Control unit for a control system, control system, and motor vehicle having a control system

Abstract

The present invention relates to a control unit (4) for a control system (2) of a motor vehicle (1) for controlling at least one function of the motor vehicle (1). The control unit (4) comprises at least one computing unit (6, 8, 10) for evaluating output signals provided to the control unit (4) from at least one sensor (12, 14) of the control system (2), said sensor corresponding to said function, and for controlling power electronics (16, 18) of an actuator (20, 22) of the control system (2) by means of control signals according to the aforementioned output signals in order to perform said function of the motor vehicle (1), said actuator corresponding to said function. The control unit (4) is in the form of only a single control unit (4) of the control system (2). The control unit (4) has a total of three computing units (6, 8, 10) and is designed and configured such that, only by means of said control unit (4), a main function and a secondary function of the motor vehicle (1) can be controlled, irrespective of an error in only one of the three computing units (6, 8, 10).

Description

[0001] Control unit for a control system, control system and motor vehicle with a control system

[0002] Description

[0003] The present invention relates to a control device for a control system of a motor vehicle of the type mentioned in the preamble of claim 1, a control system of a motor vehicle of the type mentioned in the preamble of claim 6 and a motor vehicle with a control system.

[0004] Such control devices for control systems of motor vehicles, control systems for motor vehicles and motor vehicles are already known from the state of the art in numerous design variants.

[0005] This is where the present invention comes in.

[0006] The present invention is based on the object of improving a control device for a control system of a motor vehicle, a control system for a motor vehicle and a motor vehicle.

[0007] This object is achieved by a control unit having the features of claim 1, which is characterized in that the control unit is designed as only a single control unit of the control system, wherein the control unit has a total of three computing units and is designed and configured such that a main function and a secondary function of the motor vehicle can be controlled solely by means of this control unit, regardless of a fault in only one of the three computing units. Furthermore, this object is achieved by a control system for a motor vehicle according to claim 6 and a motor vehicle according to claim 10. The term "main function" here refers to functions of the motor vehicle that are elementary for the motor vehicle, whereby this is to be understood in particular as meaning safety-relevant functions of the motor vehicle, such as the steering, drive or braking system of the motor vehicle.These main functions of the motor vehicle, for example the aforementioned main functions, must be implemented redundantly due to their safety relevance. This means that the redundantly implemented main function can be safely executed even in the event of a fault, for example, a failure of a component of the control unit for executing this main function, because this faulty component is automatically replaced by a corresponding redundant component for executing the main function in the event of a fault. The term "secondary function" here refers to functions of the motor vehicle according to the invention that are, in particular, not safety-relevant and therefore do not need to be implemented redundantly. The subclaims relate to advantageous developments of the invention.

[0008] A significant advantage of the invention is, in particular, that a control unit for a control system of a motor vehicle, a control system for a motor vehicle, and a motor vehicle are improved. Due to the inventive design of the control unit, the control system, and the motor vehicle, sufficient redundancy for a so-called X-by-wire system or the like can be implemented in a simple and thus cost-effective manner. Ensuring sufficient redundancy is particularly important for such systems and motor vehicles equipped with them because, in such motor vehicles, the mechanical couplings that exist in conventional motor vehicles and are relevant for redundancy considerations are eliminated.For example, this is easily understood using the example of the steering of a motor vehicle with a steer-by-wire system, in which a so-called steer-by-wire system is used instead of the known mechanical connection between a steering wheel of the motor vehicle and the wheels of the motor vehicle to be steered. The aforementioned mechanical connection is omitted. With regard to the example of the steering of a motor vehicle, the main function and the secondary function according to the invention can be designed as a secondary function embodied as a steering wheel feedback function for mechanically influencing a driver of the motor vehicle by means of a steering wheel of the motor vehicle and as a main function embodied as a wheel steering function for steering at least one wheel of the motor vehicle depending on a steering angle of the steering wheel set by the driver.However, the field of application of motor vehicle steering using steer-by-wire systems is mentioned here merely as an example. The invention can also be advantageously used for other main functions of motor vehicles. For example, reference is made here to other by-wire systems, which are generally referred to as X-by-wire systems. The basic design of such X-by-wire systems is sufficiently known to those skilled in the art. According to the invention, it is not necessary to provide a plurality of control units in order to implement, for example, the aforementioned functions, namely the main function and the secondary function, and the redundancy required for this. Instead, it is possible to use just a single control unit, i.e. a central control unit, to execute the two aforementioned functions of the motor vehicle.Accordingly, these two functions of the motor vehicle can be implemented using a single control unit instead of two control units, while maintaining the required redundancy. In the aforementioned exemplary embodiment of the control system as a steering system with the steering wheel feedback function and the wheel steering function, the components of the control system required for the respective function, such as the control unit, the at least one sensor, the power electronics, and the actuator, would be arranged, on the one hand, namely with regard to the steering wheel feedback function, on a steering column of the motor vehicle, and on the other hand, namely with regard to the wheel steering function, on a steering axle of the motor vehicle.Since, for example, the aforementioned components of the steering wheel feedback function are also required for the wheel steering function, namely for sensing the steering angle of the steering wheel using the at least one sensor of the steering wheel feedback function, it would therefore also be necessary to install two computing units in the control unit of the steering wheel feedback function instead of just one. Accordingly, a control system according to the prior art would require a total of four computing units, namely two redundant computing units per control unit. In contrast, the control system according to the invention for the steering system explained above requires only a single control unit with a total of just three computing units. A computing unit is alternatively also referred to as a processor unit or a so-called controller, for example a microcontroller.

[0009] In principle, the control unit according to the invention for a control system of a motor vehicle, the control system according to the invention for motor vehicles, and the motor vehicle according to the invention can each be freely selected in terms of type, mode of operation, material, and dimensions within wide, suitable limits. For example, reference is made here to motor vehicles designed as electric vehicles. In this regard, see the multitude of different functions in modern motor vehicles, for example, the above statements on the challenges of X-by-wire systems in general.

[0010] A particularly advantageous development of the control unit according to the invention provides that each of the three processing units is designed and configured in such a way that an automatic self-diagnosis can be carried out in the respective processing unit to detect an error in this processing unit and, depending on an error detected in this processing unit, a self-deactivation of this processing unit can be carried out automatically. This significantly improves the safety of the control system according to the invention with the control unit according to the invention and thus of the motor vehicle according to the invention. For example, two processing cores are installed within each processing unit of the control unit according to the invention, which cores monitor each other for proper functioning. If an error is detected in the processing unit in the aforementioned manner, this processing unit then switches off automatically.Accordingly, depending on this, i.e. if a fault in one of the computing units has been diagnosed in the manner described above, it may be provided that this faulty computing unit is excluded from communication with the control unit during further operation.

[0011] Alternatively or in addition to the aforementioned development, another advantageous development of the control unit according to the invention provides that the control unit is designed and configured such that the output signals of the sensors can be evaluated in parallel in all computing units, and if only two of three corresponding control signals from the three computing units match, the computing unit with the control signal that differs from the two remaining computing units can be automatically deactivated. In this way, during normal operation of the control unit, i.e., during error-free operation of the three computing units of the control unit, a two-out-of-three decision is possible, whereby even in the event of an error in only one of the three computing units of the control unit, reliable operation of the aforementioned main function and the aforementioned secondary function of the motor vehicle is enabled.Accordingly, the safety during operation of the motor vehicle according to the invention is significantly improved.

[0012] A further advantageous development of the control unit according to the invention provides that the three computing units of the control unit are designed and configured such that, in addition to the aforementioned main function and the aforementioned secondary function of the motor vehicle, calculations for at least one further function of the motor vehicle can be carried out by means of the computing units during normal operation of the control unit, i.e., when all three computing units are functioning properly. This makes it possible, for example, during normal operation of the control unit according to the invention, i.e., when all three computing units are functioning correctly, to use free computing capacity of the three computing units for calculations corresponding to a further function of the motor vehicle according to the invention.For example, these calculations can be calculations for another secondary function of the motor vehicle, for example an air conditioning function for air-conditioning a vehicle interior. As already explained above, the term "secondary function" here refers to functions of the motor vehicle according to the invention that are, in particular, not safety-relevant and therefore do not require redundancy. Of course, the aforementioned free computing capacity can also be used to implement redundancy in the additional function. In the event of a fault, i.e., if one of the three computing units of the control unit according to the invention no longer functions properly, this additional functionality of the control unit according to the invention can then, for example, be automatically adjusted so that only the aforementioned main function and the aforementioned secondary function are carried out by means of the control unit according to the invention.

[0013] Another advantageous development of the control unit according to the invention provides that the control unit is designed as a structural unit, preferably that all of the processing units of the control unit are essentially identical to one another in terms of functionality. In this way, the control unit according to the invention is very compact and thus easier to handle. The preferred embodiment of this development also has the further advantage that the processing units can, for example, be obtained from different manufacturers. This achieves additional diversification of the processing units, which can improve the functional reliability of the control unit. This is because, although the processing units are essentially identical in terms of functionality, their structure can vary from manufacturer to manufacturer.Accordingly, a failure of two computing units from different manufacturers due to the same error is practically very unlikely.

[0014] As already explained above, the control system according to the invention can be freely selected within wide suitable limits.

[0015] An advantageous development of the control system according to the invention provides that the control system is designed and configured such that the entire logic of the control system is integrated in the control unit. As a result, the entire logic, i.e. everything that has to do with calculation and communication on the one hand within the control system according to the invention and on the other hand between the control system according to the invention and a remainder of the motor vehicle according to the invention that is different from the control system according to the invention, is concentrated in the control unit according to the invention. The remaining components of the control system according to the invention for implementing the main function and the secondary function thus only have at least one actuator and at least one sensor for each of the aforementioned functions. Signal preprocessing or the like therefore does not take place in these components outside of the control unit according to the invention.Thus, by means of only one control unit, a centralized logic unit is created which controls the actuator corresponding to the main function and the secondary function in normal operation of the control unit according to the invention as well as in the event of a fault, i.e. in the event of failure of only one of the three computing units.

[0016] A further advantageous development of the control system according to the invention provides that the control system is designed as a steer-by-wire system of the motor vehicle, preferably that the steer-by-wire system is designed as a steering system of the motor vehicle, wherein the controlled secondary function is designed as a steering wheel feedback function for mechanically influencing a driver of the motor vehicle by means of a steering wheel of the motor vehicle and the controlled main function is designed as a wheel steering function for steering at least one wheel of the motor vehicle depending on a steering angle of the steering wheel turned by the driver.As already stated in the introduction to the description, the control system according to the invention can be used particularly advantageously in steering systems of motor vehicles, where, for example, there is no longer any mechanical connection between the steering wheel on one side and the at least one wheel on the other side, since the invention ensures sufficient redundancy despite a smaller number of computing units. This applies particularly to the preferred embodiment of this development.

[0017] Another advantageous development of the control system according to the invention provides that the at least one further function is designed as a further main function of the motor vehicle, preferably that the further main function is designed as a drive function of the motor vehicle or as a braking function of the motor vehicle. The terms "drive function" and "braking function" are to be interpreted broadly and also include, for example, a driving stability function and a recuperation function of the motor vehicle. In this way, a free computing capacity of the three computing units of the control unit according to the invention can be used during normal operation of the control unit, for example, to implement additional redundancy in the further main function, so that the additional components required for this purpose can be dispensed with in the control system according to the invention according to the present development.This can be used particularly advantageously for the additional main functions according to the preferred embodiment of this development, since these additional main functions are highly sensitive and therefore particularly safety-relevant main functions of the motor vehicle according to the invention. Of course, the additional function can also be implemented as any other function of the motor vehicle, for example, as another secondary function of the motor vehicle.

[0018] The invention is explained in more detail below with reference to the attached, roughly schematic drawing. The sole figure shows:

[0019] Fig. 1 shows an embodiment of the control system according to the invention for a motor vehicle with the control unit according to the invention in a process diagram.

[0020] In Fig. 1, an embodiment of the control system according to the invention for a motor vehicle with the control unit according to the invention is shown purely by way of example.

[0021] The control system 2 of a motor vehicle 1 (not shown in detail), namely an electric vehicle, is designed in the present exemplary embodiment as a steer-by-wire system of the motor vehicle 1, wherein the steer-by-wire system is designed as a steering system of the motor vehicle 1.

[0022] By means of the control system 2, a main function and a secondary function of the motor vehicle 1 are controlled, wherein the control system 2 has only a single control unit 4, and wherein the control unit 4 has a total of three computing units 6, 8, 10 for evaluating output signals applied to the control unit 4 from at least one sensor 12, 14 of the control system 2 corresponding to the respective aforementioned function and for controlling a power electronics unit 16, 18 of an actuator 20, 22 of the control system 2 corresponding to one of the aforementioned functions by means of control signals depending on the aforementioned output signals for executing the main function and the secondary function of the motor vehicle 1. The three computing units 6, 8, 10 are each supplied with a redundant electrical voltage.Furthermore, the computing units 6, 8, 10 each communicate via duplicated communication channels with a remainder of the control system 2 and with a remainder of the motor vehicle 1 that is different from the control system 2. For the purpose of controlling the main function and the secondary function, the control system 2 has only the control unit 4. Accordingly, the control unit 4 is designed as only a single control unit 4 of the control system 2.

[0023] In the present exemplary embodiment, the two functions controlled by the control system 2 are, firstly, a secondary function designed as a steering wheel feedback function for mechanically influencing a driver (not shown) of the motor vehicle 1 by means of a steering wheel 24 of the motor vehicle 1, and secondly, a primary function designed as a wheel steering function for steering at least one wheel (not shown) of the motor vehicle 1 as a function of a steering angle of the steering wheel 24 set by the driver. By means of the steering wheel feedback function, sensor information is collected at the steering wheel 24 by means of the sensor 14 in order, on the one hand, to generate a feedback torque for the driver by means of the actuator 22 and, on the other hand, to make the driver's steering inputs available to the wheel steering function.The wheel steering function steers the wheels (not shown) of motor vehicle 1, on the one hand, and transmits road conditions to the steering wheel feedback function, on the other. Thus, in the aforementioned manner, a constant signal exchange and / or data exchange occurs between the two aforementioned functions of motor vehicle 1. The actuators 20, 22 shown in Fig. 1 each represent an electric motor; the sensors 12, 14 are each so-called motor position sensors. These motor position sensors 12, 14 can be configured in multiple, i.e., redundant, configurations.In particular, the individual sensors of these motor position sensors 12, 14 can each be based on different physical measuring principles, so that an improvement in the reliability results on the one hand through this technology diversity of the sensors 12, 14 and on the other hand through the aforementioned redundancy.

[0024] To implement the two aforementioned functions of the control system 2, the control unit 4 in the present embodiment is designed and configured such that an automatic self-diagnosis can be performed in the respective computing unit 6, 8, 10 to detect an error in this computing unit 6, 8, 10, and, depending on a detected error in this computing unit 6; 8; 10, a self-deactivation of this computing unit 6; 8; 10 can be automatically executed. See also the relevant exemplary explanations in the introduction to the description.

[0025] In addition, in the present embodiment, each of the three computing units 6, 8, 10 is designed and configured such that the output signals of the sensors 12, 14 can be evaluated in parallel in all computing units 6, 8, 10 and if only two of three corresponding control signals from the three computing units 6, 8, 10 match, the computing unit 6; 8; 10 with the control signal that differs from the two remaining computing units 8, 10; 6, 10; 6, 8 can be automatically deactivated. During normal operation of the control unit 4, i.e. when there is no error in one of the computing units 6, 8, 10, all three computing units 6, 8, 10 each deliver essentially the same control signal for controlling the power electronics 16, 18 of the actuators 20, 22 based on the output signals of the sensors 12, 14 present at the control unit 4.Should one of the computing units 6, 8, or 10 malfunction, this is automatically detected, regardless of the aforementioned automatic self-diagnosis, using the two-out-of-three decision according to this paragraph, and the faulty computing unit 6; 8; 10 is automatically shut down accordingly. Despite this error-based shutdown of one of the three computing units 6, 8, or 10, the main function and the secondary function are executed properly by the control unit 4. This also includes a performance-limited execution of the respective function, which will be explained in more detail below.

[0026] Thus, in the present exemplary embodiment, the control unit 4 is designed and configured such that the aforementioned main function and the aforementioned secondary function of the motor vehicle 1 can be controlled solely by means of this control unit 4, regardless of an error in only one of the three computing units 6, 8, 10.

[0027] Furthermore, the three computing units 6, 8, 10 of the control unit 4 are designed and configured such that, in addition to the aforementioned main function and the aforementioned secondary function of the motor vehicle 1, calculations for at least one further function of the motor vehicle 1 can be performed by means of the computing units 6, 8, 10 during normal operation of the control unit 4, i.e., when all three computing units 6, 8, 10 are functioning properly. The at least one further function is designed here as a further secondary function of the motor vehicle 1, namely as a steering wheel adjustment function of the motor vehicle 1.However, it is also conceivable that in other embodiments of the invention, the additional function is embodied as another secondary function, for example, an air conditioning function for a passenger compartment of the motor vehicle or the like, or as another main function of the motor vehicle, wherein the additional main function can be embodied, for example, as a drive function of the motor vehicle or as a braking function of the motor vehicle. See also the corresponding exemplary embodiments in the introduction to the description.

[0028] In the present exemplary embodiment, the control unit 4 is designed as a single structural unit, with all three computing units 6, 8, 10 of the control unit 4 being essentially identical to one another in terms of functionality. See the relevant exemplary embodiments in the introduction to the description. Furthermore, the control unit 4, designed as a single structural unit, is arranged by means of a supporting structure (not shown) of the motor vehicle 1 in a low-stress region (likewise not shown) of the motor vehicle 1 in such a way that the control unit 4 is essentially protected from mechanical and thermal stresses of the motor vehicle 1 and the environment of the motor vehicle 1.The control unit 4, designed as a central control unit for the main function and the secondary function of the steering system 2, is thus not arranged in the area of ​​the wheels of the motor vehicle 1, namely not on a steering axle (not shown) of the motor vehicle 1, in contrast to a sub-assembly 26 of the control system 2 comprising sensor 12, power electronics 16, and actuator 20, designed as a structural unit. A further sub-assembly 28 of the control system 2 comprising sensor 14, power electronics 18, and actuator 22 is arranged on a steering column 30 of the motor vehicle 1, which is torque-connected to the steering wheel 24. In the present exemplary embodiment, a further sub-assembly 32 of the control system 2 is arranged on the steering column 30 for implementing the aforementioned steering wheel adjustment function, i.e., for adjusting the steering wheel 24. This sub-assembly 32 has power electronics 34, which can be controlled by the control unit 4, and two actuators 36, 38 corresponding thereto.The two actuators 36, 38 are also each designed as an electric motor. The steering wheel adjustment function enables the inclination of the steering wheel 24 as well as the stowing of the steering wheel 24. The subassemblies 28 and 32 can be combined into a common structural unit 39. In the present exemplary embodiment, the control system 2 is designed and configured such that the entire logic of the control system 2 is integrated in the control unit 4. This also applies to the communication of the control system 2 with a rest of the motor vehicle 1 that is different from the control system 2. This communication is symbolized in Fig. 1 by an arrow 40. The same applies to a power supply of the control system 2, which is also provided centrally via the control unit 4. This power supply is symbolized in Fig. 1 by an arrow 42.Accordingly, the aforementioned subgroups 26, 28, and 32 of control system 2 do not have any logic of their own. See the relevant explanations in the introduction to the description.

[0029] In the following, the functioning of the control system according to the invention for a motor vehicle with the control unit according to the invention according to the present embodiment is explained in more detail with reference to Fig. 1.

[0030] If the steering wheel 24 of the motor vehicle 1 is turned, for example, manually around the steering column 30, this steering movement of the steering wheel 24 is detected in a manner known per se by the at least one sensor 14 functionally connected to the steering wheel 24 and forwarded as output signals of this at least one sensor 14 in a manner known per se, for example by means of a bus system (not shown in detail) of the control system 2, to the control unit 4 of the control system 2. These output signals are fed to all three computing units 6, 8, 10 for evaluation, i.e., for calculation. In order to be able to properly control the power electronics 16 of the actuator 20, it is also necessary that the current steering position of the at least one steerable wheel of the motor vehicle 1 is known.This current steering position is detected by at least one sensor 12, which functionally interacts with the actuator 20, in a manner known per se to those skilled in the art, and is forwarded in the form of output signals from the sensor 12, analogous to the above-mentioned output signals, in parallel to the three computing units 6, 8, 10 for evaluation. After the parallel evaluation of all output signals in all three computing units 6, 8, 10, each of the three computing units 6, 8, 10 generates a control signal correlating to these output signals, with which the power electronics 16 of the actuator 20 can be controlled. When all three computing units 6, 8, 10 are functioning properly, i.e., during normal operation of the control unit 4, the aforementioned control signals are essentially the same.

[0031] Provided all three processing units 6, 8, 10 are functioning properly, the power electronics 16 of the actuator 20 is controlled by the control unit 4 such that the actuator 20 is supplied with power via the power connection 42. Should one of the processing units 6, 8, 10 malfunction, this is automatically detected in one of the ways explained above, whereby even if there is a fault in only one of the three processing units 6, 8, 10 of the control unit 4, safe operation of the main function and secondary function of the motor vehicle 1 controlled by the control system 2 is enabled. Thus, the above-explained operation of the actuator 20 and thus the wheel steering function of the control system 2 can be properly maintained even if one of the processing units 6; 8; 10 of the control unit 4 is faulty.According to the invention, maintaining the respective function also includes operating the respective function of the motor vehicle 1 with restricted, i.e., reduced, performance or the like. In the event of the aforementioned fault, it is important that the control system 2 and thus the motor vehicle 1 are operated in a safe state so that the driver of the motor vehicle 1, any other occupants of the motor vehicle 1, and any other road users are not endangered. For example, in the aforementioned fault situation, an automatic speed limit can be applied when driving the motor vehicle 1 so that the motor vehicle 1 can be transported independently but safely to a workshop.

[0032] The same applies to the steering wheel feedback function of control system 2 via subgroup 28 of control system 2. In contrast, the steering wheel adjustment function of control system 2, which is designed as an additional secondary function with subgroup 32, can be dropped, i.e., automatically switched off, in the event of a fault in one of the computing units 6; 8; 10. Accordingly, the computing capacity still available in the aforementioned fault case is available exclusively for executing the main function and the secondary function of control system 2.

[0033] Due to the inventive design of the control unit 4, the control system 2, and the motor vehicle 1, sufficient redundancy for the control system 2 designed as a steer-by-wire system can be implemented in a simple and thus cost-effective manner. With regard to the exemplary embodiment of the steering of the motor vehicle 1, the secondary function and the main function controlled by the control system 2 can be designed as the steering wheel feedback function for mechanically influencing the driver of the motor vehicle 1 via the steering wheel 24 and as the wheel steering function for steering at least one wheel of the motor vehicle 1 depending on the steering angle of the steering wheel 24 set by the driver. However, the field of application of the steering of motor vehicles using steer-by-wire systems is mentioned here merely as an example.The invention can also be advantageously used for other main functions and secondary functions of motor vehicles. For example, reference is made here only to other by-wire systems, which are generally referred to as X-by-wire systems. According to the invention, it is therefore not necessary to provide a plurality of control units to implement, for example, the aforementioned main function and the aforementioned secondary function and the redundancy required for this according to the exemplary embodiment. Instead, the single control unit 4 is sufficient to execute this main function and this secondary function of the motor vehicle 1.Accordingly, this main function and this secondary function of the motor vehicle 1 can be implemented using only the single control unit 4 instead of two control units while maintaining the required redundancy, so that instead of a total of four computing units, namely two redundant computing units per control unit according to the prior art, only the three computing units 6, 8, 10 of the control unit 4 are required.

[0034] For further alternative or optional features in alternative embodiments of the invention to the present embodiment, reference is further made to the relevant statements in the introduction to the description and in the description of the specific embodiment. List of reference symbols

[0035] 1 motor vehicle

[0036] 2 Control system for the motor vehicle 1

[0037] 4 Control unit for control system 2

[0038] 6 Computing unit

[0039] 8 computing unit

[0040] 10 computing unit

[0041] 12 Sensor

[0042] 14 Sensor

[0043] 16 Power electronics

[0044] 18 Power electronics

[0045] 20 Actuator, designed as an electric motor

[0046] 22 Actuator, designed as an electric motor

[0047] 24 Steering wheel of the motor vehicle 1

[0048] 26 Subgroup of the control system 2

[0049] 28 Subgroup of the control system 2

[0050] 30 Steering column of the motor vehicle 1

[0051] 32 Subgroup of the control system 2

[0052] 34 Power electronics

[0053] 36 Actuator, designed as an electric motor

[0054] 38 Actuator, designed as an electric motor

[0055] 39 Unit, comprising subgroups 28 and 32

[0056] 40 Signal and / or data connection

[0057] 42 Power connection

Claims

Control unit for a control system, control system and motor vehicle with a control system Patent claims 1. A control unit (4) for a control system (2) of a motor vehicle (1) for controlling at least one function of the motor vehicle (1), wherein the control unit (4) has at least one computing unit (6, 8, 10) for evaluating output signals applied to the control unit (4) of at least one sensor (12, 14) of the control system (2) corresponding to this function and for controlling a power electronics unit (16, 18) of an actuator (20, 22) of the control system (2) corresponding to this function by means of control signals depending on the aforementioned output signals for executing this function of the motor vehicle (1), characterized in that the control unit (4) is designed as only a single control unit (4) of the control system (2), wherein the control unit (4) has a total of three computing units (6, 8, 10) and is designed and configured such thatthat only by means of this control unit (4) a main function and a secondary function of the motor vehicle (1) can be controlled, regardless of an error in only one of the three computing units (6, 8, 10).

2. Control unit (4) according to claim 1, characterized in that each of the three computing units (6, 8, 10) is designed and set up in such a way that in the respective computing unit (6, 8, 10) an automatic self-diagnosis for detecting an error in this computing unit (6; 8; 10) can be carried out and, depending on a detected error in this computing unit (6; 8; 10), a self-deactivation of this computing unit (6; 8; 10) can be carried out automatically.

3. Control unit (4) according to claim 1 or 2, characterized in that the control unit (4) is designed and set up in such a way that the output signals of the sensors (12, 14) can be evaluated in parallel in all computing units (6, 8, 10) and if only two of three corresponding control signals from the three computing units (6, 8, 10) match, the computing unit (6; 8; 10) with the control signal that differs from the two remaining computing units (8, 10; 6, 10; 6, 8) can be automatically deactivated.

4. Control unit (4) according to one of claims 1 to 3, characterized in that the three computing units (6, 8, 10) of the control unit (4) are designed and configured such that, by means of the computing units (6, 8, 10), in addition to the main function and the secondary function of the motor vehicle (1), calculations for at least one further function of the motor vehicle (1) can be carried out by means of the computing units (6, 8, 10) in a normal operation of the control unit (4), in which all three computing units (6, 8, 10) function properly.

5. Control unit (4) according to one of claims 1 to 4, characterized in that the control unit (4) is designed as a structural unit, preferably that all computing units (6, 8, 10) of the control unit (4) are designed to be essentially identical to one another only in functional terms.

6. Control system (2) of a motor vehicle for controlling at least one function of the motor vehicle, with at least one control unit (4), wherein the control unit (4) has at least one computing unit (6, 8, 10) for evaluating output signals applied to the control unit (4) at least one sensor (12, 14) of the control system (2) corresponding to this function and for controlling power electronics (16, 18) of an actuator (20, 22) of the control system (2) corresponding to this function by means of control signals as a function of the aforementioned output signals for carrying out this function of the motor vehicle (1), characterized in that the control unit (4) is designed as only a single control unit (4) of the control system (2) according to one of claims 1 to 5.

7. Control system (2) according to claim 6, characterized in that the control system (2) is designed and configured such that the entire logic of the control system (2) is integrated in the control device (4).

8. Control system (2) according to claim 6 or 7, characterized in that the control system (2) is designed as a steer-by-wire system of the motor vehicle (1), preferably that the steer-by-wire system is designed as a steering system of the motor vehicle (1), wherein the controlled secondary function is designed as a steering wheel feedback function for mechanically acting by means of a steering wheel (24) of the motor vehicle (1) on a driver of the motor vehicle (1) and the controlled main function is designed as a wheel steering function for steering at least one wheel of the motor vehicle (1) depending on a steering angle of the steering wheel (24) turned by the driver.

9. Control system according to one of claims 6 to 8, characterized in that the at least one further function is designed as a further main function of the motor vehicle, preferably that the further Main function is designed as a drive function of the motor vehicle or as a braking function of the motor vehicle.

10. Motor vehicle (1) with a control system (2) according to one of claims 6 to 9, characterized in that the control unit (4) designed as a structural unit is arranged by means of a supporting structure of the motor vehicle (1) in a low-stress area of the motor vehicle (1) in such a way that the control unit (4) is substantially protected from mechanical and / or thermal stresses on the motor vehicle (1) and an environment of the motor vehicle (1).

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