Controlling a trailer vehicle

Abstract

A control system (100) for a trailer vehicle (105) comprises an interface (115) for connecting to a towing vehicle, a first control device (110) connected to the interface (115) for controlling a first group of functions of the trailer vehicle (105), a second control device (120) for controlling a second group of functions of the trailer vehicle, and a communication connection (250) between the first control device (110) and the second control device (120). The first group comprises a safety function of the trailer vehicle (105) and the second group is free of safety functions.

Description

[0001] Driving a trailer

[0002] The present invention relates to the control of a trailer vehicle. In particular, the invention relates to the control of various functions of the trailer vehicle.

[0003] A trailer vehicle comprises various technical systems that are controlled by a control unit integrated into the trailer. Such a control unit is also known as a "vehicle control unit" (VCU). For example, functions such as lighting, visual signaling, braking system control, or data transmission within the framework of autonomous control of a tractor to which the trailer vehicle is coupled can be controlled by the control unit.

[0004] Some of the trailer's functions are critical for maintaining a safe operating condition and must be implemented to achieve a predetermined level of reliability. For example, the braking system control system can achieve a functional safety level of ASIL A according to ISO 26262. However, transmitting data sampled from the trailer's environment may be less safety-relevant. On the other hand, processing, summarizing, or transmitting collected data on the trailer may require very fast processing, and rapid development may require frequent updates.

[0005] The requirements for the control device can be difficult to meet simultaneously, which could lead to an impairment of a safety-relevant function on the one hand and a delay in the development of innovative autonomous driving concepts on the other.

[0006] An object underlying the present invention is to provide an improved technology for controlling a trailer vehicle. The invention solves this problem by means of the subject matter of the independent claims. Dependent claims specify preferred embodiments. A control system for a trailer vehicle comprises an interface for connection to a towing vehicle, a first control device connected to the interface for controlling a first group of functions of the trailer vehicle, a second control device for controlling a second group of functions of the trailer vehicle, and a communication connection between the first and the second control devices. The first group comprises a safety function of the trailer vehicle and the second group is free of safety functions. The first group can also comprise several and optionally all safety functions of the trailer vehicle.

[0007] By splitting a known, integrated control unit for both safety-relevant and more advanced functions into two separate control units, the trailer's functions can be divided into two groups and the groups assigned to the control units. The groups can be disjoint, so that a function of the first group can only be executed on the first control unit, and a function of the second group can only be executed on the second control unit.

[0008] Functions in the first group can be isolated from functions in the second group, so that a function in the second group cannot affect a function in the first group. For example, if a function in the second group requests excessive resources or uses a resource from another function, only one function in the second group can be affected, and a function in the first group can continue to execute unaffected.

[0009] The first group may include a safety function of the trailer vehicle. The safety function may influence a driving condition of the trailer vehicle, and incorrect execution of the safety function may endanger the driving condition. For example, the safety function may include applying a brake or monitoring an operating parameter of a brake. In particular, the safety function may maintain a boundary condition or prerequisite under which the brake can operate, for example, monitoring or controlling a predetermined pneumatic pressure required to apply the brake or monitoring wear of a brake friction lining. A further safety function may, for example, relate to controlling lighting or an optical or acoustic signaling device, cleaning a sensor, monitoring pneumatic pressure, or extending or retracting a support leg of the trailer vehicle.It is preferred that a safety function, preferably all safety functions, more preferably all functions of the first group, be executed deterministically. Functions of the first group can directly or indirectly affect the operational or functional safety of the trailer vehicle, so that a non-deterministic execution, for example, based on statistics, machine learning, fuzzy logic, or a cellular automaton, is preferably not performed. For a safety function, it may be necessary to demonstrate not only correct results but also their traceability.

[0010] The second group can, in particular, comprise a communicative and / or sensory function. For example, the second group of functions can include detecting the surroundings of the trailer vehicle, for example, using a camera, a radar sensor, or a LiDAR sensor, possibly processing a scan, or forwarding a raw or processed scan. The processing can also comprise a non-deterministic technique, such as an artificial neural network (ANN), which can, for example, perform object detection.

[0011] By executing as many of the trailer's safety functions as possible on the first control device, the driving condition of the trailer can be improved. The functions of the first group can, individually or jointly, achieve a predetermined functional safety level higher than ASIL QM according to ISO 26262, in particular ASIL A, ASIL B or ASIL C. Achievement of the safety level can be demonstrated in a predetermined process. The physical structure of the first control device can also be considered for this purpose. The verification can be complex and time-consuming, and a first control device whose safety level has been confirmed can, if possible, no longer be changed. The second control device can be designed or operated with increased degrees of freedom without having to consider safety aspects of a function of the first group.In one embodiment, a first control device can be combined with various second control devices to form a control system. The second control device can be improved and adapted to a specific purpose of the trailer or a customer-specific function on the vehicle. If a special function is not desired, a cost-effective standard version of the second control device can be used.

[0012] The control system can comprise a braking system configured to control a brake of the trailer vehicle. The first control device can be configured to control the braking system. Controlling the braking system can be a function of the trailer vehicle that falls within the first group. The brake can be comprised of a service brake and / or a parking brake. The first interface connected to the first control device can be electrically implemented, with information being transmitted by influencing an electrical parameter. This allows for purely electrical control of the braking system, which is also referred to as an electric brake or an electronic brake system (EBS).

[0013] The braking system can be configured to operate autonomously to perform emergency braking if other control inputs are absent. A brake can be actuated by compressed air, whereby controlling the brake can include controlling the inflow or outflow of compressed air from the brake. A brake can also be controlled directly pneumatically by applying an appropriate pressure to a pneumatic control line. The control line and a compressed air supply line can be connected to the towing vehicle.

[0014] The control system can further comprise a second interface connected to the second control device for connection to the towing vehicle. The second interface can be configured, like the first, for the electrical transmission of information. Optionally, optical transmission can also be implemented. The first and / or the second interface can additionally be configured to transmit electrical energy between the towing vehicle and the trailer vehicle. A function of the second group can be controlled as a function of information transmitted via the second interface. Conversely, a function of the second group can also comprise or cause the transmission of information via the second interface.

[0015] One or more imaging sensors can be provided on the trailer vehicle for scanning the surroundings of the trailer vehicle. The second control device can be configured to provide scans of the sensor or sensors to the towing vehicle. The second control device can transmit scans from a plurality of sensors, which can also include several imaging sensors. Such a sensor can comprise, for example, a camera, a radar sensor, a LiDAR sensor, or an ultrasonic sensor.

[0016] Data processed by the second control device can be used, in particular, for the autonomous control of the trailer or a truck / trailer combination that includes a towing vehicle in addition to the trailer. The towing vehicle can, for example, comprise a tractor unit and the trailer a semi-trailer. By executing functions for this purpose only on the second control device, the second control device can be better tailored to this purpose. Furthermore, different functions of the second group can cooperate with each other more effectively on the second control device, for example, through inter-process communication or shared use of limited hardware resources.

[0017] While functions of the first group require fewer resources to execute than functions of the second group and can therefore place high demands on functional safety, functions of the second group usually require higher processing power, but often do not have to meet such high functional safety requirements as functions of the first group. The control devices can each be improved and adapted to a function of the respective group. The first and the second interface can each be configured to transmit information. The information can be transmitted, in particular, electrically via the interfaces and, in particular, in a digital form. In this case, a transmission speed of the second interface can, in particular, be many times higher than a transmission speed of the first interface, in particular by a factor of 10, a factor of 100, a factor of 10 3 , a factor of 104 , a factor of 10 6 or a factor of 10 9 The first interface may comprise a CAN bus, which can only allow transmission at a few kbit / s. The second interface may comprise one or more Ethernet interfaces, each of which can allow transmission speeds ranging from several Mbit / s up to approximately 1 Gbit / s. It should be noted that an interface may be assigned a predetermined transmission protocol, with different transmission protocols typically being used on the different interfaces.

[0018] In one embodiment, the second control device is connected to the interface and configured to forward information between the interface and the first control device. Thus, the first processing device can still function correctly even without a dedicated interface to the towing vehicle. The second control device can, in particular, be configured to forward predetermined information between the second interface and the first control device. If the first interface cannot be used, a message can be transmitted to the first control device via the second interface and the communication connection. This creates redundancy, which can increase the functional reliability of the system.

[0019] The second processing device can function as a firewall, allowing only certain messages to pass through. Messages that should not be passed through can be discarded or rejected. Whether a message should be forwarded or not can be decided based on the sender, the recipient, the message type, and / or the message content.

[0020] It should be noted that a reverse functionality, in which information is transmitted to the second processing device via the first interface, the first processing device, and the communication connection, is not provided in one embodiment. The first processing device can thus be used more effectively to control the functions of the first group assigned to it and is not burdened by additional communication.

[0021] Information on the communication link can be transmitted using a first transmission protocol, and information between the second interface and the second control device can be transmitted using a second transmission protocol. In particular, messages encapsulating messages of the first transmission protocol can be transmitted on the second interface. Both transmission protocols can transmit information in units of predetermined size, which can be called frames or packets, for example. During encapsulation, for example, a frame of the first transmission protocol can be inserted as payload data into a packet of the second transmission protocol. After transmission using the second transmission protocol, the frame can be removed from the packet unchanged and forwarded on a suitable interface.In this case, in particular, a CAN frame can be transmitted encapsulated in one or more Ethernet packets.

[0022] The second control device is preferably configured to perform the encapsulation and / or decapsulation. Thus, the second control device can support only a single, fast transmission technology on the second interface and still enable a connection to the first control device via the second interface with minimal effort. The first control device also only needs to actively support a single transmission protocol.

[0023] The control system can further comprise a transmission device connected to the second control apparatus, which is configured to wirelessly exchange data with an external location. For example, driving information from the trailer can be provided to a central location with minimal delay or even in real time, a process also referred to as telemetry. The central location can be implemented, for example, as a fixed or mobile computer, as a server, or as a service, for example, in a cloud. The transmission device can also support updating the second control device. Such an update via a wireless interface is also called an "over-the-air update" (OAU). The transmission device can support the management of different software versions of the second processing device.Thus, the second processing device can comprise multiple functional components that can be updated individually. Mutual dependencies or the rollback of a failed update can be controlled by means of the transmission device. This allows the software of the second processing device to be updated flexibly and quickly. The development or adaptation of the software can take place in shorter cycles, so that an intended functionality can be achieved more quickly and improved. In one embodiment, updating the first processing device via the transmission device is not provided.

[0024] According to a further aspect of the invention, a trailer vehicle comprises a control system as described herein. The trailer vehicle is preferably configured to be towed by a tractor. In particular, the trailer vehicle may comprise a commercial vehicle. The trailer vehicle may, in particular, comprise a single- or multi-axle trailer and, more preferably, a semi-trailer.

[0025] According to yet another aspect of the present invention, a method for controlling a trailer vehicle comprising a first and a second control device comprises steps of controlling a function of a first group of functions of the trailer vehicle by means of the first control device and controlling a function of a second group of functions of the trailer vehicle by means of the second control device, wherein the groups are disjoint.

[0026] The method can be partially implemented by means of a first and a second control device, each of which is described herein. A processing device can be implemented electronically and comprise a programmable microcomputer or microcontroller. The method can be in the form of a computer program product with program code means. The computer program product can also be stored on a computer-readable data carrier. Features or advantages of the method can be transferred to the device, or vice versa.

[0027] The invention will now be described in more detail with reference to the accompanying figures, in which:

[0028] Fig. 1 a control system on a trailer vehicle,

[0029] Fig. 2 a section of a control system and

[0030] Fig. 3 shows a flow diagram of a method.

[0031] Fig. 1 shows a control system 100 on a trailer vehicle 105. The trailer vehicle 105 is illustrated as a semi-trailer with three axles. The control system 100 is configured to control several predetermined functions of the trailer vehicle 105.

[0032] The trailer vehicle 105 comprises a first control device 110 connected to a first interface 115 and a second control device 120 connected to a second interface 125. The first control device 110 can also be referred to as a TCE (Trailer Central Electronic), and the second control device 120 as a TEG (Trailer Ethernet Gateway). In contrast to the proposed division of the control devices 110, 120, current trailer vehicles 105 typically use a common control device, also referred to as a VCU (Vehicle Control Unit).

[0033] The first interface 115 is designed in accordance with ISO 7638, and the second interface 125 is proprietary. The interfaces 115, 125 are each configured for connection to a towing vehicle and can support the transmission of information and / or electrical energy. A further second interface 125 can also be provided, for example, for connection to another trailer vehicle 105. A braking system 130 is configured to brake one or more wheels 135 on an axle of the trailer vehicle 105. A service brake and / or a parking brake can be implemented. A brake 140, which can be actuated pneumatically, is attached to a wheel 135. A pneumatic operating pressure can be obtained from a pressure line 145, which can be ventilated from the towing vehicle. A pneumatic control line 150 can allow pneumatic control of a brake 140.A pressure sensor 160 may be provided for monitoring pneumatic pressure in a line. Typically, the pneumatic application or release of existing brakes 140 is controlled by a modulator 155 based on an electrical signal that can be received from the towing vehicle via the first interface 115. The braking system 130 may include a fail-safe braking device 165 (Fail Operational Brake System, FOBS) configured to control braking of the trailer vehicle 105 to a standstill in the event of a failure of the primary braking system 155. The first interface 115 may be directly connected to the braking device 165, and information may be forwarded from there to the first processing device 110.

[0034] The braking system 130 can be controlled by the first control device 110. The first control device 110 can also control other functions on the trailer vehicle 105, in particular raising or lowering a support leg 170, cleaning an optical sensor, monitoring a function or operating state of a wheel 135 or a brake 140 by means of a sensor 175, or monitoring a pneumatic pressure by means of a pressure sensor 180.

[0035] Fig. 2 shows a more detailed view of a portion of the control system 100 of the type shown in Fig. 1, including the first control device 110 and the second control device 120. At the top of the diagram, connections of the first control device 110 are shown, which are continued in Fig. 1. It is clearly visible that complexes around the control devices 110, 120 essentially form separate units that are connected to each other only by selected lines.

[0036] The trailer vehicle 105 can comprise a lighting system 205, which can comprise an optical lighting device 210 such as a rear or side light and / or an optical signaling device 215 such as a brake or reversing light. A lighting control 220 can be connected to a further interface 225, which can be designed in particular according to ISO 12098 and via which dedicated or analog signals can be received. The lighting control 220 can control the devices 210, 215 depending on the signals. The first control device 110 can be configured to control or monitor the lighting control 220.

[0037] The first control device 110 can also be configured to manage electrical energy on board the trailer vehicle 105. For this purpose, an electric battery 230 can be provided, the charging or discharging of which can be controlled. An optional cleaning device 235 can be controlled to clean a side sensor 240. In addition, one or more general input / outputs 245 (GIO) can be controlled.

[0038] The first control device 110 can be connected to the second control device 120 via a communication connection 250. The communication connection 250 can comprise a CAN bus. The second control device 120 can comprise a firewall configured to forward only predetermined messages via the communication connection 250.

[0039] An optional wireless transmission device 255 is configured to transmit data between an external location and the second control device 120, for example, via a mobile radio network. Preferably, the second control device 120 can also be updated in this way. Furthermore, program modules of the second control device 120 can be managed using the transmission device 255. The second control device 120 can be connected to one or more sensors 260 and one or more side sensors 265. A sensor node 270 can be provided to connect additional sensors.

[0040] Various sensors or interfaces can be connected to the second control device 120 using connections of different speeds. In Fig. 2, exemplary variants of the Ethernet standard are indicated for individual connections that can be used as examples. A second interface 125 can be connected to the second control device 120 via one or more supply lines in addition to a data connection.

[0041] Fig. 3 shows a flowchart of a method 300 for controlling a control system 100 of a trailer vehicle 105. In a step 305, a signal can be received on the first interface 115. The signal can be received and evaluated by the first control device 110, and a predetermined function can be controlled in a step 310 depending on the signal.

[0042] Similarly, in a step 315, a signal can be received on the second interface 125. The signal can be forwarded, in particular, to the second control device 120, which can control a predetermined second function in a step 320 depending on the signal. In particular, it can be the case that a first group or set of functions that can be executed by the first control device 110 and a second group or set of functions that can be executed by the second control device 120 are disjoint.

[0043] Control of a first function can also be performed in a different way. For this purpose, a message received via the first interface 315 can be forwarded from the second control device 120 to the first control device 110 in a step 325. The message can comprise an encapsulated message, and the second control device 120 can decapsulate one message from the other and forward it. Similarly, a message can be transmitted from the first control device 110 to the second control device 120, encapsulated by the second control device 120 in another message, and forwarded via the second interface 125. Reference symbol (as part of the description)

[0044] 100 Tax system

[0045] 105 trailer vehicle

[0046] 110 first control device

[0047] 115 first interface

[0048] 120 second control device

[0049] 125 second interface

[0050] 130 Brake system

[0051] 135 wheels

[0052] 140 Brake

[0053] 145 pneumatic pressure line

[0054] 150 pneumatic control line

[0055] 160 pressure sensor

[0056] 155 Modulator

[0057] 165 fail-safe braking device

[0058] 170 support leg

[0059] 175 Sensor

[0060] 180 pressure sensor

[0061] 205 Lighting system

[0062] 210 Lighting equipment

[0063] 215 Signaling device

[0064] 220 lighting control

[0065] 225 additional interfaces

[0066] 230 battery

[0067] 235 Cleaning device

[0068] 240 side sensor

[0069] 245 general input / output

[0070] 250 communication connection

[0071] 255 transmission device

[0072] 260 sensors

[0073] 265 side sensor

[0074] 270 sensor node procedures

[0075] Receive signal on first interface Control function from first group

[0076] Receive signal on second interface Control function from second group Forward message

Claims

Patent claims 1. A control system (100) for a trailer vehicle (105), the control system (100) comprising the following elements: an interface (115) for connection to a towing vehicle, - a first control device (110) connected to the interface (115) for controlling a first group of functions of the trailer vehicle (105), - a second control device (120) for controlling a second group of functions of the trailer vehicle and a communication connection (250) between the first (110) and the second control device (120), - wherein the first group comprises a safety function of the trailer vehicle (105) and the second group is free of safety functions.

2. Control system (100) according to claim 1, wherein the groups are disjoint.

3. Control system (100) according to claim 1 or 2, further comprising a braking system (130) configured to control a brake (140) of the trailer vehicle (105), wherein a safety function comprises controlling or monitoring the braking system (130).

4. Control system (100) according to one of the preceding claims, wherein the second control device (120) is connected to the interface (115) and is configured to forward information between the interface (115) and the first control device (110).

5. Control system (100) according to one of the preceding claims, further comprising a second interface (125) connected to the second control device (120) for connection to the towing vehicle.

6. Control system (100) according to claim 5, further comprising an imaging sensor (260) for scanning an environment of the trailer vehicle (105), wherein the second control device (120) is configured to provide scans of the sensor (260) to the towing vehicle.

7. Control system (100) according to claim 5 or 6, wherein the first and the second interface (115, 125) are each configured to transmit information, wherein a transmission speed of the second interface (125) is many times greater than a transmission speed of the first interface (115).

8. The control system (100) of claim 6 or 7, further comprising a communication connection (250) between the first (110) and the second control device (120), wherein the second control device (120) is configured to pass predetermined information between the second interface (125) and the first control device (110).

9. Control system (100) according to claim 8, wherein information is transmitted on the communication link (250) by means of a first transmission protocol and between the second interface (125) and the second control device (120) by means of a second transmission protocol, wherein messages are transmitted on the second interface (125) in which messages of the first transmission protocol are encapsulated.

10. Control system (100) according to one of the preceding claims, further comprising a transmission device (255) connected to the second control device (120) and configured to wirelessly exchange data with an external location.

11. Control system (100) according to claim 10, wherein the transmission device (255) is configured to perform an update of the second control device (120) on the basis of received data.

12. Trailer vehicle (105) comprising a control system (100) according to one of the preceding claims.

3. Method (300) for controlling a trailer vehicle (105), in particular a trailer vehicle (105) according to claim 12, wherein the trailer vehicle (105) comprises a first and a second control device (110, 120), the method comprising the following steps: - controlling (310) a function of a first group of functions of the trailer vehicle (105) by means of the first control device (110), - controlling (320) a function of a second group of functions of the trailer vehicle (105) by means of the second control device (120), - wherein the first group comprises a safety function of the trailer vehicle (105) and the second group is free of safety functions.

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