Sensor device for vehicle and multi-system brake system

Abstract

The present invention provides a sensor device (1) for a vehicle, the sensor device (1) having at least two control devices (ECU1, ECU2) each including at least one evaluation and control unit (10, 10A, 10B, 10C) and a plurality of sensor elements (DF1, DF2, DF3, DF4, DF5, DF6), each of which is associated with one brakeable wheel (VL, VR, HL, HR) and one of the evaluation and control units (10A, 10B, 10C) of the control devices (ECU1, ECU2), and detects at least one physical quantity of the corresponding wheel (VL, VR, HL, HR) and outputs an output signal (ASVL, ASVR, ASHL1, ASHR1, ASHL2) to the corresponding evaluation and control unit (10A, 10B, 10C). , ASVR2) and the control devices (ECU1, ECU2) are each configured to perform at least one braking function of the vehicle (1) based on detected physical quantities of the brakeable wheels (VL, VR, HL, HR), and at least one sensor element (DF1, DF2) is arranged at each of the brakeable wheels (VL, VR) of the first axle (VA), and output signals (ASVL, ASVR) of the sensor elements (DF1, DF2) are output to different evaluation and control units (10B, 10C) arranged in one common control device (ECU2), and at least two sensor elements (DF3, DF5; DF4, DF6) are arranged at each of the brakeable wheels (VL, VR) of the second axle (HA), and ... first axle (VA), and output signals (ASVL, ASVR) of the second axle (HA) of the second axle (HA), respectively.a sensor device (1) and a multi-path brake system having such a sensor device (1), wherein output signals (ASHL1, ASHL2, ASHR1, ASHR2) of the first axle (DF4, DF6) are output to evaluation and control units (10A, 10B) arranged in different control devices (ECU1, ECU2), and the evaluation and control units (10B, 10C) associated with the first axle (VA) are configured to output the received output signals (ASVL, ASVR) to at least one evaluation and control unit (10A) of the other control device (ECU1), so that each control device (ECU1, ECU2) receives at least one corresponding detected physical quantity from all brakeable wheels (VL, VR, HL, HR);

Description

[Technical field]

[0001] The present invention relates to a sensor arrangement for a vehicle, the sensor arrangement comprising at least two control devices each including at least one evaluation and control unit, and a number of sensor elements, each associated with one brakeable wheel and with one of the evaluation and control units of the control devices, configured to detect at least one physical quantity of the corresponding wheel and to output the detected physical quantity as an output signal to the corresponding evaluation and control unit. The control devices are each configured to perform at least one braking function of the vehicle based on the detected motion-dependent physical quantity of the wheel. A corresponding multi-path brake system comprising such a sensor arrangement is also the subject of the present invention. [Background technology]

[0002] For highly automated or autonomous driving, and for partially automated or autonomous driving functions, redundancy is typically required to ensure availability of sensors and functions even in many error cases. Thus, typically brake systems with primary and secondary stabilization of the vehicle are used. In particular, for braking, typically two independent brake devices or brake control systems are used. Both ideally require high availability of rotational speed information from a rotational speed sensor each associated with one wheel. In today's solutions, the rotational speed sensor is directly connected point-to-point to the primary control device. When using a two-box system approach, for example with an ESP system as the primary system and an electromechanical or other electric brake booster as the secondary system or with an integrated brake system (IPB) as the primary system and a redundant brake system (RBU) as the secondary system, additional effort and costs are required and do not cover all error cases, but the sensor signal of the speed sensor is looped through via the primary control device to the secondary control device or the speed sensor is switched between the primary and secondary control devices via a switching device in the event of a failure. Other known solutions provide for eight speed sensors, of which four speed sensors are connected directly to the primary control device and four speed sensors are connected directly to the secondary control device. With such a division, two speed sensors are installed on each wheel so that the system can redundantly stabilize the vehicle. This means that a total of eight speed sensors are used per vehicle, with the associated double costs for sensors and wiring.

[0003] From DE 10 2015209 565 A1, a method and a device for operating a motor vehicle are known. The device comprises an input for each external rotational speed sensor, a first control device, a second control device with a rotational speed detection device for the respective rotational speed sensor, and a calculation device with which the wheel rotational speed can be detected. In this case, the rotational speed signals of the rotational speed detection devices can be supplied to the first control device and to an output of the device, the respective rotational speed detection devices being functionally separated from one another and the second control device being functionally separated from the first control device and from the calculation device. In this way, each individual transmission path of the rotational speed detection system is configured to be redundant and activatable. In the event of a device defect, the wheel rotational speed can still be supplied to another control device which can be connected to the output of the device, for example to drive a secondary brake system. This is achieved in that the rotational speed detection device acts as a kind of splitter which distributes the rotational speed signal to several users.

[0004] From DE 10 2015 110 965 A1 an autonomous vehicle control subsystem is known, which comprises a first brake control module and a second brake control module communicatively and electrically connected to one another and a number of wheel rotation speed sensors, whereby a first subset of the wheel rotation speed sensors, which includes at least one first wheel rotation speed sensor of the number of wheel rotation speed sensors, is communicatively connected to the first brake control module but not to the second brake control module, and a second subset of the wheel rotation speed sensors, which includes at least one second wheel rotation speed sensor of the number of wheel rotation speed sensors, is communicatively connected to the second brake control module but not to the first brake control module. During typical operation of the vehicle and the autonomous vehicle control subsystem, the brake control modules communicate with each other to provide wheel rotation speed data of a number of different sensors, which enables each of the brake control modules to carry out operations for controlling braking of the vehicle. However, in case of an error in one of the brake control modules, e.g. an energy loss, the other brake control module uses at least some of the wheel speed data, i.e. the wheel speed data of at least one wheel speed sensor. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] DE 102015209565 A1 [Patent Document 2] DE 102015110965 A1 Summary of the Invention [Means for solving the problem]

[0006] Disclosure of the Invention The sensor arrangement for a vehicle with the features of the independent claim 1 and the corresponding multi-path brake system each have the advantage that it is possible to realize a redundant sensor element concept partly with standard sensor elements, preferably configured as rotational speed detectors, and partly with double sensors, each including two sensor elements, preferably configured as rotational speed detectors, without switching devices, thereby partly saving the costs for the double rotational speed detectors and wiring. Furthermore, circuit components can be saved in the two control devices. In a preferred embodiment of the sensor arrangement with six rotational speed detectors and three evaluation and control units distributed to the two control devices, it is advantageously possible to realize a handover or takeover of the sensor elements between the two control devices in the case of an error without additional switching devices and without delay times, since the two control devices can simultaneously receive and evaluate at least one detected physical quantity of all brakeable wheels via the output signals of the six rotational speed detectors.

[0007] According to an embodiment of the invention, a sensor device for a vehicle is provided, which comprises at least two control devices each including at least one evaluation and control unit, and a number of sensor elements, each associated with one brakeable wheel and one of the evaluation and control units of the control devices, configured to detect at least one physical quantity of the corresponding wheel and to directly output it as an output signal to the corresponding evaluation and control unit. The control devices are each configured to perform at least one braking function of the vehicle based on the detected motion-dependent physical quantity of the wheel. In this case, at least one sensor element is respectively arranged at the brakeable wheels of a first axle, the output signals of the sensor elements being output to respectively different evaluation and control units arranged in one common control device, and at least two sensor elements are respectively arranged at the brakeable wheels of a second axle, the output signals of the two sensor elements being output to respectively different evaluation and control units arranged in the respective control devices. The evaluation and control unit associated with the first axle is configured to output the received output signal to at least one evaluation and control unit of each of the other control devices, so that each individual control device receives at least one corresponding detected physical quantity from every brakeable wheel.

[0008] Furthermore, a multi-system braking system, in particular for highly automated or autonomous vehicles, is proposed, which has a number of wheel brakes, each arranged on a wheel, such a sensor device detecting at least one physical quantity of the wheel, a primary control device performing at least one braking function of the vehicle based on the detected at least one physical quantity of the wheel, and a secondary control device performing at least one braking function of the vehicle based on the detected at least one physical quantity of the wheel.

[0009] A control device or primary or secondary control device in this context can be understood as an electrical device which processes or evaluates the detected sensor signals. For this purpose, the control device may have at least one evaluation and control unit for receiving and processing or processing the electrical output signals, at least one calculation unit for evaluating the processed output signals, at least one memory unit for storing signals or data, at least one interface with the sensor element for reading out the output signals or at least one interface with the actuator for outputting control signals to the actuator, and / or at least one communication interface for reading out or outputting data embedded in a communication protocol. An actuator in this context is configured, for example, as a solenoid valve or a pressure generator which can be driven accordingly by the control device. The at least one interface can be configured in the form of hardware and / or software. If configured in the form of hardware, the interface may for example be part of a so-called system circuit which includes several different functions of the control device. Such a system circuit can preferably be configured as an application specific integrated circuit (ASIC). Thus, for example, the at least one evaluation and control unit can be configured as an ASIC. However, the interface may also be an own integrated circuit or may at least partly consist of discrete components. If configured in the form of software, the interface may for example be a software module implemented together with other software modules on a microcontroller. The computing unit may for example be a signal processor, a microcontroller, etc., and the memory unit may be a flash memory, an EEPROM or a magnetic memory unit. Also advantageous is a computer program product with a program code that can be stored on a machine-readable carrier such as a semiconductor memory, a hard disk or an optical memory, which is used to perform the evaluation, especially when implemented on a computing unit.The two control devices are connected to a primary or secondary actuator and can implement various braking functions, such as, for example, an ABS (Anti-lock Brake System) function, an ESP (Electronic Stability Program) function, an ASR (Anti-Slip Regulation) function and / or a hill start aid function. In this case, the two control devices can implement various braking functions during normal operation. In case of failure of one of the two control devices, the other control device can at least partially take over the braking function of the failed control device, thereby constituting a corresponding fallback level.

[0010] A primary or secondary actuator in this context can be understood as a hydraulic and / or electromechanical assembly capable of implementing corresponding control and / or regulating processes in a braking system for pressure build-up or pressure reduction in wheel brakes, for ABS (Anti-lock Brake System) or ASR (Anti-Slip Regulation) functions or Electronic Stability Program (ESP) or for an automatic parking function. To implement the control and / or regulating processes, the primary or secondary actuator comprises at least one braking pressure generator and a hydraulic valve unit with a solenoid valve, which can often be held in a unique position on the basis of the mutually opposing forces "magnetic force", "spring force" and "hydraulic force". Correspondingly, there are "normally open" and "normally closed" solenoid valve types. Furthermore, bistable solenoid valves are also used which can be switched between the "normally open" and "normally closed" states, such bistable solenoid valves remaining permanently in the respective operating state until the next switching signal. The braking pressure generator can in particular be operated by muscle force, assisting force and / or external force. "Assisted force" means muscle force actuation assisted by a brake booster. To implement the parking brake function, at least one wheel of the axle, preferably the rear axle, can be provided with an electromechanical actuator, which can be activated or deactivated via a corresponding drive signal.

[0011] A sensor element in this context can be understood as an electrical component which directly or indirectly detects a physical quantity or a change in a physical quantity in the region of the corresponding wheel and converts it into a preferably electrical output signal. Preferably, such a sensor element can be configured as a rotation speed detector, and the corresponding rotation speed information can be determined preferably by scanning a magnetic encoder or a ferromagnetic gear. The magnetic encoder is configured, for example, as a measurement value generator ring with a number of magnet elements, in particular permanent magnets, evenly distributed over the periphery, which magnets each have an alternating magnetic orientation and form a magnetic pole pair. The rotation speed sensor detects the magnetic field of these magnet elements during rotation of the measurement value generator ring, and as a function of the magnetic flux of the respective detected magnetic field in the evaluation and control unit, an output current is provided by a current interface for further use as rotation speed information. The rotation speed detectors can comprise, for example, Hall sensors, GMR (Giant Magnetoresistance) sensor elements, AMR (Anisotrope Magnetoresistance) sensor elements or TMR (Tunnel Magnetoresistance) sensor elements. In this case, the respective rotation speed detector can transmit its output signal as a data protocol, for example the AK protocol or the I protocol, via a current interface to a corresponding evaluation and control unit. To determine the rotation speed information, the rotation speed detectors detect, for example, zero crossings of a pole pair, and at the zero crossing of the respective pole pair, so-called "speed pulses" are formed which represent the actual rotation speed information, i.e. at the sign change of the detected magnetic field strength. The AK protocol comprises the "speed pulses" as rotation speed information and at least one additional rotation speed information as a data word with a number of protocol bits. The protocol bits define the data content of the at least one additional rotation speed information. The at least one additional rotation speed information relates, for example, to rotation direction information, air gap information, temperature information, pressure information, etc.

[0012] An evaluation and control unit in this context can be understood as an electric circuit, preferably an application specific integrated circuit (ASIC), which receives and outputs or processes or processes the output signals of the sensor elements and outputs them as processed output signals. The sensor current flowing through the respective sensor element can thus be modulated by information about the detected measurand and transmitted to the corresponding evaluation and control unit, where it can be converted into a voltage signal representative of the corresponding measurement information. Furthermore, the individual evaluation and control units can supply, for example, "speed pulses" representative of the actual measurement information as voltage signals in real time to other control devices via point-to-point connections of at least one evaluation and control unit in each case. The evaluation and control unit can have several interfaces configured as part of the evaluation and control unit. However, the interfaces can also be separate integrated circuits or at least partly consist of discrete components.

[0013] The sensor arrangement for vehicles according to the independent claim 1 can be advantageously improved by the measures and developments specified in the dependent claims.

[0014] Particularly advantageously, the control devices may each comprise at least one calculation unit. In this case, the individual evaluation and control units can transmit processed output signals to at least one calculation unit of the corresponding control device. Furthermore, the processed output signals may contain additional measurement information, such as, for example, rotation direction information, air gap information, temperature information, pressure information, etc., and can be transmitted from the individual evaluation and control units to the corresponding calculation unit. The individual calculation units can evaluate the processed output signals in order to perform at least one corresponding braking function of the vehicle.

[0015] In an advantageous embodiment of the sensor device, the at least one physical quantity can represent a movement-dependent measured quantity and / or another measured quantity of the corresponding wheel. The movement-dependent measured quantity can represent the number of rotations and / or the rotation speed and / or the rotation direction. The at least one other measured quantity of the corresponding wheel can represent, for example, the temperature and / or the tire pressure.

[0016] In a further advantageous embodiment of the sensor arrangement, the computing unit can generate measurement data for each individual wheel on the basis of the processed output signals and supply them to a data bus for distribution in the vehicle. The data bus can be, for example, a CAN bus system or Ethernet or Flexray. Of course, other suitable networks or combinations of the above-mentioned in-vehicle networks can also be used to distribute the measurement data.

[0017] In a further advantageous embodiment of the sensor arrangement, each of the two sensor elements at the brakeable wheels of the second axle can be integrated into a double sensor. Each of the individual sensor elements at the brakeable wheels of the first axle can be configured as a standard rotational speed detector. The partial configuration of the sensor elements as standard rotational speed detectors allows a cost-effective implementation of the sensor arrangement according to the invention.

[0018] In a further advantageous embodiment of the sensor device, a first control device of the at least two control devices may comprise a first evaluation and control unit. A second control device of the at least two control devices may comprise a second evaluation and control unit and a third evaluation and control unit. In this case, the first evaluation and control unit may be associated with a brakeable wheel of the second axle. The second evaluation and control unit may be associated with a brakeable wheel of the second axle and with a first brakeable wheel of the first axle. The third evaluation and control unit may be associated with a second brakeable wheel of the first axle.

[0019] In a further advantageous embodiment of the sensor arrangement, a second evaluation and control unit associated with a first brakeable wheel of the first axle and a third evaluation and control unit associated with a second brakeable wheel of the first axle can each transmit received output signals of the corresponding sensor elements to the first evaluation and control unit.

[0020] In a further advantageous embodiment of the sensor arrangement, the control device can each have a redundant energy supply, so that the evaluation and transmission of the output signals and the corresponding vehicle functions can still be carried out in the event of a failure of one of the energy supplies.

[0021] In a further preferred embodiment of the sensor device, the first control device can be configured as a primary control device and can drive an ESP system or an ESP system with a vacuum-independent electrohydraulic brake booster. The second control device can be configured as a secondary control device and can drive a vacuum-independent electrohydraulic brake booster or a redundant brake unit. The at least one further control device can be a drive control device configured to drive an inverter of an electric drive of the vehicle or can be a central control device configured to calculate a movement trajectory.

[0022] In an embodiment of the sensor arrangement and in an embodiment of a multi-path brake system with such a sensor arrangement, in an error case where one of the evaluation and control units fails, the output signals of at least three sensor elements and the processed output signals are still available for evaluation in the two control devices. In particular, if the first evaluation and control unit fails, the calculation unit of the first control device is not provided with a processed output signal, while the second control device is still provided with the output signals of four sensor elements at four brakeable wheels and the processed output signals. If the second evaluation and control unit fails, the calculation unit of the second control device is only provided with one processed output signal, while the first control device is still provided with the output signals of three sensor elements at three brakeable wheels and the processed output signals. If the third evaluation and control unit fails, the first control device is still provided with the output signals of three sensor elements at three brakeable wheels and the processed output signals, while the calculation unit of the second control device is provided with three processed output signals. In the event of a failure of one of the calculation units in one of the control devices, the output signals and the processed output signals of the four brakeable wheels are still available for evaluation in the other of the two control devices. In the event of a failure of one of the four sensor elements at the wheels of the first axle, the output signals and the processed output signals of the four brakeable wheels are still available for evaluation in one of the two control devices, and only the output signals and the processed output signals of the three brakeable wheels are available for evaluation in the other control device. In the event of a failure of one of the two sensor elements at the wheels of the second axle, only the output signals and the processed output signals of the three brakeable wheels are still supplied to the two control devices for evaluation.

[0023] Exemplary embodiments of the invention are illustrated in the drawings and explained in more detail in the following description, in which identical reference signs refer to components or elements performing the same or similar functions. [Brief description of the drawings]

[0024] [Figure 1] 1 is a schematic block diagram of one embodiment of a sensor device for a vehicle according to the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] EMBODIMENTS OF THE PRESENTINVENTION As can be seen from FIG. 1, the illustrated embodiment of a sensor device 1 for a vehicle according to the present invention comprises at least two control devices ECU1, ECU2 each comprising at least one evaluation and control unit 10, 10A, 10B, 10C, and a plurality of sensor elements DF1, DF2, DF3, DF4, DF5, DF6, each of which is associated with one brakeable wheel VL, VR, HL, HR and with one of the evaluation and control units 10A, 10B, 10C of the control devices ECU1, ECU2, and is configured to detect at least one physical quantity of the corresponding wheel VL, VR, HL, HR and to output it directly to the corresponding evaluation and control unit 10A, 10B, 10C as output signals ASVL, ASVR, ASHL1, ASHR1, ASHL2, ASHR2. The control devices ECU1, ECU2 perform at least one braking function of the vehicle 1 based on the detected physical quantities of the brakeable wheels VL, VR, HL, HR, whereby at least one sensor element DF1, DF2 is arranged at the brakeable wheels VL, VR of the first axle VA, output signals ASVL, ASVR of these sensor elements DF1, DF2 being output to different evaluation and control units 10B, 10C arranged in one common control device ECU2, and at least two sensor elements DF3, DF5; DF4, DF6 are arranged at the brakeable wheels HL, HR of the second axle HA, output signals ASHL1, ASHL2, ASHR1, ASHR2 of these two sensor elements DF3, DF5; DF4, DF6 being output to different evaluation and control units 10A, 10B arranged in the control devices ECU1, ECU2. The evaluation and control unit 10B, 10C associated with the first axle VA outputs the received output signals ASVL, ASVR, respectively, to at least one evaluation and control unit 10A of the other control unit ECU1, so that each individual control unit ECU1, ECU2 receives at least one corresponding detected physical quantity from all brakeable wheels VL, VR, HL, HR, respectively.

[0026] As can further be seen from FIG. 1, the individual sensor elements DF1, DF2 at the brakeable wheels VL, VR of the first axle VA, which in this example is the front axle, are each configured as a standard rotational speed detector. In this case, the first sensor element DF1 is associated with the first wheel VR of the first axle VA, and the second sensor element DF2 is associated with the second wheel VL of the first axle VA. The two sensor elements DF3, DF5; DF4, DF6 at the brakeable wheels HL, HR of the second axle HA are each combined into one double sensor DDF1, DDF2. In this case, the two sensor elements DF3, DF5 of the first double sensor DDF1 are associated with the first wheel HL of the second axle HA, which in this example is the rear axle HA. The two sensor elements DF4, DF6 of the second double sensor DDF2 are associated with the second wheel HR of the second axle HA.

[0027] As can further be seen from Fig. 1, in the illustrated embodiment, the first control unit ECU1 comprises a first evaluation and control unit 10A, and the second control unit ECU2 comprises a second evaluation and control unit 10B and a third evaluation and control unit 10C. In this case, the first evaluation and control unit 10A is associated with the brakeable wheels HL, HR of the second axle HA. The second evaluation and control unit 10B is associated with the brakeable wheels HL, HR of the second axle HA and with the first brakeable wheel VR of the first axle VA. The third evaluation and control unit 10C is associated with the second brakeable wheel VL of the first axle VA.

[0028] As can be further seen from Fig. 1, the first sensor element DF3 of the first double sensor DDF1 is associated with the first evaluation and control unit 10A of the first control unit ECU1, and the second sensor element DF5 of the first double sensor DDF1 is associated with the second evaluation and control unit 10B of the second control unit ECU2. Furthermore, the first sensor element DF4 of the second double sensor DDF2 is associated with the first evaluation and control unit 10A of the first control unit ECU1, and the second sensor element DF6 of the second double sensor DDF2 is associated with the second evaluation and control unit 10B of the second control unit ECU2. Furthermore, the first sensor element DF1 of the first wheel VR of the first axle VA is associated with the second evaluation and control unit 10B of the second control unit ECU2, and the second sensor element DF2 of the second wheel VL of the first axle VA is associated with the third evaluation and control unit 10C of the second control unit ECU2. The second evaluation and control unit 10B, which is associated with the first brakeable wheel VR of the first axle VA, and the third evaluation and control unit 10C, which is associated with the second brakeable wheel VL of the first axle VA, transmit the received output signals ASVR, ASVL of the corresponding sensor elements DF1, DF2 to the first evaluation and control unit 10A. Thus, the first evaluation and control unit 10A of the first control device ECU1 directly receives the at least one detected physical quantity of the first wheel HL of the second axle HA as an output signal ASHL1 of the corresponding first sensor element DF3 of the first double sensor DDF1 and directly receives the at least one detected physical quantity of the second wheel HR of the second axle HA as an output signal ASHR1 of the corresponding first sensor element DF4 of the second double sensor DDF2.Furthermore, the first evaluation and control unit 10A of the first control device ECU1 indirectly receives at least one detected physical quantity of the first wheel VR of the first axle VA as an output signal ASVR of a corresponding first sensor element DF1 via a second evaluation and control unit 10B of the second control device ECU2, and indirectly receives at least one detected physical quantity of the second wheel VL of the first axle VA as an output signal ASVL of a corresponding second sensor element DF2 via a third evaluation and control unit 10C of the second control device ECU2. The second evaluation and control unit 10B of the second control device ECU2 directly receives the at least one detected physical quantity of the first wheel HL of the second axle HA as an output signal ASHL2 of the corresponding second sensor element DF5 of the first double sensor DDF1, directly receives the at least one detected physical quantity of the second wheel HR of the second axle HA as an output signal ASHR2 of the corresponding second sensor element DF6 of the second double sensor DDF2, and directly receives the at least one detected physical quantity of the first wheel VR of the first axle VA as an output signal ASVR of the corresponding first sensor element DF1. The third evaluation and control unit 10C of the second control device ECU2 directly receives the at least one detected physical quantity of the second wheel VL of the first axle VA as an output signal ASVL of the corresponding second sensor element DF2.

[0029] As can further be seen from Fig. 1, the two control units ECU1, ECU2 in the illustrated embodiment each comprise one computing unit 3, 3A, 3B, with the first control unit ECU1 comprising a first computing unit 3A and the second control unit ECU2 comprising a second computing unit 3B. Furthermore, the two control units ECU1, ECU2 each have one redundant energy supply, not shown.

[0030] In the illustrated embodiment, the first evaluation and control unit 10A of the first control device ECU1 processes output signals ASHL1, ASHR1, ASVR, ASVL of the first sensor element DF3 of the first double sensor DDF1, the first sensor element DF4 of the second double sensor DDF2, the first sensor element DF1, and the second sensor element DF2, and outputs processed output signals AASHL1, AASHR1, AASVR, AASVL to the first calculation unit 3A of the first control device ECU1. The second evaluation and control unit 10B of the second control unit ECU2 processes the output signals ASHL2, ASHR2, ASVR of the second sensor element DF5 of the first double sensor DDF1, the second sensor element DF6 of the second double sensor DDF2 and the first sensor element DF1 and outputs processed output signals AASHL2, AASHR2, AASVR to the second calculation unit 3B of the second control unit ECU2. The third evaluation and control unit 10C of the second control unit ECU2 processes the output signal ASVL of the second sensor element DF2 and outputs a processed output signal AASVL to the second calculation unit 3B of the second control unit ECU2. The two calculation units 3A, 3B evaluate the processed output signals AASHL1, AASHL2, AASHR1, AASHR2, AASVR, AASVL in order to implement at least one corresponding braking function of the vehicle. In the embodiment shown, the calculation units 3A, 3B generate measurement data for the individual wheels VL, VR, HL, HR, respectively, based on the processed output signals AASVL, AASVR, AASHL1, AASHL2, AASHR1, AASHR2 and supply them to a data bus 5 for distribution within the vehicle.

[0031] Of course, a different assignment of the individual sensor elements DF1, DF2, DF3, DF4, DF5, DF6 to the illustrated assignment is also possible. Thus, for example, two double sensors DDF1, DDF2 can be assigned to the wheels VR, VL of the first axle VA, and a standard rotation speed detector can be assigned to the wheels HR, HL of the second axle HA. Furthermore, in a non-illustrated alternative embodiment of the sensor arrangement 1, the evaluation and control unit 10A, 10B, 10C can additionally transmit the received output signals ASVL, ASVR, ASHL1, ASHR1, ASHL2, ASHR2 of the corresponding sensor elements DE1, DF2, DF3, DF4, DF5, DF6 to at least one further control device, not shown. The at least one further control device is, for example, a drive control device arranged to drive an inverter of an electric drive of the vehicle 1 or a central control device arranged to calculate the movement trajectory.

[0032] The sensor elements DF1, DF2, DF3, DF4, DF5, DF6 each detect at least one physical quantity which represents a motion-dependent measured quantity and / or other measured quantities of the corresponding wheel VR, VL, HL, HR. In the illustrated embodiment, the at least one motion-dependent measured quantity represents the number of rotations and the direction of rotation. Of course, the detected physical quantity can also represent other motion-dependent measured quantities, such as, for example, the rotational speed. The at least one other measured quantity of the corresponding wheel VR, VL, HL, HR represents, in the illustrated embodiment, the temperature around the sensor elements DF1, DF2, DF3, DF4, DF5, DF6. Of course, the detected physical quantity can also represent other measured quantities, such as, for example, the tire pressure or the air gap information.

[0033] The above-described embodiment of the sensor device 1 for a vehicle according to the invention, detecting at least one physical quantity of the wheels VR, VL, HL, HR, is preferably used in a multi-path brake system, in particular for highly automated or autonomous vehicles. Such a multi-path brake system comprises a number of wheel brakes (not shown), which are respectively arranged on the wheels VR, VL, HL, HR, a primary control device PSG, which performs at least one braking function of the vehicle on the basis of the detected at least one physical quantity of the wheels VR, VL, HL, HR, and a secondary control device SSG, which performs at least one braking function of the vehicle on the basis of the detected at least one physical quantity of the wheels VR, VL, HL, HR. In this case, the first control device ECU1 is configured as the primary control device PSG and the second control device ECU2 is configured as the secondary control device SSG.

[0034] In this case, the primary control device PSG can drive an ESP system or an ESP system with a vacuum-independent electrohydraulic brake booster or an integrated brake system (IPB), and the secondary control device SSG can drive a vacuum-independent electrohydraulic brake booster or a redundant brake unit.

[0035] The primary control device PSG and the secondary control device SSG receive in real time the output signals ASVL, ASVR, ASHL1, ASHR1, ASHL2, ASHR2 of the corresponding sensor elements DF1, DF2, DF3, DF4, DF5, DF6 for further evaluation and for carrying out the corresponding braking functions or for carrying out the primary stabilization of the vehicle or, in an emergency in case of failure of the primary stabilization, the secondary stabilization of the vehicle. To carry out the corresponding braking functions and the primary stabilization of the vehicle, the primary control device PSG can drive corresponding known primary actuators, not shown in detail, via which the brake system can carry out pressure build-up or pressure reduction at the wheel brakes and carry out corresponding control and / or regulation processes. To carry out the corresponding braking functions and the secondary stabilization of the vehicle, the secondary control device SSG can drive corresponding known secondary actuators, not shown in detail, via which the brake system can carry out pressure build-up or pressure reduction at the wheel brakes and carry out corresponding control and / or regulation processes. To implement the parking brake function, at least one of the two control units ECU1, ECU2 is electrically connected via an electrical connection to a corresponding actuator of an electric parking brake, not shown in detail. Preferably, the actuator of the parking brake function is arranged on the second axle HA or on the wheels HL, HR of the rear axle. In an alternative embodiment of the sensor device 1, not shown, the actuator of the electric parking brake is additionally or alternatively arranged on the first axle VA or on the wheels VR, VL of the front axle.

Claims

1. A sensor device (1) for a vehicle, comprising: The sensor device (1) comprises: at least two control devices (ECU1, ECU2) each including at least one evaluation and control unit (10, 10A, 10B, 10C); A plurality of sensor elements (DF1, DF2, DF3, DF4, DF5, DF6); having The plurality of sensor elements (DF1, DF2, DF3, DF4, DF5, DF6) are each associated with one brakeable wheel (VL, VR, HL, HR) and with one of the evaluation and control units (10A, 10B, 10C) of the control device (ECU1, ECU2), a wheel evaluation and control unit (10A, 10B, 10C) configured to detect at least one physical quantity of the corresponding wheel (VL, VR, HL, HR) and output the detected physical quantity directly to the corresponding evaluation and control unit (10A, 10B, 10C) as an output signal (ASVL, ASVR, ASHL1, ASHR1, ASHL2, ASHR2); the control devices (ECU1, ECU2) are each configured to perform at least one braking function of the vehicle (1) based on the detected physical quantities of the brakeable wheels (VL, VR, HL, HR), a sensor element (DF1, DF2) is arranged at each of the brakeable wheels (VL, VR) of at least a first axle (VA), the output signals (ASVL, ASVR) of the sensor elements (DF1, DF2) being output to different evaluation and control units (10B, 10C) arranged in a common control unit (ECU2), at least at the brakeable wheels (VL, VR) of the second axle (HA) two sensor elements (DF3, DF5; DF4, DF6) are arranged in each case, and output signals (ASHL1, ASHL2, ASHR1, ASHR2) of the two sensor elements (DF3, DF5; DF4, DF6) are output to evaluation and control units (10A, 10B) arranged in different control devices (ECU1, ECU2), the evaluation and control unit (10B, 10C) associated with the first axle (VA) is configured to output the received output signal (ASVL, ASVR) to at least one evaluation and control unit (10A) of another control device (ECU1); Thereby, each of the control devices (ECU1, ECU2) receives the corresponding detected at least one physical quantity from each of all brakeable wheels (VL, VR, HL, HR). Sensor device (1).

2. The control devices (ECU1, ECU2) each include at least one calculation unit (3, 3A, 3B), each said evaluation and control unit (10A, 10B, 10C) is further configured to transmit a processed output signal (AASVL, AASVR, AASHL1, AASHL2, AASHR1, AASHR2) to said at least one calculation unit (3, 3A, 3B) of the corresponding control device (ECU1, ECU2), Each of the calculation units (3A, 3B) is configured to evaluate the processed output signals (AASVL, AASVR, AASHL1, AASHL2, AASHR1, AASHR2) in order to implement at least one corresponding braking function of the vehicle. A sensor device (1) according to claim 1.

3. the at least one physical quantity represents a motion-dependent measurement quantity and / or another measurement quantity of the corresponding wheel (VL, VR, HL, HR); A sensor device (1) according to claim 1 or 2.

4. The at least one motion-dependent measurand represents the number of rotations and / or the rotation speed and / or the direction of rotation. Sensor device (1) according to claim 3.

5. said calculation units (3, 3A, 3B) generate measurement data for each individual wheel (VL, VR, HL, HR) based on said processed output signals (AASVL, AASVR, AASHL1, AASHL2, AASHR1, AASHR2) and supply said measurement data to a data bus (5) for distribution within the vehicle; The sensor device (1) according to claim 2.

6. the two sensor elements (DF3, DF5; DF4, DF6) at the brakeable wheels (HL, HR) of the second axle (HA) are each combined into one double sensor (DDF1, DDF2), the individual sensor elements (DF1, DF2) at the brakeable wheels (VL, VR) of the first axle (VA) are each configured as standard rotation speed detectors, A sensor device (1) according to any one of the preceding claims.

7. A first control device (ECU1) of the at least two control devices (ECU1, ECU2) includes a first evaluation and control unit (10A), The second control device (ECU2) of the at least two control devices (ECU1, ECU2) includes a second evaluation and control unit (10B) and a third evaluation and control unit (10C). A sensor device (1) according to any one of the preceding claims.

8. the first evaluation and control unit (10A) is associated with the brakeable wheels (HL, HR) of the second axle (HA), the second evaluation and control unit (10B) is associated with the brakeable wheels (HL, HR) of the second axle (HA) and with the first brakeable wheel (VR) of the first axle (VA), the third evaluation and control unit (10C) is associated with a second brakeable wheel (VL) of the first axle (VA); Sensor device (1) according to claim 7.

9. the second evaluation and control unit (10B) associated with the first brakeable wheel (VR) of the first axle (VA) and the third evaluation and control unit (10C) associated with the second brakeable wheel (VL) of the first axle (VA) transmit the received output signals (ASVR, ASVL) of the corresponding sensor elements (DF1, DF2) to the first evaluation and control unit (10A); Sensor device (1) according to claim 8.

10. the evaluation and control units (10A, 10B, 10C) of the two control units (ECU1, ECU2) transmit the received output signals (ASVL, ASVR, ASHL1, ASHR1, ASHL2, ASHR2) of the corresponding sensor elements (DF1, DF2, DF3, DF4, DF5, DF6) to at least one further control unit, Sensor device (1) according to any one of claims 7 to 9.

11. The control devices (ECU1, ECU2) each have one redundant energy supply unit. Sensor device (1) according to any one of the preceding claims.

12. The first control unit (ECU1) is configured as a primary control unit (PSG) and drives an ESP system or an ESP system with a vacuum-independent electrohydraulic brake booster. Sensor device (1) according to any one of claims 7 to 10.

13. The second control unit (ECU2) is configured as a secondary control unit (SSG) and drives a vacuum-independent electrohydraulic brake booster or a redundant brake unit. Sensor device (1) according to any one of claims 7 to 10 or claim 12.

14. the at least one further control device being a drive control device configured to drive an inverter of an electric drive of the vehicle (1) or a central control device configured to calculate a movement trajectory, Sensor device (1) according to claim 10.

15. A multi-path braking system, in particular for a highly automated or autonomous vehicle, comprising: A plurality of wheel brakes arranged on the wheels (VL, VR, HL, HR); A sensor device (1) for detecting at least one physical quantity of the wheels (VL, VR, HL, HR); a primary control unit (PSG) for implementing at least one braking function of the vehicle based on the detected at least one physical quantity of the wheels (VL, VR, HL, HR); a secondary control device (SSG) for implementing at least one braking function of the vehicle based on the detected at least one physical quantity of the wheels (VL, VR, HL, HR); In a multi-system brake system having The sensor device (1) is configured as a sensor device (1) according to any one of claims 1 to 14. A multi-system brake system.

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