Method for operating a vehicle, and vehicle

Abstract

The present invention relates to a method for operating a vehicle (1) having a steer-by-wire steering device (5) and an immobilizer (10). Compact implementation of the function of the immobilizer (10) and cost-effective production are achieved in that, in an active state of the immobilizer (10), the transmission of steering information to a data bus (4) and / or the steering of a wheel (3) of a steering axle (2) are / is blocked by means of software. The invention also relates to a vehicle (1) operated in such a way.

Description

[0001] Method for operating a vehicle and vehicle

[0002] The present invention relates to a method for operating a vehicle with a steer-by-wire steering system and an immobilizer. The invention also relates to a vehicle operated in this manner.

[0003] To steer a vehicle, the vehicle typically has a steering sensor, in particular a steering wheel, which can be moved accordingly. At least one steerable wheel of the vehicle is moved depending on the steering movement of the steering sensor.

[0004] An associated steering device is increasingly designed as a so-called steer-by-wire steering device, in which there is no immediate and direct connection between the steering sensor and at least one wheel.

[0005] Vehicles usually have an immobilizer that can prevent the vehicle from being steered.

[0006] A corresponding vehicle is known from DE 10046 167 A1. The vehicle's immobilizer is implemented by means of a mechanical locking mechanism in the steering system.

[0007] DE 10200969 354 A1 discloses a vehicle with a steer-by-wire steering system and an immobilizer. To improve theft protection, the vehicle's intended use is prevented if, when the vehicle's ignition is switched on, it is detected that the immobilizer is in an unlocked state, i.e., the immobilizer is in a deactivated state.

[0008] The present invention addresses the problem of providing improved or at least different embodiments for a method for operating a vehicle of the type mentioned above, as well as for such a vehicle, which are characterized in particular by reduced installation space requirements, reduced weight, and reduced costs. This problem is solved according to the invention by the subject matter of the independent claims. Advantageous embodiments are the subject matter of the dependent claims.

[0009] The present invention is therefore based on the fundamental idea of ​​implementing the function of an immobilizer by means of electronic control by blocking the transmission of steering information from a steering sensor to a steering actuator and / or the control of a wheel by means of the steering actuator using software. In this way, mechanical components for implementing the immobilizer can be eliminated, resulting in a more compact design and more cost-effective production of a steering device including the steering sensor, and in particular of the steering sensor. The more compact design of the steering sensor allows, in particular, the steering sensor to be designed to be movable, in particular foldable, so that it can be accommodated with reduced installation space when needed, particularly when the vehicle is driving autonomously.

[0010] According to the inventive concept, the vehicle has a steering axle and at least one wheel associated with the steering axle, as well as a data bus. The vehicle also has a steer-by-wire steering device, which is also referred to below as the steering device for short. The steering device comprises the steering sensor and a component connected to the steering sensor for detecting a steering movement of the steering sensor, which is also referred to below as the steering receiver component. In addition, the steering device comprises a steering actuator for controlling at least one wheel of the steering axle. The vehicle's immobilizer is communicatively connected to the data bus. The immobilizer can be switched between an active state and a deactive state, wherein the immobilizer locks the vehicle's steering in the active state and enables it in the deactive state.If the immobilizer is deactivated, i.e. if it is in the deactive state, the steering slave component detects the steering movement of the steering sensor and transmits steering information to the data bus that is dependent on the steering movement. The steering actuator receives the steering information via the data bus and controls at least one wheel of the steering axle depending on the steering information. If the immobilizer is activated, i.e. if it is in the active state, the transmission of the steering information to the data bus is blocked by software in the steering slave component, and / or the control of at least one wheel of the steering axle is blocked by software in the steering actuator. In preferred embodiments, the software implementation of blocking the transmission of the steering information to the data bus is implemented using a lock that is integrated into the steering slave component in software, which is also referred to below as the slave lock.The slave lock is therefore integrated into the steering slave component via software. The immobilizer communicates with the slave lock via the data bus. In the active state, the immobilizer activates the slave lock, i.e., via the data bus, so that the slave lock blocks the transmission of steering information to the data bus.

[0011] It is advisable to deactivate the slave lock when the immobilizer is deactivated.

[0012] Preferred embodiments are those in which the software implementation of the lock for controlling the at least one wheel of the steering axle in the steering actuator is implemented with a lock integrated into the steering actuator, which is also referred to below as the sensor lock. The sensor lock is thus integrated into the steering actuator by software. The immobilizer communicates with the sensor lock via the data bus. The immobilizer activates the sensor lock in the active state, so that the sensor lock blocks control of the at least one wheel of the steering axle.

[0013] Preferred variants are those in which communication between the immobilizer and the slave lock and / or the master lock is cryptographic. This means that the communication between the immobilizer and the slave lock and / or the master lock is protected against tampering with cryptographic data. This leads to improved security and theft protection.

[0014] The cryptographic communication can be implemented, for example, using a challenge-response method based on a symmetric cipher, also known as a "symmetry cipher," and / or using a "keyed-hash message authentication code," also known by the abbreviation "HMAC," and / or using a "block cipher-based message authentication code," also known by the abbreviation "CMAC." The cryptographic key used in each case is advantageously generated individually for the steering slave component, in particular for the slave lock, and for the steering actuator, in particular for the master lock. Furthermore, the challenge is preferably generated by the steering slave component, in particular for the slave lock, and / or by the steering actuator, in particular for the master lock, using a cryptographic random number generator.Alternatively or additionally, the cryptographic communication can be implemented using an asymmetric signature procedure and / or a procedure based on digital certificates.

[0015] Alternatively or additionally, cryptographic communication can be implemented using a one-time password procedure.

[0016] Preferably, a device for access and driving authorization is provided for the vehicle. The device, hereinafter also referred to as the access and driving authorization device, serves in particular to switch the immobilizer between the active and deactivated states. Likewise, the access and driving authorization device can activate and deactivate a vehicle door lock and / or start the vehicle.

[0017] The access authorization device can, for example, be or comprise a vehicle key. Alternatively or additionally, the access authorization device can be or comprise an individually coded electronic device, such as a smartphone. Alternatively or additionally, the access authorization device can be implemented using a cryptographic code, which is transmitted to the vehicle via a wireless data connection, i.e., in particular, online.

[0018] Advantageously, the immobilizer is in the active state when the vehicle is at rest and / or is switched to the active state.

[0019] It is understood that, in addition to the method, a vehicle operated in this manner also falls within the scope of this invention. The vehicle, in particular the steering receiver component and / or the steering actuator, is configured accordingly.

[0020] In principle, the steering sensor can be designed in any way. In particular, it can be a steering wheel.

[0021] Preferably, the steering sensor is free of mechanical locks for implementing the immobilizer. This leads, as explained above, to a compact design of the steering sensor and reduced manufacturing costs. Preferably, the steering sensor is foldable. Particularly preferably, the steering sensor is foldable and free of mechanical locks. Thus, the steering sensor can be compactly housed when needed, particularly in an autonomous driving mode of the vehicle, and thus requires no or less installation space in the vehicle, particularly in the passenger compartment.

[0022] Advantageously, the steering device and / or the immobilizer are completely free of mechanical locks.

[0023] Preferably, the steering device is free of mechanical locks between the steering actuator and the steering receiver component. This results in a more compact design and further reduced manufacturing costs.

[0024] Alternatively or additionally, preferably additionally, the steering device is preferably free of mechanical locks between the steering actuator and the at least one wheel of the steering axle.

[0025] Further important features and advantages of the invention emerge from the subclaims, from the drawings and from the associated description of the figures based on the drawings.

[0026] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0027] A preferred embodiment of the invention is illustrated in the drawing and explained in more detail in the following description, wherein the same reference numerals refer to the same or similar or functionally identical components.

[0028] It shows:

[0029] Fig. 1 is a highly simplified, schematic and circuit diagram-like representation of a vehicle.

[0030] A vehicle 1, as shown in Figure 1 in a highly simplified and circuit diagram-like manner, has a steering axle 2 and at least one wheel 3 associated with the steering axle 2. In the exemplary embodiment shown, the vehicle 1 has, purely by way of example, two wheels 3 associated with the steering axle 2. The vehicle 1 has a data bus 4 for data transmission. For steering the vehicle 1, the vehicle 1 has a link device 5 which is designed as a steer-by-wire steering device 5. The steering device 5 has a steering sensor 6 which can be moved by a user, wherein such a movement of the steering sensor 5 is referred to below as a steering movement. In the exemplary embodiment shown, the steering sensor 6 is designed purely by way of example as a steering wheel 7. The steering device 5 further has a component 8 for detecting the steering movement of the steering sensor 6, which component 8 is connected to the steering sensor 6 and is also referred to below as the steering receiver component 8.The steering receiver component 8 is capable of transmitting steering information dependent on the steering movement of the steering sensor 6 to the data bus 4. The steering device 5 also has an actuator 9 for controlling at least one wheel 3 of the steering axle 2, which is also referred to below as the steering actuator 9. The steering actuator 9 is thus capable of controlling at least one wheel 3 for steering the vehicle 1. The vehicle 1 further has an immobilizer 10. The immobilizer 10 can be activated and deactivated, i.e., can be switched between an active state and a deactive state.

[0031] If the immobilizer 10 is deactivated, i.e. if it is in the deactivated state, the steering receiver component 8 detects the steering movement of the steering sensor 6 and transmits steering information dependent on the steering movement to the data bus 4. The steering actuator 9 receives the steering information via the data bus 4 and controls at least one wheel 3 of the steering axle 2 depending on the steering information.

[0032] If the immobilizer 10 is activated, i.e., if it is in the active state, steering of the vehicle 1 is prevented and thus blocked. For this purpose, the transmission of the steering information to the data bus 4 in the steering slave component 8 is blocked by software and / or the control of the at least one wheel 3 in the steering actuator 9 is blocked by software. In the illustrated embodiment, when the immobilizer 10 is in the active state, both the transmission of the steering information to the data bus 4 in the steering slave component 8 and the control of the at least one wheel 3 in the steering actuator 9 are blocked by software.

[0033] In the exemplary embodiment shown, the respective software-technical locking function is implemented by integrating a respective associated software-technical lock 11, 12 and electronic communication between the immobilizer 10 and the respective software-technical lock 11, 12 via the data bus 4.

[0034] In this case, an associated lock 11 is integrated into the steering slave component 8 by software, which is also referred to below as the slave lock 11. The immobilizer 10 communicates with the slave lock 11 via the data bus 4. In the active state, the immobilizer 10 activates the slave lock 11, so that the slave lock 11 blocks the transmission of steering information to the data bus 4. In the deactivated state of the immobilizer 10, the slave lock 11 is deactivated, so that the steering information is transmitted to the data bus 4.

[0035] An associated lock 12, which is also referred to below as the sensor lock 12, is integrated into the steering actuator 9 by software. The immobilizer 10 communicates with the sensor lock 12 via the data bus 4. In the active state, the immobilizer 10 activates the sensor lock 12, so that the sensor lock 12 blocks the control of at least one wheel 3. In contrast, in the deactivated state of the immobilizer 10, the sensor lock 12 is deactivated, so that the steering actuator 9 controls at least one wheel 3 depending on the steering information.

[0036] Thus, the immobilizer function is implemented without a corresponding mechanical lock. Accordingly, as can be seen from Figure 1, in the illustrated embodiment, the steering device 5 is free of mechanical locks between the steering sensor 6 and the steering receiver component 8 and between the steering actuator 9 and the at least one wheel 3 of the steering axle 2. Furthermore, the steering sensor 6 is free of mechanical locks and thus has a compact design.

[0037] In the illustrated embodiment, the steering sensor 6 is also foldable. This allows the steering sensor 6 to be folded more easily, particularly due to the lack of a mechanical lock, and accommodated in a space-saving manner, for example, during autonomous driving of the vehicle 1.

[0038] Communication between the immobilizer 10 and the slave lock 11 as well as the master lock 12 via the data bus 4 takes place cryptographically, for example by means of a challenge-response method and / or by means of an asymmetric signature method and / or by means of a method based on digital certificates and / or by means of a one-time password method. The activation and deactivation of the immobilizer 10, i.e. the switching of the immobilizer 10 between the active state and the deactive state, takes place in the illustrated embodiment via a device 13 for authorizing access to the vehicle 1, which is also referred to below as the access authorization device 13. The access authorization device 13 can, for example, comprise a vehicle key (not shown). In this case, the immobilizer 10 is in the active state when the vehicle 1 is in the idle state or is switched to the active state.

Claims

Patent claims 1. Method for operating a vehicle (1), - wherein the vehicle (1) has a steering axle (2) and at least one wheel (3) associated with the steering axle (2), - wherein the vehicle (3) has a data bus (4), - wherein the vehicle (1) has a steer-by-wire steering device (5) which comprises • a steering sensor (6), in particular a steering wheel (7), • a steering receiver component (8) connected to the steering sensor (6) for detecting a steering movement of the steering sensor (6), • a steering actuator (9) for controlling at least one wheel (3) of the steering axle (2), - wherein the vehicle (1) has an immobilizer (10) connected to the data bus (4), - wherein in a deactivated state of the immobilizer (10), • the steering receiver component (8) detects the steering movement of the steering sensor (6) and transmits steering information dependent on the steering movement to the data bus (4), • the steering actuator (9) receives the steering information via the data bus (4) and controls at least one wheel (3) of the steering axle (2) depending on the steering information, - wherein in an active state of the immobilizer (10), • in the steering component (8) the transmission of the steering information to the data bus (4) is blocked by software, and / or • in the steering actuator (9) the control of at least one wheel (3) of the steering axle (2) is blocked by software.

2. Method according to claim 1, characterized in that in the steering component (8) a slave lock (11) is software-engineered is integrated and the immobilizer (10) communicates with the slave lock (11) via the data bus (4), wherein the immobilizer (10) in the active state activates the slave lock (11) so that the slave lock (11) blocks the transmission of the steering information to the data bus (4).

3. Method according to claim 1 or 2, characterized in that a sensor lock (12) is integrated in the steering actuator (9) by software and the immobilizer (10) communicates with the sensor lock (12) via the data bus (4), wherein the immobilizer (10) in the active state activates the sensor lock (12) so that the sensor lock (10) blocks the control of the at least one wheel (3) of the steering axle (2).

4. Method according to claim 2 or 3, characterized in that the immobilizer (10) communicates with the slave lock (11) and / or with the master lock (12) by means of cryptographic communication.

5. Method according to one of claims 1 to 4, characterized in that the immobilizer (10) is switched between the deactive state and the active state by means of an access authorization device (13) of the vehicle (1).

6. Method according to one of claims 1 to 5, characterized in that the immobilizer (10) is switched to the active state in a rest state of the vehicle (1).

7. Vehicle (1), - wherein the vehicle (1) has a steering axle (2) and at least one wheel (3) associated with the steering axle (2), - wherein the vehicle (3) has a data bus (4), - wherein the vehicle (1) has a steer-by-wire steering device (5) which comprises • a steering sensor (6), in particular a steering wheel (7), • a steering receiver component (8) connected to the steering sensor (6) for detecting a steering movement of the steering sensor (6), • a steering actuator (9) for controlling at least one wheel (3) of the steering axle (2), - wherein the vehicle (1) has an immobilizer (10) connected to the data bus (4), - wherein the vehicle (1) is designed such that it is operated according to the method according to one of the preceding claims.

8. Vehicle according to claim 7, characterized in that the steering sensor (6) is free of mechanical locks and is foldable.

9. Vehicle according to claim 7 or 8, characterized in that the steering device (5) is free of mechanical locks between the steering transmitter (6) and the steering receiver component (8).

10. Vehicle according to one of claims 7 to 9, characterized in that the steering device (5) is free of mechanical locks between the steering actuator (9) and the at least one wheel (3) of the steering axle (2).

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