Fig. 1 and Fig. 2.

[0043] Fig. 1 schematically shows a control unit 1 for a vehicle system 100 of a vehicle 101, for example a braking system 102 shown in Fig. 3, which is designed to operate at least one peripheral device Gi, i=1, ... N1 (number of peripheral devices Gi), for example to control or read out a sensor 2 of the vehicle system 100 and / or to control at least one actuator 3 of the vehicle system 100. For this purpose, the control unit 1 has a plurality of connections 4.k, k=1, ... N2 (number of connections 4.k) in order to establish a signal-conducting connection to the respective peripheral device Gi, e.g. sensor 2 and / or actuator 3, via a line 5.k.

[0044] A processing unit 6 is arranged within the control unit 1, which is designed to generate and / or process signals S, e.g., to receive and process sensor signals S2 from the respective sensor 2 and / or to generate actuator signals S3 for the respective actuator 3 and output them to the latter. Furthermore, depending on the application, a power supply unit 7 can be provided in the control unit 1, which is designed to generate energy E and to provide it to the peripheral devices Gi, e.g., sensors 2 and / or actuators 3, via the connections 4.k and the lines 5.k. This is particularly relevant for actively operated sensors 2, which only receive energy E from the control unit 1 via the lines 5.k, via which the sensor signals S2 are also exchanged. In a similar way, this can also be provided for the actuators 3, although these are conventionally supplied with energy E from another source, so that the lines 5.k are used to supply the energy E to the peripheral devices Gi.k only actuator signals S3 for controlling the respective actuator 3 are transmitted to the respective actuator 3.

[0045] Furthermore, a switching unit 8 is arranged in the control unit 1 and is designed to switch between different operating modes Bl, 1 = 1, 2, ... N3 (number of operating modes Bl). It is preferably provided that a different operating mode Bl can be set separately for each connection 4.k, wherein the operating modes Bl differ in which operating unit(s) BE of the control unit 1 is / are made available for operating the respective connection 4.k and / or which operating parameters BP in the operating unit(s) BE in the control unit 1 are used or utilized for operating the respective connection 4.k. The respective operating unit BE can be a hardware component in the control unit 1 or a software component that is installed on the control unit 1.“Making available” here means that the respective operating unit BE is released or enabled for use by the respective connection 4.k by appropriate measures from the switching unit 8.

[0046] The control unit 1 or the switching unit 8 is accordingly designed to be parameterizable, i.e. at the time of installation of the control unit 1, the switching unit 8 is already specified, for example by a configuration tool, which operating unit(s) BE and / or which operating parameters BP are available or are to be used in the respective existing operating mode B1. "Fixedly specified" means that these specifications no longer change dynamically during operation of the control unit 1 or the respective vehicle system 100. If the control unit 1 is therefore operated in a specific operating mode B1 due to existing circumstances, the operating unit(s) BE and / or operating parameters BP previously specified for this operating mode B1 are automatically released or used.

[0047] According to one embodiment, the operation of the respective connection 4.k in a first operating mode B.1 is designed to use a y-connection 9 shown in Fig. 1 between the respective connection 4.k on the control unit 1 and the respective peripheral device Gi, e.g. sensor 2 or actuator 3, and in a second operating mode B.2 is designed to use a directly wired, unbranched connection 10 shown in Fig. 2 between the respective connection 4.k on the control unit 1 and the respective peripheral device Gi, e.g. sensor 2 or actuator 3. In further adjustable operating modes Bl, further conditions or circumstances can also be specified under which the respective connection 4.k is to be operated with the respectively enabled or non-enabled operating units BE with the respectively predetermined operating parameters BP. In a y-connection 9, the respective peripheral device Gi, e.g. the respective sensor 2 orActuator 3, not only connected to the control unit 1, but simultaneously also to an additional electronic control unit 20, which is not part of the control unit 1, this being done via a branching line 5.k (y-connection 9), as shown in Fig. 1. In this way, a specific peripheral device Gi, e.g. a specific sensor 2 or actuator 3, can interact not only with the control unit 1 (primary control unit C1, see Fig. 3), but also with a further electronic control unit 20 (secondary control unit C2, see Fig. 3), for example in the event of a failure or error of the control unit 1.

[0048] However, if control unit 1 and the additional electronic control unit 20 both interact simultaneously with the respective peripheral device Gi, e.g., sensor 2 and / or actuator 3, this may result in impairment of signal transmission and / or power supply, rendering the evaluation and / or control of the respective peripheral device Gi, e.g., sensor 2 or actuator 3, unreliable. For reliable operation, control unit 1 and the additional electronic control unit 20 must therefore be coordinated with one another in such a way that, in accordance with predefined rules, only the respective responsible control unit (1, 20) accesses the respective peripheral device Gi, e.g., the respective sensor 2 and / or actuator 3, and access by the other non-responsible control unit (20, 1) is correspondingly prevented or suppressed.

[0049] For this coordination, in the first operating mode B.1, an access determination unit 11 and / or an access determination algorithm A11 are made available or enabled as an operating unit BE, among others, which are each capable of deciding whether or not the control unit 1, as the responsible control unit, has authorization to access the respective peripheral device Gi, e.g., the respective sensor 2 and / or actuator 3. The access determination unit 11 and / or the access determination algorithm A11 can then individually check and output for each connection 4.k whether an access authorization Zk to the respective peripheral device Gi, e.g., the respective sensor 2 or actuator 3, is available.

[0050] Depending on this access authorization Zk, the respective connection 4.k is then enabled or activated (access authorization Zk is present) or deactivated (access authorization Zk is not present). This can be done, for example, via an electronic access circuit 12.k upstream or downstream of the respective connection 4.k, which is or can be controlled depending on the access authorization Zk and which then connects the connection 4.k to the respective peripheral device Gi via line 5.k, e.g., sensor 2 or actuator 3, or electrically decouples or disconnects it. In this way, depending on the access authorization Zk and for each connection, an exchange of the signals S; S2, S3 as well as a supply of energy E can be permitted or prevented.

[0051] However, an internal electronic switch arranged in the energy supply unit 7 and / or the processing unit 6 can also have the same effect and ensure that, depending on the access authorization Zk, (k) a sensor signal S2 or (k) an actuator signal S3 and / or (k) an energy E is transmitted via the connection 4.k into the line 5.k to the respective peripheral device Gi, e.g. sensor 2 or actuator 3.

[0052] The access determination unit 11 and / or the access determination algorithm A11 determine the access authorization Zk depending on a status signal SD, from which the information can be derived as to which control unit (1, 20) is permitted to access the respective peripheral device Gi, e.g., the respective sensor 2 and / or actuator 3. The status signal SD can be an external status signal SDe, which is supplied to the control unit 1 from outside, or an internal status signal SDi, which is determined or generated by the access determination unit 11 and / or by the access determination algorithm A11 in the control unit 1 itself.

[0053] The external status signal SDe is transmitted, for example, by the electronic control unit 20 specifically for mutual coordination via a data connection 13, for example a CAN data bus 13a. The external status signal SDe contains, for example, directly and in any desired manner, the information as to which control unit (1, 20) is permitted or not to access the respective peripheral device Gi, e.g., the respective sensor 2 and / or actuator 3, or this information can be at least indirectly derived from the external status signal SDe (or its absence). Depending on the information transmitted in each case, the respective connection 4.k can then be enabled or activated (access authorization Zk is present) or deactivated (access authorization Zk is not present) via the electronic access circuit 12.k via an access signal S11 output by the access determination unit 11 and / or by the access determination algorithm A11.

[0054] The internal status signal SDi, on the other hand, is determined or generated by the access determination unit 11 and / or the access determination algorithm A11 itself based on its own "observations" related to the respective connection 4.k. For this purpose, the access determination unit 11 and / or the access determination algorithm A11 can, for example, briefly and for test purposes, process and analyze the signals S, e.g., the sensor signals S2 and / or actuator signals S3 and / or test signals ST, via one of the connections 4.k, which are transmitted via the lines 5.k of the respective connection 4.k. For this purpose, a test pulse can also be sent via the respective connection 4.k to the respective peripheral device Gi, e.g., sensor 2 or actuator 3. For this purpose, the respective connection 4.k is enabled or activated, at least briefly, via the electronic access circuit 12.k.

[0055] An access authorization Zk for a specific connection 4.k can then result from the fact that the test-processed signals S, e.g. sensor signals S2 and / or actuator signals S3 and / or test signals ST, indicate in the currently existing situation that no other electronic control unit 20 is accessing the respective peripheral device Gi, e.g. the respective sensor 2 or actuator 3, although this would be expected under certain circumstances. For the respective connection 4.k, the feedback or the signal response is therefore checked and, depending on the result, an internal status signal SDi is generated which then also contains the information as to which control unit (1, 20) is or is not allowed to access the respective peripheral device Gi, e.g. the respective sensor 2 and / or actuator 3.Depending on the information transmitted in each case, the respective connection 4.k can then be enabled or activated (access authorization Zk is present) or deactivated (access authorization Zk is not present) via the electronic access circuit 12.k via the access signal S11 output by the access determination unit 11 and / or by the access determination algorithm A11.

[0056] The first operating mode B.1, which is provided for the described y-connection 9, is characterized in that for a reliable or uninterrupted operation of the respective connection 4.k, those operating units BE, ie hardware components and / or software parts, are enabled which are necessary for the access management described above.

[0057] In addition, an interference suppression unit 16 arranged in the control unit 1 can also be provided as an operating unit BE, which in the first operating mode B.1 is operated with different operating parameters PB than when using a directly wired connection 10 due to the use of the y-connection 9 for the respective connection 4.k. The interference suppression unit 16 ensures interference suppression of the transmitted signals S, in particular sensor signals S2 and / or actuator signals S3. Such interference suppression takes place differently with a y-connection 9 than with a directly wired connection 10, so that in the first operating mode B.1, different fixed preset operating parameters BP are used for the interference suppression unit 16 than in the second operating mode B.2.

[0058] The second operating mode B.2, which is designed for the directly wired connection 10 according to Fig. 2, is further characterized in that the extensive access management described above is not necessary. This follows from the fact that the respective peripheral device Gi, e.g. the respective sensor 2 or actuator 3, permanently interacts with only one control unit 1 and therefore no impairments in the signal and / or energy transmission by another electronic device 20 are to be expected. Accordingly, the respective operating units BE, i.e. hardware components and / or software portions required for access management, are deactivated or not enabled or released, and the respective connection 4.k is thereby permanently granted access to the respective peripheral device Gi, e.g. the respective sensor 2 and / or actuator 3. The interference suppression unit 16 is further provided with the functions required for the second operating mode B.2 fixed operating parameters BP.

[0059] Switching via the switching unit 8 to the respective operating mode Bl can take place, for example, after installation, i.e. after it has been determined whether a y-connection 9 or a directly wired connection 10 is present at the respective connection 4.k. The operating mode Bl then set is no longer changed dynamically since the cabling type (9, 10) at the respective connection 4.k normally does not change either. The operating mode Bl to be set can be transmitted to the switching unit 8 by an operator. Alternatively (or additionally), the switching unit 8 can also determine itself which operating mode Bl should be set, i.e. in the above example, the first operating mode B.1 or the second operating mode B.2.This can be done in a similar way to access management by "monitoring" the respective connection 4.k, preferably immediately after installation, when it is assumed that the components of the respective vehicle system 100 are fully functional. For this purpose, the switching unit 8 can, for example, briefly and for test purposes, process and analyze the signals S, e.g., the sensor signals S2 and / or actuator signals S3 and / or test signals ST, via the respective connection 4.k, which are transmitted via the lines 5.k of the respective connection 4.k. For this purpose, a test pulse can also be sent via the respective connection 4.k to the respective peripheral device Gi, e.g., sensor 2 or actuator 3. Depending on the type of cabling, the switching unit 8 will then "monitor" a different reaction and can use this to determine the type of cabling and subsequently automatically set the corresponding operating mode Bl permanently.

[0060] In this way, the same control unit 1 can be used for different wiring types and can be switched to the different operating modes Bl depending on the parameters. The ability to switch to the respective operating mode Bl for each individual connection enables a flexible use of control unit 1.

[0061] In particular, it is provided that such a control unit 1 is used in at least two versions in a vehicle system 100 that is operated in a fault-tolerant or fail-operational manner, for example in a braking system 102, in particular a fail operation braking system (FOBS), as shown by way of example in Fig. 3. For this purpose, it can be specified that in normal operation 100N of the vehicle system 100, the above-described control unit 1 is used as the primary control unit C1, which in normal operation 100N operates the peripheral devices Gi, e.g. sensors 2, for example wheel speed sensors 14, and actuators 3, for example wheel brake actuators 15 and / or ABS control valves 17 and / or axle modulators 18. In the event of a fault, a secondary control unit C2 is used as an additional electronic control unit 20, which has the same function as the above-described control unit 1.The secondary control unit C2 is then also capable of operating at least some of the peripheral devices Gi, e.g. sensors 2, for example the wheel speed sensors 14 at least on one main axle H of the vehicle 101, and actuators 3, for example wheel brake actuators 15 and / or ABS control valves 17 and / or axle modulators 18 at least on the main axle H of the vehicle 101, in a backup operation 100B of the vehicle system 100.

[0062] The respective control unit C1, C2 is able to generate the actuator signals S3 (brake control signals) depending on the sensor signals S2 available in the respective operation 100N, 100B and, depending on this, to control the respective actuators 3 as peripheral devices Gi, e.g. wheel brake actuators 15 and / or ABS control valves 17, which can also be done indirectly, for example via a pressure modulator or axle modulator 18 which processes the actuator signals S3 and in which the ABS control valves 17 can also be integrated, as shown for the rear main axle H in Fig. 3. Since in both cases the peripheral devices Gi, ie sensors 2 and actuators 3, on the main axes H can be used, 100N can be transmitted both in normal operation by the primary control unit C1 and in the event of a failure of the primary control unit C1, ie in the event of a fault or.In backup mode 100B, the still functioning secondary control unit C2 maintains a driving dynamics control based on the recorded sensor signals S2 of all wheels of the main axles H. The secondary control unit C2 can therefore continue to provide at least rudimentary braking functions, taking the driving dynamics into account, in this redundant fallback level.

[0063] The primary and secondary control units C1, C2 then temporarily exchange external status signals SDe via the data connection 13 in order to derive information about the current responsibilities from which normal operation 100N or backup operation 100B results. However, if such a data connection 13 is omitted or in a vehicle system 100 without such a data connection 13, the described internal status signals SDi can also be used.

[0064] Since the peripheral devices Gi, i.e. sensors 2 and actuators 3, which are each located on the main axis H of the vehicle 101, are connected to both the primary and the secondary control unit C1, C2 via a y-connection 9 in the illustrated embodiment of the vehicle system 100, the relevant connections 4.k to these peripheral devices Gi, i.e. sensors 2 and actuators 3, in both control units C1, C2 are each operated in the first operating mode B.1, which is set accordingly via the switching unit 8. As a result, as described above, the relevant operating units BE, i.e. hardware components and / or software portions which can ensure coordinated operation of the relevant connection 4.k in the relevant control unit C1, C2, are made available. In addition, for the relevant operating units BE in the primary control unit C1 and secondary control unit C2, which use the relevant connection 4.k in the first operating mode B.1, e.g. for the interference suppression unit 16, the operating parameters BP are used, which are fixed for the first operating mode B.1.

[0065] According to Fig. 3, sensors 2 as peripheral devices Gi, for example wheel speed sensors 14, which are located on a first and a second additional axle F1, F2 of the vehicle 101, are each connected to only one of the two control units C1, C2 via a directly wired connection 10. The connections 4.k on the primary control unit C1, which are connected to the sensors 2 as peripheral devices Gi, for example wheel speed sensors 14, on the second additional axle F2 of the vehicle 101, are therefore operated in a second operating mode B.2, as are the connections 4.k on the secondary control unit C2, which are connected to the sensors 2, for example wheel speed sensors 14, on the first additional axle F1 of the vehicle 101. These therefore do not require any mutual coordination between the control units C1, C2, so that the respective operating units BE, ie hardware components and / or software components, which manage access for the respective connection 4.k in the respective control unit C1, C2, are not to be made available or released. Furthermore, for the respective operating units BE in the primary control unit C1 and secondary control unit C2, which operate the respective connection 4.k in the second operating mode B.2, e.g., the interference suppression unit 16, the operating parameters BP, which are fixed for the second operating mode B.2, are used.

[0066] Accordingly, mixed operation of the two control units C1, C2 is made possible in the present case by operating different connections 4.k of the same control unit C1, C2 in different operating modes Bl. The sensor signals S2 from the sensors 2 on the first additional axle F1 can also be used in normal operation 100N for corresponding operation of the vehicle system 100, for example by transmitting them to the primary control unit C1 via the data connection 13 and processing them centrally there together with further sensor signals S2. In addition, extended functionality can then be provided via the sensors 2 on the additional axles F1, F2 both in normal operation 100N and in backup operation 100B. For this purpose, no further control unit 1 is required; instead, the existing connections 4.k can be used optimally and reliably by switching to the relevant operating mode Bl.This enables variable and flexible operation with a wide range of functions.

[0067] List of reference symbols (part of the description)

[0068] 1 control unit

[0069] 2 sensors

[0070] 3 Actuator

[0071] 4.k k. connection

[0072] 5.k line to k. connection

[0073] 6 Processing unit

[0074] 7 Power supply unit

[0075] 8 Switching unit

[0076] 9 y-connection

[0077] 10 unbranched connection

[0078] 11 Access detection unit 12. k Access circuit for the kth connection

[0079] 13 Data connection 13a CAN data bus

[0080] 14 Wheel speed sensor

[0081] 15 Wheel brake actuator

[0082] 16 interference suppression unit

[0083] 17 ABS control valve

[0084] 20 additional electronic control unit 100 vehicle system 100N normal operation of the vehicle system 100

[0085] 100B Backup operation of the vehicle system 100 101 Vehicle 102 Brake system A11 Access detection algorithm

[0086] Bl l. Operating mode

[0087] BE operating unit

[0088] BP operating parameters

[0089] C1 Primary control unit

[0090] C2 Secondary control unit E Energy

[0091] F1 first additional axis

[0092] F2 second additional axis

[0093] Gi i. Peripheral device

[0094] H Main axle of the vehicle 101

[0095] N1 Number of peripherals Gi

[0096] N2 Number of connections 4k

[0097] N3 Number of operating modes Bl

[0098] S Signal

[0099] SD status signal

[0100] SDe external status signal

[0101] SDi internal status signal

[0102] ST test signal

[0103] 52 Sensor signal

[0104] 53 Actuator signal

[0105] S11 access signal

[0106] Zk access authorization for the kth connection 4.ki,k,l, indices

Claims

Patent claims 1. Control unit (1 ) for a vehicle system (100), in particular a braking system (102) in a vehicle (101 ), comprising: - at least one port (4.k) for exchanging signals (S) with a peripheral device (Gi) connected to the port (4.k); - a processing unit (6) connected or connectable to the at least one terminal (4.k), wherein the processing unit (6) is configured to process signals (S) that can be transmitted via the at least one terminal (4.k); and - at least one operating unit (BE) for operating the at least one connection (4.k), characterized in that the control unit (1) further comprises a switching unit (8), wherein the switching unit (8) is configured to switch between at least two operating modes (Bl) for the at least one connection (4.k), wherein the switching unit (8) is configured to select the operating mode (Bl) depending on whether the peripheral device (Gi) connected to the respective connection (4.k) - is also connected to another control unit (20) via a y-connection (9), or - is directly wired to the respective connection (4.k) of the control unit (1 ).

2. Control unit (1 ) according to one of the preceding claims, characterized in that the switching unit (8) is configured to select the operating mode (Bl) once for the respective connection (4.k) during or after the installation of the control unit (1 ) and to set the selected operating mode (4.k) permanently.

3. Control unit (1) according to one of the preceding claims, characterized in that the control unit (1) has several connections (4.k) and the switching unit (8) is designed to select an operating mode (Bl) separately for each connection (4.k) and to switch to the respective selected operating mode (Bl).

4. Control unit (1) according to one of the preceding claims, characterized in that the at least one operating unit (BE) for operating the respective connection (4.k) is operable depending on the operating mode (Bl) selected and set by the switching unit (8).

5. Control unit (1 ) according to claim 4, characterized in that the control unit (1 ) is designed to be parameterizable in such a way that each operating mode (Bl) selectable by the switching unit (8) is uniquely and unchangeably assigned how the respective connection (4.k) is to be operated by the respective operating unit (BE).

6. Control unit (1 ) according to claim 4 or 5, characterized in that the switching unit (8) is designed to selectively enable or disable at least one operating unit (BE) for the operation of the respective connection (4.k) depending on the selected and set operating mode (Bl).

7. Control unit (1 ) according to one of claims 4 to 6, characterized in that the at least one operating unit (BE) can be operated depending on predetermined operating parameters (BP), wherein the operating parameters (BP) for the respective operating unit (BE) are selected depending on the operating mode (Bl) selected and set by the switching unit (8) for the respective connection (4.k).

8. Control unit (1) according to claim 7, characterized in that the operating unit (BE) is provided with the operating parameters (BP) with which the operating- The unit (BE) can be operated in the respective operating mode (Bl), are specified once and / or permanently, for example before or during the installation of the control unit (1).

9. Control unit (1) according to one of claims 4 to 8, characterized in that the at least one operating unit (BE) for the respective connection (4.k) can be operated in the respective selected and set operating mode (Bl) depending on whether the peripheral device (Gi) is a sensor (2) or an actuator (3), wherein the processing unit (6) is configured as signals (S) for example - To generate actuator signals (S3) for controlling the actuator (3), for example a wheel brake actuator (15) and / or an ABS control valve (17) and / or an axle modulator (18), and / or - To process sensor signals (S2) from the sensor (2), for example a wheel speed sensor (14).

10. Control unit (1) according to one of claims 4 to 9, characterized in that the at least one operating unit (BE) is an access detection unit (11) and / or an access detection algorithm (A11), wherein the access detection unit (11) and the access detection algorithm (A11) are each configured to determine an access authorization (Zk), wherein the access authorization (Zk) indicates whether the control unit (1) may access a peripheral device (Gi), in particular a connected sensor (2), connected to the respective port (4.k) or not.

11. Control unit (1) according to claim 10, characterized in that the access detection unit (11) and / or the access detection algorithm (A11) are configured to determine access authorization (Zk) on the basis of an external status signal (SDe) and / or an internal status signal (SDi) to determine, wherein the control unit (1 ) is configured to receive the external status signal (SDe) from external sources, and the internal status signal (SDi) is determined in the control unit (1 ) itself, in particular in the access detection unit (11 ) and / or by the access detection algorithm (A11 ).

12. Control unit (1) according to claim 10 or 11, characterized in that the access detection unit (11) and / or the access detection algorithm (A11) - in a first operating mode (B.1) adjustable by the switching unit (8), in which the peripheral device (Gi), in particular the sensor (2), connected to the respective port (4.k), is also simultaneously connected to another control unit (20) via a y-connection (9), is enabled for operation of the respective port (4.k), and - in a second operating mode (B.2) adjustable by the switching unit (8), in which the peripheral device (Gi), in particular the sensor (2), connected to the respective port (4.k), is directly wired only to the respective port (4.k) of the control unit (1) and is not authorized for operation of the respective port (4.k).

13. Control unit (1 ) according to one of claims 4 to 12, characterized in that the operating unit (BE ) is a suppression unit (16) for suppressing the signals (S) transmitted via the lines (5.k) to the respective peripheral device (Gi ), in particular the sensor signals (S2) from the sensor (2).

14. Control unit (1 ) according to one of the preceding claims, characterized in that the operating mode (Bl) to be set can be automatically selected by the switching unit (8), for example depending on signals (S) transmitted or transmissible via the at least one connection (4.k), or the operating mode (Bl) to be set can be manually specified by the switching unit (8).

15. Vehicle system (100), in particular braking system (102), wherein the vehicle system (100) comprises at least: - at least one peripheral device (Gi), wherein the peripheral device (Gi) is configured to output or receive signals (S), - at least one control unit (1 ) according to one of the preceding claims, wherein the at least one control unit (1 ) is connected to the at least one peripheral device (Gi) via a directly wired connection (10) or via an additional y-connection (9) for transmitting the signals (S), wherein the switching unit (8) in the at least one control unit (1 ) is configured to select the operating mode (Bl) depending on whether the peripheral device (Gi) connected to the respective port (4.k) - is also connected via a y-connection (9) to another control unit (20) of the vehicle system (100), or - is directly wired to the respective connection (4.k) of the control unit (1 ).

16. Vehicle system (100) according to claim 15, characterized in that the at least one peripheral device (Gi) is a sensor (2), for example a wheel speed sensor (14) and / or an actuator (3), for example a wheel brake actuator (15) and / or an ABS control valve (17) and / or an axle modulator (18).

17. Vehicle system (100) according to claim 15 or 16, characterized in that the vehicle system (100) has at least two control units (1 ), a primary control unit (C1) and a secondary control unit (02), wherein the switching unit (8) is formed in the respective control unit (1 ; C1 , C2), for the respective connection (4.k) optionally - to switch to a first operating mode (B.1 ) when a signal is received at least at one terminal (4.k) of the primary control unit (C1 ) connected peripheral device (Gi), in particular a sensor (2), is simultaneously connected via a y-connection (9) to a connection (4.k) of the secondary control unit (02), and - to switch to a second operating mode (B.2) when a peripheral device (Gi), in particular a sensor (2), is connected via a direct wired connection (10) to at least one terminal (4.k) of only one control unit (1), the primary control unit (01) or the secondary control unit (02).

18. Vehicle (101) with a vehicle system (100) according to one of claims 15 to 17.

19. Method for operating a control unit (1) according to any one of claims 1 to 14, wherein the control unit (1) has at least one connection (4.k), wherein signals (S) are transmitted via the at least one connection (4.k) to or from a peripheral device (Gi) connected to the connection (4.k); wherein signals (S) received via the at least one connection (4.k) are processed in the control unit (1) and / or signals (S) output via the at least one connection (4.k) are generated in the control unit (1), wherein the at least one connection (4.k) can be operated via at least one operating unit (BE), characterized in that it is possible to switch between at least two operating modes (Bl) for the at least one connection (4.k), wherein the operating mode (Bl) to be set is selected depending on whether the peripheral device (Gi) connected to the respective connection (4.k) - is also connected to another control unit (20) via a y-connection (9), or - is directly wired to the respective connection (4.k) of the control unit (1 ).

20. Method according to claim 19, characterized in that each selectable operating mode (Bl) is uniquely and immutably assigned how the respective connection (4.k) is operated by the respective operating unit (BE).

21. Method according to claim 19 or 20, characterized in that the at least one operating unit (U) - depending on the selected and set operating mode (Bl) for the operation of the respective connection (4.k), it is optionally enabled or not enabled, and / or - is operated depending on predefined operating parameters (BP), wherein the operating parameters (BP) are predefined depending on the operating mode (Bl) selected and set by the switching unit (8) for the respective connection (4.k), wherein the operating parameters (BP) are preferably predefined once and / or permanently for the operating unit (BE), for example before or during the installation of the control unit (1).

22. Method according to one of claims 19 to 21, characterized in that the operating mode (Bl) is selected once for the respective connection (4.k) during or after the installation of the control unit (1) and the selected operating mode (4.k) is subsequently set permanently.

Images