Motion controller composed of functional modules for a motor vehicle

Abstract

A method (200) for creating a motion controller (230) for a motor vehicle (105) comprises steps of capturing (205) physical parameters of the motor vehicle (105); detecting (210) a selection from a multiplicity of predetermined functional modules (215); a functional module (215) implementing a predetermined aspect of a motion controller (230) of a motor vehicle (105); and integrating (225) the selected functional modules (215) into a motion controller (230) on the basis of the parameters, such that the motion controller (230) implements the aspects of the selected functional modules (215).

Description

[0001] Motion control system for a motor vehicle composed of function modules

[0002] The present invention relates to a motion control system for a motor vehicle. In particular, the invention relates to the creation of a motion control system for a predetermined motor vehicle.

[0003] A motor vehicle includes a control device designed to control the vehicle's movement. For example, longitudinal control, lateral control, or vertical control of the vehicle's movement can be implemented. During vehicle development, existing functional modules, each implementing one aspect of motion control, can be manually integrated.

[0004] Typically, the development of the vehicle itself is separate from the development and integration of its functional modules, requiring significant project work to create a satisfactory motion control system. Furthermore, the development team often lacks knowledge of which functional modules are available, the additional effort required to integrate another module, or the runtime environment requirements of each module.

[0005] Development cycles for motor vehicles can therefore be lengthy and costly. In some cases, an optimal solution cannot be found due to a lack of knowledge or time constraints. One object of the invention is to provide an improved technology for implementing motion control for a motor vehicle. The invention achieves this object by means of the subject matter of the independent claims. Dependent claims describe preferred embodiments.

[0006] According to a first aspect of the present invention, a method for creating a motion control system for a motor vehicle comprises steps of acquiring physical parameters of the motor vehicle; acquiring a selection from a plurality of predetermined functional modules; wherein a functional module implements a predetermined aspect of a motion control system for a motor vehicle; and integrating the selected functional modules into a motion control system based on the parameters; such that the motion control system implements the aspects of the selected functional modules.

[0007] According to the invention, the integration of the selected functional modules can be performed automatically, enabling the motion control system to be created quickly and efficiently. Development cycles for the design of a motor vehicle or the creation of the motion control system can be shortened. A provided motion control system can be used directly on the motor vehicle. Optionally, the integration can also be manually modified before its use on the motor vehicle, for example, by an operator adjusting the parameterization of a functional module or the interaction of functional modules.

[0008] The invention makes it easy to integrate different combinations or configurations of functional modules into motion control systems and test them on motor vehicles.

[0009] Depending on the selection of functional modules, the motion control system can also be used in an autonomously controlled vehicle. In one embodiment, one of the selected functional modules, or a combination of selected functional modules, implements an autonomous driving function. In practice, any control function that realizes an aspect of a vehicle's motion control can be implemented as a functional component. This includes well-known functionalities such as an anti-lock braking system (ABS) or an electronic stability program (ESP).

[0010] Motion control is preferably implemented as a software component or computer program product designed to run on a control device on board the vehicle. The control device is typically connected to sensors and / or actuators and can be configured by the computer program product to perform motion control. A sensor suitable for motion control can detect a condition or a vehicle dynamics parameter on board the vehicle and may include, for example, a temperature sensor, a position sensor, a pressure sensor, a force sensor, or a speed sensor. Other or additional sensors are also possible. It should be noted that a functional module can also act as a sensor by providing a value for a predetermined parameter based on other measured values.For example, the functional module can determine the vehicle's speed based on a combination of odometric data and camera data.

[0011] An actuator used for motion control can directly or indirectly influence the movement of a motor vehicle and may include, for example, a hydraulic or pneumatic valve, an electric motor, or an electromagnet. The actuator can, in particular, control vertical movement, longitudinal control, or lateral control of the motor vehicle. Vertical movement typically involves a component of a chassis that establishes a connection between the vehicle and the ground.

[0012] A function module can also be implemented as a computer program product or as a fragment of a computer program product. For example, a function module can constitute a library or a part thereof. The function module can include a characteristic map or other data that adapts a function to the motor vehicle.

[0013] The interfaces of a function module are preferably designed to allow for automated integration. An interface can be specified in an automatically evaluable format, enabling, for example, automated parameterization, testing, or combination with another function module. Preferably, the interface descriptions of all function modules follow a predefined format, allowing the function modules to be processed in virtually any combination. Integration can involve parameterizing a function module with a physical parameter of the vehicle. Examples of such physical parameters include the vehicle's dimensions or weight. For instance, length, width, height, wheelbase, track width, wheel size, unladen weight, or permissible gross vehicle weight can be specified.Other parameters may include a drive motor and, for example, a maximum drive torque or a maximum speed. A transmission may be specified by its shifting behavior or gear ratios. A vehicle's chassis may specify a maximum wheel travel, maximum wheel articulation, a maximum steering angle, or a maximum approach / departure angle. Other or additional physical specifications may also be included.

[0014] Integration can involve coordinating interactions between functional modules. For example, it can specify how quickly or how frequently predetermined information is exchanged between two functional modules, or how strongly one aspect influences another aspect of motion control. Such an influence might exist, for instance, between slip control of driven wheels and brake control. To prevent the vehicle from skidding and spinning out on a slippery road surface, a drive torque from a drive motor can be directed to the drive wheels; in addition, a braking impulse can be applied to a non-driven wheel via a braking system.

[0015] Integration can also include selecting another function module required for the implementation of an already selected function module. Dependencies can specify which function module requires which other function module for its execution. A function module can be required by multiple other function modules. A function module that has not yet been selected can be selected automatically, or a notification can be provided indicating that selection is necessary to execute a selected function module. In one embodiment, a class of function modules is provided that do not themselves implement any aspect of motion control but provide predetermined functionality for other function modules. An example of such a function module could, for instance, determine the coefficient of friction of a wheel against a surface or an instantaneous vehicle speed.Such values ​​might be required, for example, by a functional module that implements an electronic stability program (ESP) or automatic speed control.

[0016] Integration can include checking whether the vehicle is suitable for implementing a selected function module. For example, a function module for all-wheel steering cannot be executed if the vehicle can only be steered on one axle. A non-executable function module can be automatically deselected, or a notification can be provided indicating its lack of feasibility. In this way, function modules whose execution is impossible or impractical can be automatically or interactively removed from the motion control system. Alternatively, the system can ensure that the prerequisites for executing a function module are met on board the vehicle.

[0017] Integration can further include adapting a selected functional module to sensors and / or actuators available on board the vehicle. For example, a functional module can work with sensors of varying accuracy or speed that detect a predetermined value. The functional module can also work with sensors that detect a value at different locations on the vehicle. For example, a temperature sensor in an exhaust system can be located at different distances from the internal combustion engine, and the functional module can be adapted to the distance. In another embodiment, a functional module can work with multiple sensors, not all of which are necessarily required. For example, a vehicle's speed can be determined based on a combination of satellite data, camera data, odometric data, and acceleration data.As part of the integration, the functional module can be adapted to disregard a sensor not intended for use in the vehicle during operation.

[0018] Similarly, a functional module can be adapted to different actuators available on board the vehicle. Here, too, different actuators, different actuator designs, or different actuator configurations can be supported. For example, a steering control system can operate with either hydraulic or electric power steering. A spring damper in a suspension system can be fixed, adjustable in compression, or adjustable in both rebound and compression. A functional module can be configured to operate only with the actuators provided on the vehicle and not to support other actuators during operation.

[0019] Integration can include identifying a sensor required for implementing a selected functional module. Similarly, integration can also identify an actuator required for implementing a selected functional module. This allows for determining, based on a desired functional module, which sensors and / or actuators are necessary for its execution. Preferably, it is determined which of these sensors and / or actuators are already available on the vehicle, and an indication of any missing sensors and / or actuators can be provided. This allows the vehicle design process to be more effectively aligned with a desired functional component or an aspect of motion control it implements. The vehicle can then be specifically adapted to fulfill a previously unmet requirement for a functional module.

[0020] The specification of a missing sensor and / or actuator can be performed for multiple functional modules simultaneously. A sensor or actuator that needs to be retrofitted for more than one functional module can only be specified once. Preferably, a reference to a sensor or actuator to be retrofitted includes an indication of which functional module comprises the sensor or actuator. More preferably, it is also specified how the sensor or actuator should be designed, configured, or used in order to be used for a functional module. Corresponding information can be assigned to a functional module. If the requirements of several functional components can be met by only one sensor or actuator, the specifications of the functional modules for the sensor can be compared to create a specification that meets the requirements of both functional modules.If this is not possible, a note can be provided indicating the need for separate sensors or actuators.

[0021] It is still preferred that the functional modules follow a uniform interface description. An interface preferably describes input parameters and / or output parameters; in addition, boundary conditions such as the frequency or speed of providing a parameter, a parameter's value range, or the meaning of an accepted or produced parameter may be specified.

[0022] An interface can be described in any format, such as ASN.1 or a predefined XML dialect. The format in which an interface is described, as well as any boundary conditions that must be met for the interface, can be published so that an interested party can implement or commission the development of an additional functional component. Optionally, a software tool for creating a functional component or an interface description can be provided. Such a tool can be integrated into an integrated development environment (IDE). Examples of such software tools include a toolkit, a toolchain, or a cross-platform compiler.

[0023] Based on information about the sensors and / or actuators available on the vehicle, a suggestion for a functional module can be determined, the implementation of which requires no additional sensors and / or actuators beyond those already present. This suggestion can allow the integration of an additional functional module into the motion control system without requiring any further hardware. The vehicle can then more easily utilize existing functional modules, thereby improving the vehicle's handling characteristics.

[0024] Conversely, a reference can also be provided to a functional module that can be removed from the motion control without making a sensor and / or actuator redundant.

[0025] Integration can include determining whether the processing unit available on board the vehicle is sufficiently powerful to execute all selected function modules or to execute a control program that integrates all selected function modules. If this is not the case, the system can specify how many of the available resources a selected function module requires. This allows an operator to better assess whether a function module should be removed and, if so, which one. In another embodiment, an attempt can be made to adapt a selected function module to the available power of the processing unit. For this purpose, the function module can, in particular, be configured to utilize a lower processing unit capacity.The processing unit is comprised of a control device on board the motor vehicle, the control device being configured to perform motion control for the motor vehicle.

[0026] According to a further aspect of the present invention, a control device for creating a motion control system for a motor vehicle comprises: a first interface for acquiring physical parameters of the motor vehicle; a second interface for acquiring a selection from a plurality of predetermined functional modules, wherein a functional module implements a predetermined aspect of a motion control system for a motor vehicle; and a processing unit. The processing unit is configured to integrate the selected functional modules into a motion control system based on the parameters, so that the motion control system implements the aspects of the selected functional modules. Furthermore, a third interface is provided for providing the motion control system. The motion control system is preferably provided in the form of a computer program product configured for execution on a device on board the motor vehicle.In other words, a software component of a motion control system can be automatically provided, the corresponding hardware component of which is installed on the motor vehicle. The hardware component can, in particular, include a processing unit, preferably of electronic design, and comprise, for example, a programmable microcomputer or microcontroller. Furthermore, one or more sensors and / or one or more actuators can be provided. The software component can be stored on a computer-readable data carrier. Features or advantages of the method can be transferred to the control device or vice versa.

[0027] A motor vehicle proposed herein comprises a device configured to perform motion control of the motor vehicle; wherein the device comprises a processing unit on which a computer program product runs, created by means of a control device described herein.

[0028] The invention will now be described with reference to the attached figures, in which:

[0029] Figure 1 shows a system for providing motion control for a motor vehicle; and

[0030] Figure 2 shows a flowchart of a process.

[0031] Figure 1 shows a system 100 for providing motion control for a motor vehicle 105. The motion control is configured to control the movement of the motor vehicle 105. Various aspects can be controlled, such as longitudinal, lateral, or vertical movement. The motion control can comprise a hardware component and a software component. The system 100 includes a control device 110 with a processing unit 115, which is preferably configured to partially or completely execute a method described herein. A communication device 120 is preferably provided for communication with another entity. The control device 110 preferably provides only a software component of a motion control for the motor vehicle 105. The software component can be stored as a computer program on a data storage device.For transmission to the motor vehicle 105, the software component can also be transferred to the motor vehicle 105 using the communication device 120.

[0032] The control device 110 can comprise a conventional computer on which an operator can prepare the motion control for the motor vehicle 105. The functionality described herein can run as a computer program on the control device 110. In one embodiment, the functionality is embedded as a plug-in in a known development program for motor vehicles. In another embodiment, the functionality is self-contained. Preferably, a graphical user interface is supported, which, for example, allows the selection or configuration of function modules by means of drag-and-drop or similar graphical manipulation.

[0033] System 100 further comprises a storage device 125, which can be located locally on the control device 110. Alternatively, the storage device 125 can be provided as an external device or service for the control device 110, as shown, and connected to the control device 125, for example, via a network 130. The storage device 125 can be configured as a server or as a service, particularly in a cloud. The network 130 can comprise a portion of the internet.

[0034] The storage device 125 is configured to store a plurality of function modules, each of which is implemented as a software component. An optional administrative device 135 is configured to store, update, or otherwise manage function modules in the storage device 125. Preferably, the function modules in the storage device 125 are maintained from the administrative device 135 and are then available for a plurality of independent control devices 110. More preferably, generic function modules are created that can be interconnected and parameterized for use in a plurality of different motor vehicles 105.

[0035] A device 140 is provided on board the motor vehicle 105, which implements motion control of the motor vehicle 105. The device 140 comprises a processing unit 145 on which motion control provided by the control device 110 in the form of a computer program can run. The processing unit 145 is typically connected to various sensors and actuators. Sensors shown in Figure 1 include, by way of example, rotation sensors 150, which are arranged on the wheels 155 of the motor vehicle 105, and an acceleration sensor 160 for determining the orientation of the motor vehicle 105 about its vertical axis. Actuators shown in Figure 1 also include, by way of example, brakes 165, which act individually on the wheels 155 of the motor vehicle 105. An interface 170 is connected to a drive motor, which can be considered an actuator for controlling longitudinal movement of the motor vehicle 105.A communication device 175 can be provided for communication with the control device 110.

[0036] The device 140 can implement one or more aspects of motion control. One exemplary aspect could include stabilizing the motor vehicle 105 about a vertical axis. In a purely illustrative embodiment, the yaw rate of the motor vehicle 105 could be determined based on a sensor signal from the accelerometer 160. Rotational speeds of the wheels 155 could also be determined using the rotary sensors 150. If it is determined that the yaw rate of the motor vehicle 105 does not correspond to the rotational speed of one of the wheels 155, the motor vehicle 105 may skid. To restore stability about the vertical axis, a brake 170 on one of the wheels 155 can be briefly applied. This functionality can be implemented by a functional component that is part of a motion control system operating on the device 145.It is proposed that the control device 110 be configured to acquire one or more functional components from the storage device 125 and to integrate the acquired functional components together so that a motion control system can be provided that can be uploaded to the motor vehicle 105. Each functional component implements one aspect of the motion control of the motor vehicle 105. Typically, functional components implementing different aspects of the motion control are combined.

[0037] Figure 2 shows a flowchart of a method 200 for creating a motion control system for a predetermined motor vehicle 105. In step 205, a description of the physical parameters of the motor vehicle 105 can be recorded. The description can include, in particular, the dimensions or weight of the motor vehicle 105. Additionally, it can include, for example, information about the motor vehicle 105's equipment with sensors 150, 160 and / or actuators 170. Further or other information is also possible.

[0038] In step 210, a selection of function modules 215 to be implemented in the motion control system can be recorded. The selection typically involves several function modules 215 from a pool of function modules 215 stored in the memory device 125. The selection can be made by an operator of the control device 110.

[0039] Selected function modules 215 can be procured in a step 220, for example by downloading a selected function module 215 from the storage device 125 to the control device 110.

[0040] In step 225, the selected function modules 215 can be integrated together to form a motion controller 230. Various tests can be performed to ensure that all selected function modules 215 can be implemented both individually and in combination on a device 140 on board the motor vehicle 205. The integration can include the configuration of a function module 215 or the interaction of function modules 215. The integration is preferably based on parameters of the motor vehicle 105 that were acquired in step 205. For example, a function module 215 can be parameterized, configured, or combined with another function module 215 during the integration.

[0041] The result of the integration is a software component 230 of the motion control, which can be uploaded to the motor vehicle 205 in a step 235 and installed there on the device 140.

[0042] The following are examples of functional components for a motion control system. It should be noted that the components mentioned, and the aspects of motion control they implement, are not exhaustive, and that numerous other functional components are possible.

[0043] * Variable Driving Characteristics (VDC):

[0044] The Variable Driving Characteristics function adapts the driving characteristics of a motor vehicle. This function influences the vehicle's yaw behavior by determining an additional yaw moment, which can be implemented by various actuators.

[0045] * Sideways driving mode (Crab Mode or Side Step Mode):

[0046] A special control mode in which the rear axle steering is locked in phase with the front axle steering, allowing the vehicle to move laterally without yaw. Optionally, an intuitive transition to LSDC can occur when the vehicle leaves an operating range in which this function can be executed.

[0047] * Low-Speed ​​Driving Characteristics (LSDC): This function determines a rear-wheel steering angle at low speeds. By counter-steering the rear wheels, it can help reduce the vehicle's turning radius at low speeds. At medium speeds or when reversing, the function can also provide parallel steering to increase the vehicle's stability.

[0048] * Trailer Stability Assist (TSA):

[0049] This allows a vehicle-trailer combination to be stabilized in unintentional swaying situations. Actuators such as a drive motor, a brake, or a steering system can be involved.

[0050] * Compensation for asymmetrical friction coefficients (Compensation Mu Split: CMS): Rapid steering correction via braking and steering systems can ensure stability on split p-surfaces during acceleration or deceleration.

[0051] * Driving State Observer (DSO):

[0052] To determine a virtual sensor for estimating vehicle speed, road friction, or lateral wheel slip based on available signals.

[0053] Reference mark

[0054] system

[0055] motor vehicle

[0056] Control device

[0057] Processing facility

[0058] Communication device

[0059] storage device

[0060] Network administrative device

[0061] device

[0062] Processing facility

[0063] Rotation sensor

[0064] wheel

[0065] Accelerometer

[0066] brake

[0067] interface

[0068] Communication device

[0069] Proceedings

[0070] Record vehicle parameters

[0071] Select functional modules

[0072] Functional module

[0073] Download function modules

[0074] Integrate functional modules

[0075] Motion control (software component)

[0076] Upload motion control

Claims

Patent claims 1. Method (200) for creating a motion control system (230) for a motor vehicle (105), wherein the method (200) comprises the following steps: - Recording (205) physical parameters of the motor vehicle (105); - Capturing (210) a selection from a large number of predefined function modules (215); - wherein a functional module (215) implements a predetermined aspect of a motion control (230) of a motor vehicle (105); and - Integrating (225) the selected function modules (215) into a motion control (230) based on the parameters; - so that the motion control (230) implements the aspects of the selected function modules (215).

2. Method (200) according to claim 1, wherein the integration comprises parameterizing a functional module (215) with a physical parameter of the motor vehicle (105).

3. Method (200) according to claim 1 or 2, wherein the integration comprises coordinating interactions between functional modules (215).

4. Method (200) according to one of the preceding claims, wherein the integration comprises selecting a further functional module (215) that is required for the implementation of an already selected functional module (215).

5. Method (200) according to one of the preceding claims, wherein the integration includes checking whether the motor vehicle (105) is suitable for the implementation of a selected functional module (215).

6. Method (200) according to one of the preceding claims, wherein the integration is an adaptation of a selected functional module (215) to sensors and / or actuators that are available on board the motor vehicle (105).

7. Method (200) according to one of the preceding claims, wherein the integration comprises determining a sensor required for the implementation of a selected functional module (215).

8. Method (200) according to any of the preceding claims, wherein the integration comprises determining an actuator required for the implementation of a selected functional module (215).

9. Method (200) according to one of the preceding claims, wherein the functional modules (215) follow a uniform interface description.

10. Method (200) according to one of the preceding claims, wherein, based on a specification of sensors and / or actuators available on the motor vehicle (105), a reference to a functional module (215) is determined, for the implementation of which no further sensors and / or actuators are required than the available ones.

11. Method (200) according to one of the preceding claims, wherein the integration comprises determining whether a processing unit (145) available on board the motor vehicle (105) is sufficiently powerful to execute all selected functional modules (215).

12. Control device (110) for creating a motion control system (230) for a motor vehicle (105), wherein the control device comprises the following elements: - a first interface (120) for recording physical parameters of the motor vehicle (105); - a second interface (120) for capturing a selection from a large number of predefined function modules (215); - wherein a functional module (215) implements a predetermined aspect of a motion control (230) of a motor vehicle (105); - a processing unit configured to integrate the selected functional modules (215) into a motion controller (230) based on the parameters, so that the motion controller (230) implements the aspects of the selected functional modules (215); and - a third interface (120) for providing motion control (230).

13. Control device (110) according to claim 12, wherein the motion control (230) comprises a computer program product for execution on a control device on board the motor vehicle (105).

14. Motor vehicle (105) comprising a device (140) configured to perform motion control (230) of the motor vehicle (105); wherein the device (140) comprises a processing unit (145) on which a computer program product runs, created by means of a (110) control device according to claim 12 or 13.

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