DE10357922A1 - Controlling actuators in vehicle involves dividing driving systems into groups and carrying out measures in the event of a fault in a system that are defined depending on its group association - Google Patents

Abstract

The method involves a coordinator generating control signals for actuators for drive systems and sending response signals to an acknowledgment device for conveying vehicle state information to the driver. The control signals are sent to a regulating system that drives the actuators accordingly. The drive systems are divided into groups and the measures carried out in the event of a fault in a system are defined depending on its group association. The method involves a coordinator (20) generating control signals for actuators (51-53) for driving systems (10-18) and sending response signals to a response device (30) for conveying vehicle state information to the driver. The control signals are sent to a regulating system (40) that drives the actuators accordingly. The driving systems are divided into groups (G1-G3) and the measures carried out in the event of a fault in a system are defined depending on its group association.

Description

The invention relates to a method for controlling actuators in vehicles.

It is for example from the WO 01/89897 A1 known in a vehicle having a variety of driving systems has to supply the signals of the driving systems a coordinator. Of the On the one hand, the coordinator generates control signals for activation of actuators, which are supplied to a vehicle dynamics control device and on the other hand feedback signals, to a feedback device to convey information about the driving condition to the Driver transmitted become. The control of the actuator is then by in the Vehicle dynamics control generated signals.

over the controller then determines the dynamics of the vehicle. The steller control the operation of the drive device, the braking device and the steering device. In particular, it is intended that the operators control these facilities alone, so no mechanical penetration between driver-operated controls and the corresponding facilities.

Such a system architecture demands for the safe operation of the vehicle failure strategies, in case the occurrence of a fault in one of the functional elements, in particular in one of the driving systems. The failure strategy must ensure that that the vehicle is constantly is kept in a safe condition.

The object of the invention is thus to one possible to provide simple failure strategy.

This task is performed by a procedure solved for driving actuators in vehicles according to claim 1.

In the method according to the invention for driving actuators in vehicles are available in a variety generated by driving systems signals which are fed to a coordinator. The coordinator generates on the one hand control signals for driving Stellern and on the other hand feedback signals, the to a feedback device for conveying information about the driving state of the vehicle transmitted to the driver become. The generated control signals are fed to a control system which the adjuster due to the supplied Controls control signals. According to the invention the driving systems are divided into at least two groups. The Activities, which are carried out when a fault occurs in a driving system, become dependent on it of affiliation of the driving system to one of the groups.

The assignment of the driving systems in at least two groups allow the reaction of the whole system on the one hand to reduce to a few basic types, on the other hand in dependence the relevance of driving systems for to generate an adapted response to the operation of the vehicle, the safe operation of the vehicle at least until it reaches a safe state allows. The division of the driving systems into a number of groups has the Advantage that the error treatment occurring to the driver differs only between the individual groups. He has to not on a system dependent Stop reaction that occurs in individual cases. He can do one get a small number of typed error reactions, so that the instruction of the driver is not too complex.

The number of groups being divided into is preferred according to Embodiment of the invention as possible kept small, at the same time the most gradual adaptation, depending on the relevance of the driving system. The latter is all the more better possible, the bigger the Number of groups is. Overall, the number of groups is preferably less than or equal to five, in particular equal to three.

As driving systems are very different Applications provided. It can be pure warning systems like one Tire pressure monitor or hazard warning device that the driver in front of bends or confusing Intersections warns when the vehicle's longitudinal speed of the concerned Danger spot is not adjusted, act. Likewise it can be to act as so-called comfort systems that take over certain individual driving tasks. examples for such systems are cruise control systems, proximity control systems or traffic jam systems. About that In addition, safety systems such as brake-steering assistance systems also come or curve safety devices are used.

The control system is advantageously a subordinate system. Particularly advantageous is the use of so-called slip control systems has proven. As slip control systems can be used: A brake slip control, with a blocking of the braked wheels is avoided during a braking operation. For this purpose, brake pressure is relieved by targeted braking interventions in wheels tending to lock. Or a traction control, with a spinning process, a spin of the driven wheels is avoided in a startup. For this purpose, targeted brake pressure is built up in the wheels that tend to spin. In addition, the torque acting on the driven wheels can be reduced by engine interventions. Or a yaw rate control, with which the yaw rate of the vehicle is regulated by wheel-specific brake interventions. The yaw rate, also called Gierge speed, describes the rotational movement of the vehicle about its vertical axis. The slip control systems listed above can be arranged individually or in any combination in the vehicle. The slip control systems listed above can be summarized as driving dynamics controller or vehicle dynamics control.

According to a preferred embodiment According to the invention, a first group of driving systems is formed. This first group is associated with driving systems, the warning messages to the driver. When an error occurs in one of these Group assigned driving system is a message about the Failure of the system generated, the message in particular on the Feedback device transmitted to the driver becomes. examples for Driving systems that generate warning messages are tire pressure warning devices, Curve warning devices, sleep alert devices and parking distance warning devices.

With a tire pressure warning device the driver is acoustically and / or visually and / or haptically too low or too high air pressure in one of the tires of the Vehicle warned. With a curve warning device is the driver before curves or similar warns when the vehicle's longitudinal speed the danger point concerned is not adjusted. The danger spot can e.g. be detected in advance by GPS. With a sleep alarm For example, in the event of imminent falling asleep, the driver acoustically warned. With a parking distance warning device is the driver during a parking operation before an imminent collision with an object located in the parking area, for example visually and / or acoustically warned.

The occurrence of an error in one such warning device has first only the result that the required warning signal may not be or not reliable is produced. The nonfunction of the corresponding system must be communicated to the driver, what the feedback device used can be. On the other hand, the further operation of the vehicle easily possible.

According to a continuing Embodiment of the invention is a second group of driving systems educated. This second group is assigned the driving systems, the driving tasks independently carry out. When an error occurs in one of these group assigned Driving system generates a message to the driver and the driving system assigned driving task to the driver. Such systems allow a comfortable driving, whereby certain driving tasks not through the driver performed Need to become. At the However, if an error occurs, further operation of the vehicle is possible It must be ensured that the data taken from the failing system Driving task in traffic-safe manner returned to the driver becomes. This is preferably done by the driver over the System failure is informed and, if necessary, in a transitional period a residual function, for example due to limited functionality in one Fallback guaranteed becomes. Examples of such independent Driving tasks performing driving systems are distance control devices, autonomous stop & go traffic jam systems and cruise control devices. Generally speaking, these driving systems are about Comfort system devices.

A distance control device takes dependent from the distance to a vehicle ahead, brake interventions, to maintain a predetermined safety distance. Corresponding, in Applicant's vehicles are under known as "Distronic." As a comfort system device Also comes a so-called "Staumatic" in question, which is the allowing autonomous driving of the vehicle in traffic, taking into account the current traffic situation automatically steered and is slowed down. By doing so leaves Driver independent a stop-and-go operation realize the vehicle. With the help of a speed control device leaves one essentially uniform Ride with a vehicle realize without the driver the accelerator pedal actuate got to.

According to another advantageous embodiment of Invention, a third group of driving systems is formed. This are assigned the driving systems that are not assigned to any other group are. These are in particular safety systems, which influence the operation of the vehicle in dangerous situations and the like. When a fault occurs in one of the driving systems becomes a safe state brought and then the appropriate driving system taken out of service. The driver will here over informed. It may be necessary for the driver to prompt visits to a workshop or even a cause the vehicle standstill is caused. Examples of such Safety-relevant driving systems are brake assistants and predicative Systems such as lane-tracking systems and autonomous driving systems the normal operation of the vehicle by regulating interventions on steering, Drive unit and brakes perform. Here it is important, to bring about a safe state of the vehicle. The driving task must then returned to the driver in this safe condition become. It is not always guaranteed that the vehicle without restrictions can continue to operate. Therefore, it may only be necessary a limited Allow driving, to arrange a visit to a workshop or even bring about the vehicle standstill.

It corresponds to an advantageous embodiment of the invention, when the occurrence of a Feh Lers is operated in a controller of these controllers at least temporarily in a fallback. This ensures fault tolerance or fault tolerance of the system against the failure of one or more of the actuators.

According to a further embodiment of the invention If one of the actuators fails, this function is the responsibility of this actuator by compensating control of the other controller at least partially balanced. For example, if one fails Wheel brake on other wheel brakes a correspondingly higher brake pressure be generated, so that at least approximately the same braking effect is reached. A simultaneously implemented vehicle dynamics control via brake interventions however, may be more affected in their function, so that in this case the immediate or immediate visit of a workshop It is recommended, however, a further operation of the vehicle is in principle conceivable. Even the failure of the steering actuator can by corresponding brake interventions are partially compensated, this However, it is only sufficient to put the vehicle in the safe state to transfer the vehicle standstill. For this can serve a redundancy of the steering actuator, at least one limited further function of the steering allows. It can also be a fallback be provided, in which a mechanical connection between the steering wheel and steered wheels is made. Then the vehicle is still mobile, essential Driving systems can However, no longer be operated when a driver-independent steering intervention not possible anymore is. This must be considered by the driver.

According to an advantageous embodiment The invention will be in the event of a fault in the control system the control signals of the coordinator fed directly to the actuators. The Control system is a safety system switched after the coordinator. Advantageously, this control system is a vehicle dynamics control. Because this system, that is quite the same is a driving system, maintaining a manageable driving condition serves, flows his signals are not in the coordinator, where it example, as would be attributable to the second or third group but is the result of the coordinator. Since operating the vehicle without vehicle dynamics control, which too the ABS or ASR function can be included is that which the coordinator generated control signals fed directly to the writers. A corresponding information about The failure of the vehicle dynamics controller is forwarded to the driver.

According to an advantageous embodiment The invention is the occurrence of an error in the feedback device generates a corresponding error message and a separate working Device transmitted to the driver. The feedback device can not only the visual and acoustic informing the driver about the Assume driving condition, In particular, it can also provide haptic feedback in many areas take over to the driver. You can do this especially pedal travel simulators and steering wheel torque generators serve. These were transmitted to the driver However, information is for the behavior of the driver important. The driver will talk about this independently functioning warning device informed.

According to an advantageous embodiment the invention are the failure of the coordinator, the signals of Driving systems, which are assigned to the first group, are uncoordinated or after prioritization. The signals of this Systems essentially serve to inform the driver. This Information must even after the failure of the coordinator in a suitable manner transmitted to the driver become. This can be done by direct control of the feedback device respectively. In this case, the feedback device if necessary, transmit the signals to the driver according to a given prioritization.

According to a further embodiment of the invention if the coordinator fails, the driving tasks of the driving systems, that are associated with the second group after generating a warning message handed over to the driver. The failure of Koordi nators has the consequence that not all driving systems The second group can be operated coordinated with each other. It could too contradictory Requirements come. There are no matching control signals accordingly the needs of these driving systems produces more. Therefore, the tasks become, after corresponding information of the driver passed to this in the meantime, a secure state should be maintained.

According to a further embodiment of the invention In case of failure of the coordinator, those of the third group assigned driving systems signals directly to the controllers corresponding function supplied. The driving systems associated with the third group are notable in particular in that they generate control signals as signals. Therefore is it possible in particular to supply these signals directly to the corresponding actuators. The Signals can if necessary, prioritized among each other in the controller become. this makes possible the further operation of the vehicle, without any immediate Stopping the vehicle is required.

By the invention and its embodiments, therefore, a high level of error safety is ensured even when errors occur in the driving systems and in the other devices for operating the vehicle. The failure safety leads many times to fault tolerance, which allows further, albeit limited, operation of the vehicle. It allows a coordinated response to errors that occur in much the same way manner the driver informed and processed accordingly. This represents a simplification of error handling for the driver.

Otherwise, the invention is based on of the embodiment shown in the drawing below explained in more detail. there the sole figure shows the block diagram of a system architecture according to the invention and thus the device according to the invention in which the process of the invention proceeds.

The system architecture includes the driving systems 10 . 11 . 12 . 13 . 14 . 15 . 16 . 17 . 18 , Here are the driving systems 10 and 11 the third group G3, the driving systems 12 . 13 . 14 and 15 the second group G2 and the driving systems 16 . 17 and 18 assigned to the third group G3.

At the driving systems of the first group acts these are warning system devices. In the driving systems of the second Group are comfort system facilities. In the driving systems the third group is safety system equipment. Overall, these can Driving systems are also referred to as Fahrerassistzeinrichtungen. They are in support the driver in certain driving conditions or driving situations of the Vehicle available.

The of the driving systems 10 to 18 generated signals are sent to the coordinator 20 transmitted. The coordinator 20 generates the acknowledgment signals, that of the feedback device 30 be transmitted. The feedback device includes simulators 31 , which are used to generate in particular haptic feedback to the driver. The vehicle can, for example, with the following simulators 31 be equipped: A simulator with the steering handle on the steering wheel torque can be generated. Simulators with which pedal forces can be generated on the individual pedals. Simulators with which a roll angle can be generated on the vehicle body. The vehicle may include any subset or combination of the simulators listed above.

Incidentally, by the feedback device transmitted optical and acoustic feedback. It can Pictographs are displayed on indicators and notices acoustically via the speakers of the vehicle are generated.

On the other hand, the coordinator creates 20 the control signals to the vehicle dynamics controller 40 be supplied. The driving dynamics controller 40 then takes over the control of the actuator 51 . 52 and 53 of the vehicle. At the writers 51 . 52 and 53 they may be those with which the steering and / or brakes and / or suspension and / or the engine, ie the drive, and / or the transmission of the vehicle can be interfered with. In this case, the vehicle can be equipped with any subset or combination of the above listed actuator. Likewise, the admission of any subset or combination of the above listed actuator can be provided according to the inventive method.

The above-described behavior in case of failure of one of the functional elements can be performed. In case of failure of one of the driving systems 10 to 18 is reacted according to the affiliation of the driving system to one of the groups G1, G2 or G3. By the dashed arrows is shown in the drawing that in case of failure of the vehicle dynamics controller 40 the control signals directly to the actuators 51 . 52 . 53 be supplied. In case of an error in the feedback device 30 or their simulators 31 can be done accordingly by a second ad 32 information about this will be displayed.

In case of failure of the coordinator 20 the signals of the third group G3, this includes the driving systems 10 and 11 , directly to the vehicle dynamics controller 40 fed. This is indicated by the dotted lines. Alternatively, it can also be provided, bypassing the vehicle dynamics controller 40 , these signals or corresponding signals directly to the actuators 51 . 52 . 53 supply.

In case of failure of the coordinator 20 become the signals of the driving systems 12 . 13 . 14 . 15 , these form the second group, and the signals of the driving systems 16 . 17 . 18 , these form the first group, to the feedback device 30 slides. This is also indicated by dash-dotted lines. The corresponding driving tasks are handed over to the driver.

A mistake in one of the steller 51 . 52 . 53 is counteracted by appropriate redundancy and compensating control of other controllers. In these cases, the feedback device 30 the driver informed accordingly.

Claims (12)

Method for controlling actuators ( 51 . 52 . 53 ) in vehicles, wherein a plurality of driving systems ( 10 . 11 . 12 . 13 . 14 . 15 . 16 . 17 . 18 ) Generate signals to a coordinator ( 20 ), the coordinator ( 20 ) on the one hand control signals for controlling actuators ( 51 . 52 . 53 ) and on the other hand feedback signals to a feedback device ( 30 ) for communicating information about the driving state of the vehicle to the driver, and wherein the generated control signals to a control system ( 40 ) are supplied, which the Steller ( 51 . 52 . 53 ) due to the supplied control signals, characterized in that the driving systems ( 10 , ..., 18 ) are divided into at least two groups (G1, G2, G3), the measures being taken when an error occurs in a driving system ( 10 , ..., 18 ) are carried out depending on the affiliation with egg ner of the groups (G1, G2, G3) is determined. Method according to claim 1, characterized in that a first group (G1) of driving systems ( 16 . 17 . 18 ), the driving systems ( 11 , ..., 18 ), which generate warning messages to the driver, whereby upon the occurrence of an error in a driving system assigned to one of these groups (G1) ( 16 . 17 . 18 ) a message about the failure of the driving system ( 16 . 17 . 18 ) is produced. Method according to claim 1 or 2, characterized in that a second group (G2) of driving systems ( 12 . 13 . 14 . 15 ), the driving systems ( 11 , ..., 18 ), which carry out driving tasks independently, whereby when an error occurs in a driving system assigned to this group (G2) ( 12 . 13 . 14 . 15 ) a message is generated to the driver and the driving system ( 12 . 13 . 14 . 15 ) assigned to the driver is assigned. Method according to one of the preceding claims, characterized in that a third group (G3) of driving systems ( 10 . 11 ), which is the driving systems not assigned to another group ( 11 , ..., 18 ), wherein when an error occurs in one of the driving systems ( 10 . 11 ) a safe state and then the appropriate driving system ( 10 . 11 ) is taken out of service and the driver is informed about this. Method according to one of the preceding claims, characterized in that when an error occurs in a controller ( 51 . 51 . 53 ) this actuator ( 51 . 52 . 53 ) is operated at least temporarily in a fallback level. Method according to Claim 5, characterized in that the tasks of the controller ( 51 . 52 . 53 ), in which an error has occurred, by compensating control of the other controller ( 51 . 52 . 53 ) is at least partially offset. Method according to one of the preceding claims, characterized in that when an error occurs in the control system ( 40 ) the control signals of the coordinator ( 20 ) directly to the writers ( 51 . 52 . 53 ). Method according to one of the preceding claims, characterized in that when an error occurs in the feedback device ( 30 ) generates a corresponding error message and via a separate device ( 32 ) is transmitted to the driver. Method according to one of the preceding claims, characterized in that in the event of the failure of the coordinator ( 20 ) the signals of the driving systems ( 16 . 17 . 18 ) associated with the first group (G1) are allowed to be uncoordinated or scheduled prioritization. Method according to one of the preceding claims, characterized in that in the event of the failure of the coordinator ( 20 ) the driving tasks of the driving systems ( 12 . 13 . 14 . 15 ) associated with the second group (G2) are passed to the driver after generating a warning message. Method according to one of the preceding claims, characterized in that in the event of the failure of the coordinator ( 20 ) the driving systems associated with the third group (G3) ( 10 . 11 ) directly to the controllers ( 51 . 52 . 53 ) corresponding function and / or the control system ( 40 ). Method according to Claim 1, characterized in that the control system ( 40 ) is a subordinate system, in particular a slip control system.