Method, controller, and brake system for detecting loss of ground connection

Abstract

The present invention relates to a method for detecting a loss of ground connection in a controller (101) for a vehicle, the controller (101) having a first unit (103) and a second unit (105), the first unit (103) and / or the second unit (105) comprising a microcontroller (107, 109), the first unit (103) being connected to a first ground terminal (115) by a first ground wire (111) and the second unit being connected to a second ground terminal (117) by a second ground wire (119), the controller (101) comprising a single ground loss detection resistor (113) located in the first ground wire (111) or the second ground wire (119). The method includes checking a current in the first ground wire (111) and / or the second ground wire (119) and evaluating the measured current using a microcontroller (107, 109) to determine if a loss of connection has occurred in one of the ground terminals (115, 117). The present invention additionally relates to a controller and a braking system for a vehicle.

Description

[Technical Field]

[0001] The present invention relates to a method for detecting a loss of a ground connection, in particular a loss of a ground connection in a redundant ground connection, a controller for a vehicle, and a braking system for a vehicle, according to the preambles of the independent claims. [Background technology]

[0002] Conventional circuits for ground loss detection (GLD), particularly in controllers for vehicle braking systems, use two resistors to measure current, particularly operating current. To detect abnormalities in the redundant ground wire connections between the controller and the vehicle body, one resistor is placed in each ground wire. Such a circuit is described, for example, in German Patent Application Publication No. 112016002693T5.

[0003] Figure 1 shows an equivalent circuit diagram of a double or redundant ground connection with one mesh and two nodes. The mesh calculation is independent of the number of printed circuit boards used. Conventional controllers use two printed circuit boards, one for the actuator and one for the modulator. The two ground planes on each printed circuit board are connected via a cross connection, represented by a resistor Rcc.

[0004] In this case, current Ip represents the current flowing from the actuator to the node on the left. Ivs represents the current flowing from the modulator to the node on the right. The two currents I1 and I2 represent the currents flowing outward toward the vehicle body through the series circuit consisting of the shunt, contact system, and ground wire. For clarity, these three individual resistors have been grouped together as resistors R1 and R2.

[0005] The shunt (resistor) used to measure the current has the smallest contribution to the total resistance. In the event of a ground interruption, the contribution of the line resistance to the total resistance becomes dominant, which is infinitely large, and current cannot flow through this ground path.

[0006] A ground interruption is detected based on zero current in the respective ground wire to the vehicle body. Under normal conditions, current flowing through the ground wire towards the vehicle body causes a voltage drop across the series-connected shunt. This voltage drop is amplified and made available to the microcontroller for evaluation in digital form. The software then recalculates the voltage drop back into a current. If this current is measured as zero, all current flows to the vehicle body via the second ground path.

[0007] If the ground, especially the actuator ground wire, is interrupted, resistor R2 will have a higher resistance (infinity). Therefore, I2 is zero. Therefore, the current Ip flowing into the left node must flow through Rcc to the right node and from there through R1 to the body. This also applies in reverse. If the modulator ground is interrupted, resistor R1 will have a higher resistance (infinity). The current Ivs will flow from the right node through the cross-connection Rcc to the left node and from there through R2 to the body. As long as the ground connection is present, at least the logic parts of the actuator and modulator can remain functional. That is, the actuator and modulator can detect the interruption of the associated ground wire by measuring a "zero" current.

[0008] To successfully detect a ground loss, the two currents must be measured synchronously during the application of the test pulse. To do this, the operating current must be split between both ground wires. The disadvantage of conventional solutions is that the individual components entail a relatively high cost and take up space on the printed circuit board. The evaluation process also requires complex calculations in software. Application-specific parameter adaptations are usually required.

[0009] Another circuit arrangement is described in DE 19836734 A1, which uses an example of a method for testing the function of an ignition circuit of an occupant protection system. However, the proposed circuit arrangement only has one ground wire, and a second ground wire serves as a reference for the first ground wire. The second ground emulates the maximum resistance of the first ground wire's substrate, which can be implemented to trigger only the igniter. If a fault occurs in the first ground wire, current is diverted to the auxiliary ground. The substrate resistance results in a potential rise that can be evaluated by a comparator. Therefore, a redundant ground connection is not available, which can lead to the fact that the function of the circuit arrangement cannot be guaranteed, for example, if a fault occurs in the first ground wire. Summary of the Invention [Problem to be solved by the invention]

[0010] It is therefore an object of the present invention to improve detection of ground loss, in particular to reduce costs and save space on printed circuit boards.

[0011] Here, even if the ground line fails, the functionality of the circuit arrangement should be maintained as much as possible.

[0012] It would therefore be advantageous if a connected controller could continue to operate in the event of a failure or defect in a ground line, such as the first ground line. [Means for solving the problem]

[0013] The above object is achieved by the independent claims.

[0014] The present invention relates to a method for detecting a loss of a ground connection, particularly a loss of a ground connection in a redundant ground connection, in a controller for a vehicle, the controller having a first unit and a second unit, the first unit and / or the second unit comprising a microcontroller, the first unit being connected to a first ground terminal by a first ground wire, and the second unit being connected to a second ground terminal by a second ground wire; The controller includes a single ground loss detection resistor disposed in the first ground line or the second ground line, and performs the following steps: - determining a current in the first ground wire and / or the second ground wire; - evaluating the measured current by the microcontroller to determine whether a loss of connection has occurred at one of the ground terminals; This paper presents a method for performing the above.

[0015] A single ground loss detection resistor means there is only one ground loss detection resistor, and no others. Therefore, the present invention only requires a single ground loss detection resistor (shunt) to identify a ground loss. This eliminates the cost of a second shunt and frees up space on the printed circuit board for other components.

[0016] According to a preferred embodiment of the present invention, the first unit of the controller comprises a first printed circuit board, and the second unit comprises a second printed circuit board. Thus, a controller within the meaning of the present invention may comprise a first unit having a first printed circuit board and a second unit having a second printed circuit board. Thus, the two printed circuit boards may be structurally separated from each other, but this does not exclude the fact that the two printed circuit boards may be connected to each other by other components or electrical wiring.

[0017] Thus, both units may comprise two different printed circuit boards, which may be associated with a single controller. The first printed circuit board may then be connected to a first ground terminal by a first ground wire, and the second printed circuit board may then be connected to a second ground terminal by a second ground wire. Thus, the controller may have two physically separated external ground wires relative to the vehicle body.

[0018] According to a preferred embodiment of the present invention, the first and second ground wires may be connected to each other via a cross-connection ("interconnection"), which allows current to flow in reverse, particularly in the event of a ground interruption.

[0019] During operation of the controller, the operating current is thus split between both ground wires, which corresponds to normal operating behavior. A test current, as required, for example, in the circuit arrangement of DE 19836734 A1, is not required. In other words, the present invention can be used to detect ground interruptions under normal operating conditions and using only the operating current. As soon as there is a defect, such as a break, in the first or second ground wire, this defect can be detected in the manner described in the present invention. In particular, if a ground interruption occurs in the first ground wire, no potential rises.

[0020] The present invention offers the advantage of a redundant ground connection, which allows the controller or corresponding functions to be maintained even in the event of a failure or defect of a ground line, such as the first ground line, which is very advantageous, particularly with regard to braking systems. This is not the case with the circuit arrangement of DE 19836734 A1, since the function cannot be activated if the main ground line is defective.

[0021] In a preferred development of the invention, the evaluating microcontroller and the ground loss detection resistor are arranged on a second unit, i.e. on a second printed circuit board, which makes it simple and cost-effective to carry out the evaluation process.

[0022] In a preferred development of the invention, two current thresholds are defined, the current in the second ground wire is measured, and a loss of connection via the second ground wire is identified by the fact that the current falls below the first current threshold, and a loss of connection via the first ground wire is identified by the fact that the current exceeds the second current threshold.

[0023] Alternatively, preferably, the current in the first ground wire is measured and a loss of connection through the first ground wire is identified by the fact that the current falls below a first current threshold, and a loss of connection through the second ground wire is identified by the fact that the current rises above a second current threshold.

[0024] In a preferred development of the invention, the minimum current level required for the evaluation is selected depending on the offset error of the analog-to-digital converter. Particularly preferably, the minimum current is selected to be higher the greater the offset error. In a preferred development of the invention, the resistance of the ground loss detection resistor is corrected depending on the ambient temperature.

[0025] In a preferred embodiment of the invention, the nominal resistance of the ground loss detection resistor is compensated for the tolerances of the printed circuit board. By compensating and selecting the minimum required current level, more accurate results are advantageously obtained in evaluating the signal and thus in identifying the ground interruption.

[0026] In a preferred development of the invention, the measured current is processed as a root-mean-square value. The root-mean-square value may also be called a "true RMS variable" here. This development allows for maximum quality processing of useful signals. In addition, for certain control functions (e.g., ABS), no additional software algorithms for the purpose of concealment need to be implemented.

[0027] The above object is also achieved by a controller for a vehicle, the controller having a first unit and a second unit, the first unit and / or the second unit comprising a microcontroller, the first unit being connected to a ground terminal by a first ground wire and the second unit being connected to the ground terminal by a second ground wire, the controller comprising a single ground loss detection resistor disposed in the first ground wire or the second ground wire, and the controller being designed such that the microcontroller can detect whether a loss of connection has occurred at one of the ground terminals by measuring the current in the first ground wire and / or the second ground wire.

[0028] In one development of the invention, the ground loss detection resistor is in the form of a printed circuit board resistor, i.e. the shunt is not mounted as a component on the printed circuit board but is realized with the help of copper, which reduces additional costs.

[0029] The above object is also achieved by a braking system for a vehicle, comprising the above controller.

[0030] Further preferred embodiments result from the dependent claims and the following description of exemplary embodiments on the basis of the drawings. [Brief explanation of the drawings]

[0031] [Figure 1] 1 shows a circuit for detecting loss of ground (prior art). [Figure 2] 1 shows a schematic diagram of a controller according to the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0032] FIG. 1 is a diagram of a circuit 1 according to the prior art. The circuit comprises a first ground line 3 assigned to a first unit and a second ground line 5 assigned to a second unit. The first ground line 3 and the second ground line 5 are connected to each other via a cross connection 7. The first ground line 3 is connected to a first ground terminal 9, and the second ground line 5 is connected to a second ground terminal 11. A resistor 13 is disposed in the cross connection 7. Furthermore, a first shunt 15 is disposed within a resistor R2 in the first ground line 3, and a second shunt 17 is disposed within a resistor R1 in the second ground line 5. Each of the resistors R1 and R2 comprises a series circuit consisting of a shunt, a contact resistor, and a line resistor.

[0033] This conventional concept requires synchronization and test pulses, which are sufficiently large operating currents. Overall, this concept is expensive and takes up space on the printed circuit board due to the two shunts.

[0034] FIG. 2 shows an exemplary diagram according to the present invention. In FIG. 2, a schematic diagram of a controller 101 is shown, which includes a first unit 103 having a first printed circuit board and a second unit 105 having a second printed circuit board. The first unit 103 may be, for example, in the form of an actuator unit. The second unit 105 may be, for example, in the form of a modulator unit. A first microcontroller 107 is disposed in the first unit 103. A second microcontroller 109 is disposed in the second unit 105. A second ground line 119 is provided with a ground loss detection resistor 113 connected to a second ground terminal 117. The second ground terminal 117 is a connection to the vehicle body. A first ground terminal 115 is disposed in the first unit 103 on the first ground line 111, which also represents a connection to the vehicle body. The first unit 103 and the second unit 105 are connected to power sources 123 and 125, respectively. Here, the power sources 123, 125 may include various individual power sources. The controller 101 may also have a connector and be connected to the power sources 123, 125 via the connector. The same applies to the connection to ground, in which case the controller may also have a connector and be connected to ground (the body of the vehicle) via the connector.

[0035] When the ground, particularly the ground wires 111 and 119, is interrupted, the current flows to the other ground path (ground wires 111 and 119). Therefore, a "zero" current measured in one path is converted into a "maximum" current in the other ground path. This allows two limit values ​​to be detected in one ground path. In other words, a single ground loss detection resistor can be used to detect an interruption of one or the other ground wire. The first case is when the current is below the current threshold (zero current). The ground (ground terminals 115 and 117) of one assembly (first unit 103, second unit 105) is interrupted. The second case is when the current is above the current threshold (maximum current). The ground of the other assembly is interrupted. This means that the shunt of one assembly can be omitted.

[0036] In other words, if one of the two ground wires—for example, the first ground wire without a shunt—is defective, such as a break, current cannot be measured there because no current flows or there is no shunt in this ground wire. As a result of the break, all current flows only through the remaining ground, i.e., the second ground wire, via the shunt. Thus, zero current in the defective ground wire is converted into maximum current in the line with the shunt. As a result, the present invention can measure the actual current flowing, rather than just the potential rise of the board. In this case, the circuit arrangement of the present invention differs from evaluating the potential rise of the board resistance when the test current flows through the board. In this case, a quasi-digital signal is generated to detect the ground interruption.

[0037] In contrast, in the circuit arrangement according to the invention, the actual current flowing is measured in a quasi-analog manner, and conclusions can be drawn about the function of the redundant ground terminal via the measured current.

[0038] In one development of the invention, it is also considered to identify asymmetries in the current distribution, which makes it possible to predict the likelihood of a grounding conductor fault.

[0039] The evaluation of whether the ground terminals 115, 117 are interrupted or unavailable is preferably performed by the second microcontroller 109. This makes it possible to omit the first microcontroller 107. If there are several microcontrollers 107, 109, the evaluation is always performed by the microcontroller 107, 109 located in the unit 103, 105 in which the ground loss detection resistor 113 is also located. If the ground loss detection resistor 113 is housed in the second unit 105, for example (as shown in FIG. 2), the evaluation is performed by the microcontroller 109. Alternatively, the ground loss detection resistor 113 can be housed in the first unit 103. In this case, the microcontroller 107 preferably takes over the evaluation. In such a case, the evaluation can be performed simply and cost-effectively in terms of hardware requirements and individual process steps.

[0040] In the evaluation of ground interruption detection, it is preferable to take into account the fact that the current is narrowly permissible. Therefore, the current should be within a window, i.e., between a minimum and a maximum value, so that the GLD can be performed with minimal effort in the evaluation. The minimum current level required for the evaluation depends on the offset error of the analog-to-digital converter in this evaluation procedure. The larger the offset error, the higher the current during the evaluation. With a small offset error, continuous measurements are performed. To achieve a small offset error, the offset error can be corrected in software or an auto-zero function is built into the measurement chain.

[0041] The shunt or ground loss detection resistor is in the form of a printed circuit board shunt for cost reasons. The nominal resistance of the shunt is therefore dependent on the tolerances of the thickness of the printed circuit board layers and the number of layers used on the printed circuit board used. Depending on the shunt design, the tolerances can be up to several tens of percent.

[0042] On the other hand, the resistance of the shunt is affected by the ambient temperature, so to detect a ground interruption, the resistance is corrected in the controller using the known ambient temperature.

[0043] As another part of the implementation, the current is processed as a true RMS variable (Root Mean Square). This has the advantage that the maximum amount of useful signal can be processed. Therefore, further SW algorithm implementations to hide the evaluation for specific control functions of brake controllers such as ABS can be omitted.

[0044] The solution according to the invention with only one shunt has several advantages: - If an application consists of two chipsets with different measurement accuracy, the detection of ground loss can be moved to the chipset with the highest accuracy. - No need for complex calculations such as current ratios. - The implementation of the two printed circuit board design is much simpler than the detection of earth loss calculated based on current ratio (e.g. Mk100 or MkC1). - Synchronous measurement of both currents is no longer necessary. - The implementation uses a unit for current measurement implemented in the chipset.

[0045] The current through the shunt is represented by a voltage drop and can be measured using an ADC (analog-to-digital converter). The digital signal is then converted to a current.

[0046] The individual shunts can be located either in the first unit 103 or in the second unit 105. The criterion can be whether the printed circuit board of the first unit 103 or the printed circuit board of the second unit 105 has a better analog-to-digital converter for detecting ground loss. Here, it is preferable to select a low-current, high-precision ADC.

[0047] The measurement principle is as follows.

[0048] When both ground wires are in a normal state, the absolute current of the ECU is distributed approximately equally to both ground wires (I1 and I2), and the converted digital current value falls between the first and second thresholds.

[0049] If the ground wire R1 is interrupted, the digital current value I1 falls below the first current threshold, making it possible to detect a loss of ground on the ground wire R1.

[0050] If the ground wire R2 is interrupted, the digital current value I1 exceeds the second current threshold, allowing for detection of a loss of ground on the ground wire R2.

[0051] The ground loss detection resistor 113 is located in the controller 101 on one of the two printed circuit boards. It should be understood that the ground wires 111, 119 are (movable) cable connections between the attachment points on the vehicle body and the connectors of the controller. The ground loss detection resistor 113 is located in series with the ground wires 111, 119. Therefore, the statement "the controller 101 comprises a single ground loss detection resistor 113 located on the first ground wire 111 or the second ground wire 119" should be understood as above.

[0052] A loss of connection at one of the ground terminals 115, 117 may be, for example, a broken ground wire or even a bad connection at the controller connector. The present invention may also include the following aspects: 1. A method for detecting a loss of a ground connection, in particular a loss of a ground connection in a redundant ground connection, in a controller (101) for a vehicle, the controller (101) having a first unit (103) and a second unit (105), the first unit (103) and / or the second unit (105) comprising a microcontroller (107, 109), the first unit (103) being connected to a first ground terminal (115) by a first ground wire (111) and the second unit (105) being connected to a second ground terminal (117) by a second ground wire (119), The controller (101) comprises a single ground loss detection resistor (113) disposed in the first ground line (111) or the second ground line (119), and performs the following steps: determining a current in the first ground line (111) and / or the second ground line (119); evaluating the measured current by said microcontroller (107, 109) to determine if said loss of connection has occurred at one of said ground terminals (115, 117); A method characterized in that: 2. The method according to claim 1, wherein the evaluating microcontroller (107, 109) and the ground loss detection resistor (113) are located in the second unit. 3. The method according to claim 1 or 2, characterized in that, particularly as a component of or within the controller (101), the first unit (103) comprises a first printed circuit board, the second unit (105) comprises a second printed circuit board, the first printed circuit board being connected to the first ground terminal (115) by the first ground wire (111), and the second printed circuit board being connected to the second ground terminal (117) by the second ground wire (119). 4. A method according to any one of the above items 1 to 3, characterized in that the interruption of the earth can be detected under normal operating conditions and / or purely using the operating current, in particular without using a test current. 5. The method according to any one of 1. to 4. above, characterized in that the actual current flowing is measured. 6. Two current thresholds are defined, and the loss of the connection through the first ground wire (111) is identified by the fact that the current exceeds the second current threshold; 6. The method according to any one of 1. to 5. above, characterized in that the loss of the connection via the second ground wire (119) is identified by the fact that the current falls below a first current threshold. 7. A method according to any one of items 1 to 6 above, characterized in that the minimum required current level for the evaluation is selected according to the offset error of the analog-to-digital converter. 8. The method according to claim 7, wherein the minimum current is selected to be larger the greater the offset error. 9. The method according to any one of the above items 1 to 8, wherein the resistance value of the ground loss detection resistor (113) is corrected according to the ambient temperature. 10. A method according to any one of 1. to 9. above, characterized in that the nominal resistance of the ground loss detection resistor is compensated for by the tolerance of the printed circuit board. 11. A controller for a vehicle, the controller (101) having a first unit (103) and a second unit (105), the first unit (103) and / or the second unit (105) comprising a microcontroller (107, 109), the first unit (103) being connected to a first ground terminal (115) by a first ground wire (111), and the second unit (105) being connected to a second ground terminal (117) by a second ground wire (119), 1. A controller comprising: a single ground loss detection resistor (113) disposed in the first ground wire (111) or the second ground wire (119); and wherein the controller (101) is designed such that the microcontroller (107, 109) can detect whether the loss of connection has occurred in one of the ground terminals (115, 117) by measuring the current in the first ground wire (111) or the second ground wire (119). 12. The controller of claim 11, wherein the ground loss detection resistor is in the form of a printed circuit board resistor. 13. A brake system for a vehicle having the controller described in 11 or 12 above. [Explanation of symbols]

[0053] 1 circuit 3 First ground wire 5 Second ground wire 7 Cross Connection 9 First ground terminal 11 Second ground terminal 13 Resistors in Cross Connections 15 First shunt 17 Second shunt R1 resistor R2 resistor 101 Controller 103 First Unit 105 Second Unit 107 The First Microcontroller 109 Second Microcontroller 111 First ground wire 113 Ground Loss Detection Resistor 115 First ground terminal 117 Second ground terminal 119 Second Ground Wire 123 Power Supply (1st Unit) 125 Power Supply (Second Unit)

Claims

1. 1. A method for detecting a loss of a ground connection, in particular a loss of a ground connection in a redundant ground connection, in a controller (101) for a vehicle, the controller (101) having a first unit (103) and a second unit (105), the first unit (103) and / or the second unit (105) comprising a microcontroller (107, 109), the first unit (103) being connected to a first ground terminal (115) by a first ground wire (111), and the second unit (105) being connected to a second ground terminal (117) by a second ground wire (119), The controller (101) comprises a single ground loss detection resistor (113) disposed on the first ground line (111) or the second ground line (119), and performs the following steps: checking the current in the first ground line (111) and / or the second ground line (119); evaluating the measured current by said microcontroller (107, 109) to determine if said loss of connection has occurred on one of said ground terminals (115, 117); is carried out, and A method, characterized in that the minimum required current level for the evaluation is selected according to an offset error of an analog-to-digital converter.

2. 2. The method of claim 1, wherein the evaluating microcontroller (107, 109) and the ground loss detection resistor (113) are located in the second unit.

3. 3. The method according to claim 1 or 2, characterized in that, in particular as a component of or within the controller (101), the first unit (103) comprises a first printed circuit board, the second unit (105) comprises a second printed circuit board, the first printed circuit board being connected to the first ground terminal (115) by the first ground wire (111), and the second printed circuit board being connected to the second ground terminal (117) by the second ground wire (119).

4. 3. A method according to claim 1 or 2, characterized in that the interruption of the earth can be detected under normal operating conditions and / or purely using the operating current, in particular without using a test current.

5. 3. A method according to claim 1 or 2, characterized in that the actual current flowing is measured.

6. two current thresholds are defined and the loss of connection through the first ground wire (111) is identified by the fact that the current exceeds a second current threshold, 3. The method of claim 1 or 2, characterized in that the loss of connection via the second ground wire (119) is identified by the fact that the current falls below a first current threshold.

7. 3. A method according to claim 1, wherein the minimum current is selected to be larger the greater the offset error.

8. 3. The method according to claim 1 or 2, characterized in that the resistance value of the ground loss detection resistor (113) is compensated according to the ambient temperature.

9. 4. The method of claim 3, wherein the nominal resistance of the ground loss detection resistor is compensated for tolerances of the first and / or second printed circuit boards.

10. A controller for a vehicle, the controller (101) having a first unit (103) and a second unit (105), the first unit (103) and / or the second unit (105) comprising a microcontroller (107, 109), the first unit (103) being connected to a first ground terminal (115) by a first ground wire (111), and the second unit (105) being connected to a second ground terminal (117) by a second ground wire (119), the controller (101) comprises a single ground loss detection resistor (113) placed in the first ground line (111) or the second ground line (119), the controller (101) is designed to enable the microcontroller (107, 109) to detect whether the loss of connection has occurred in one of the ground terminals (115, 117) by measuring the current in the first ground line (111) or the second ground line (119), and the minimum required current level for the detection is selected according to an offset error of an analog-to-digital converter.

11. 11. The controller of claim 10, wherein the ground loss detection resistor is in the form of a printed circuit board resistor.

12. A braking system for a vehicle, comprising a controller according to claim 10 or 11.

Images