WO2000000759A1 - Circuit arrangement for controlling a running gear or drive system in a motor vehicle - Google Patents

Circuit arrangement for controlling a running gear or drive system in a motor vehicle Download PDF

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Publication number
WO2000000759A1
WO2000000759A1 PCT/DE1999/001680 DE9901680W WO0000759A1 WO 2000000759 A1 WO2000000759 A1 WO 2000000759A1 DE 9901680 W DE9901680 W DE 9901680W WO 0000759 A1 WO0000759 A1 WO 0000759A1
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WO
WIPO (PCT)
Prior art keywords
computing unit
fuzzy
circuit arrangement
program
motor vehicle
Prior art date
Application number
PCT/DE1999/001680
Other languages
German (de)
French (fr)
Inventor
Friedrich Graf
Markus Breitfelder
Original Assignee
Siemens Aktiengesellschaft
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Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2000000759A1 publication Critical patent/WO2000000759A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B60R16/0315—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for using multiplexing techniques
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • B60G2600/187—Digital Controller Details and Signal Treatment
    • B60G2600/1879—Fuzzy Logic Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0006—Digital architecture hierarchy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0014—Adaptive controllers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0057—Frequency analysis, spectral techniques or transforms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
    • F16H2061/0081—Fuzzy logic

Definitions

  • Circuit arrangement for controlling a fan drive or drive system in a motor vehicle
  • the invention relates to a circuit arrangement according to the preamble of claim 1. It has a fuzzy logic system in which input signals supplied by sensors are evaluated and actuating signals for the chassis or drive system are generated.
  • Fuzzy-Log k systems are being used more and more in a wide variety of technical fields, in particular also in control units of automotive engineering. With the increasing experience in dealing with fuzzy systems, the demand for the use of increasingly complex systems of this type also increases. Such complex fuzzy systems are currently being processed in the form of programs from computer systems. The problem arises when the program run times are long, especially in real-time operation.
  • a known circuit arrangement for controlling a device in a motor vehicle contains a fuzzy logic system and a driving situation classifier (DE 195 27 323 AI).
  • This driving situation classifier evaluates the driving condition and the type of surasse in use and classifies them into classes such as stop-and-go traffic, winding country roads, highways, etc.
  • Information supplied by sensors about the vehicle speed, the lateral acceleration, etc. and an Ant ⁇ ebs differential torque are used as system input variables.
  • the fuzzy system used is a so-called neurofuzzy system, in which the system transmission behavior, that is to say which values of the sensor input signals of the control device, what driving state are assigned, must be known, in the form of reference or learning data.
  • the fuzzy system is initially developed using expert knowledge, i.e. the system sizes such as the number of inputs and outputs, the rules and the number of membership functions are defined and an equivalent neural network is translated. This network then adjusts the transmission behavior of the fuzzy system to the learning data using selectable system parameters. After the desired transmission behavior has been achieved, the neural network is in turn transformed back into an equivalent fuzzy system.
  • fuzzy systems with up to hundreds of rules and many input and output sizes can be developed and the transmission behavior of the system can be adapted to the behavior desired for the control device.
  • the complexity of the system increases and the computing time and computing performance problems mentioned can occur.
  • the invention has for its object to provide a circuit arrangement of the type mentioned, which has the advantages of a fuzzy system and d e is able to do the necessary regulation and control tasks in real time with reasonable computer effort.
  • the circuit arrangement has a program-controlled computing unit in which the input signals are processed, a base memory in which input and output membership functions, fuzzy rules and the data structure of the fuzzy system are contained, and a hard-wired computing unit which with the program-controlled computing unit and the basic memory and in one Fuzzy algorithms are processed.
  • This processing of fuzzy algorithms includes: fuzzifying input signals, processing fuzzy rules and defuzzifying the results, ie generating "sharp" output signals.
  • FIG. 1 shows a motor vehicle control unit, for. B. a transmission control, inventive circuit arrangement forming, and Figure 2 e flow chart of the programs processed in the circuit arrangement of Figure 1.
  • the circuit arrangement 1 contains a program-controlled (or memory-programmed) processor 2 in the form of a microprocessor unit or CPU, which here functions as a host computer.
  • the program-controlled computing unit 2 is connected via an eight-bit standard address and data bus 3 to a hard-wired computing unit 4, which, for. B. is designed as a fuzzy logic coprocessor.
  • This computing unit 4 is connected to a base memory 6 by an address and data bus 5.
  • the program-controlled computing unit 2 and the permanently twisted computing unit 4 are connected to a read-only memory module or ROM 8 via the address and data bus 3.
  • the program-controlled computing unit 2 is connected via a data and signal line 10 to an Em and output stage 11, which forms the interface to various sensors in the motor vehicle and to one or more actuators to be controlled in the motor vehicle. It receives the signals delivered by the sensors via a sensor signal line 12 and sends control signals via a control signal line 14 to the actuator (s) to be controlled, not shown here.
  • the address and data bus 3 forms, together with the program-controlled computing unit 2 and the data and signal line 10, a hardware interface between the hard-wired computing unit 4 and the E and output stage 11 of the circuit arrangement 1 serving here as a control device in a motor vehicle.
  • Control commands for the hard-wired computing unit to select the fuzzy algorithms - transmitted are used as the hard-wired computing unit. Fuzzy algorithms are stored in the base memory 6, which thus forms the memory for the knowledge base of the fuzzy system.
  • the address and data bus 5, with which the hardwired recnenemheit 4 on the Base memory 6 accesses, is physically independent of the address and data bus 2.
  • the input variables of the F ⁇ zzy system are transmitted from the program-controlled computing unit 2 to the hard-wired computing unit 4.
  • the hard-wired unit 4 calculates the output variables and makes them available to the program-controlled computing unit 2 via the address and data bus 3.
  • the program-controlled computation unit 2 has a width of eight bits, but it can also have a larger bit width.
  • the addresses can be shifted in time on the address and data bus 3 or can also be transmitted on separate lines (not shown here).
  • Command codes required for data transmission are stored in the ROM memory module 8.
  • the fact that the hard-wired computing unit 4 can access the independent basic memory 6 enables real parallel processing of algorithms.
  • Em and output stage 11 which is designed as a so-called hardware unit, on the one hand prepares incoming sensor signals and on the other hand controls external actuators, such as valve drives, electric motors, etc., in the motor vehicle. It also contains a serial interface (not shown here in particular) for communication with other control devices and also with external computers. Such external computers are used, for example, to carry out diagnoses and to program mieren of the circuit arrangement 1.
  • This interface can be designed as a CAN bus.
  • Step SO the environmental data, d. H. in particular, the signals supplied by the sensors are processed.
  • Step S1 is queried whether a calculation by the fuzzy system has been requested. If no, you will be returned to the start. If so, my will
  • Step S2 transfers the input variables via the bus 3 to the hard-wired computing unit 4.
  • step S3 the necessary fuzzy logic operations or calculations are carried out in the computing unit 4, independently of the computing unit 2.
  • step S4 the output data of the fuzzy system are transmitted to the computing unit 2 via the address and data bus 3. This completes the program run.
  • the calculations described above are processed about 10 to 100 times faster than when processing in a software or program-controlled computing unit.
  • the exact computing time of the coprocessor depends on the operators and algorithms used in each fuzzy system.
  • the program-controlled computing unit (host controller) is only burdened with the transfer of the input data and the query of the result data of the fuzzy system.
  • the actual calculations of the fuzzy system are carried out completely independently of the host controller. This means that a real one
  • the hard-wired computing unit 4, the base memory 6 and the program-controlled computing unit 2 can be on a silicon chip to get integrated. This results in a smaller number of components for the circuit arrangement 1 with consequently lower costs, less circuit board area is required and the susceptibility to errors is reduced.

Abstract

The inventive circuit arrangement (1) contains a fuzzy logic system wherein signals classifying the current driving situation are generated and used for controlling the running gear or drive system according to the driving situation. The arrangement has a programme-controlled arithmetic unit (2) wherein input signals are processed, a base memory (6) containing input and output membership functions and the data structure of the fuzzy logic, and a hard-wired arithmetic unit (4) which is connected to the programme-controlled arithmetic unit (2) and the base memory (6) and wherein the fuzzy algorithms are processed.

Description

Beschreibungdescription
Scnaltungsanordnung zum Steuern eines Fanrwerks- oder Antriebssystems in einem KraftfahrzeugCircuit arrangement for controlling a fan drive or drive system in a motor vehicle
Die Erfindung betrifft eine Schaltungsanordnung nach dem Oberbegriff von Anspruch 1. Sie weist ein Fuzzy-Logik-System auf, in dem von Sensoren gelieferte Eingangssignale ausgewertet und Stellsignale für das Fahrwerks- oαer Antriebssystem erzeugt werden.The invention relates to a circuit arrangement according to the preamble of claim 1. It has a fuzzy logic system in which input signals supplied by sensors are evaluated and actuating signals for the chassis or drive system are generated.
Fuzzy-Log k-Systeme (im folgenden kurz: Fuzzy-Systeme) finden eine immer breitere Anwendung in den unterschiedlichsten technischen Gebieten, insbesondere auch m Steuergeraten der Kraftfahrzeugtechnik. Mit der zunehmenden Erfahrung im Umgang mit Fuzzy-Systemen nimmt auch die Forderung nach einer Verwendung von immer komplexeren derartigen Systemen zu. Solche komplexen Fuzzy-Systeme werden derzeit m Form von Programmen von Rechenanlagen abgearbeitet. Dabei ergibt sich das Problem zu großer Programmlaufzeiten, insbesondere bei Echtzeitbetrieb.Fuzzy-Log k systems (in the following for short: fuzzy systems) are being used more and more in a wide variety of technical fields, in particular also in control units of automotive engineering. With the increasing experience in dealing with fuzzy systems, the demand for the use of increasingly complex systems of this type also increases. Such complex fuzzy systems are currently being processed in the form of programs from computer systems. The problem arises when the program run times are long, especially in real-time operation.
Eine bekannte Schaltungsanordnung zum Steuern einer Einrichtung in einem Kraftfahrzeug, zum Beispiel einer Getπebe- Steuerung, enthalt ein Fuzzy-Logik-System und einen Fahrsi- tuationsklassifikator (DE 195 27 323 AI) . Dieser Fahrsituati- onsklassifikator oewertet den Fahrzustand und den befahrenen Suraßentyp und stuft sie in Klassen wie Stop-und-Go-Verkehr, kurvige Landstraße, Autobahn usw. ein. Dabei werden von Sen- soren gelieferte Informationen über die Fahrzeuggeschwindig- keit, d e Querbeschleunigung usw. sowie ein Antπebs-Diffe- renzmoment als Systemeingangsgroßen verwendet. Das verwendete Fuzzy-System ist ein sogenanntes Neurofuzzy-System, bei dem das Systemubertragungsverhalten, das heißt welchen Werten der Sensoreingangssignalen des Steuergeräts welcnem Fahrzustand zuzuordnen sind, bekannt sein muß, und zwar in Form von Referenz- oder Lerndaten. Das Fuzzy-System wird mittels Expertenwissen initial entwickelt, das heißt es werden die Systemgroßen wie d e Anzahl der Eingänge und Ausgange, die Regeln und die Anzahl der Zugehorigkeitsfunktionen festgelegt und m ein äquivalentes neuronales Netz übersetzt. Dieses Netz paßt dann mit wahlbaren Systemparametern das Ubertragungsverhalten des Fuzzy-Systems αen Lerndaten an. Nach Erreichen des gewünschten Ubertragungsverhaltens wird das neuronale Netz wiederum in e n äquivalentes Fuzzy-System rucktransformiert.A known circuit arrangement for controlling a device in a motor vehicle, for example a Getπebe control, contains a fuzzy logic system and a driving situation classifier (DE 195 27 323 AI). This driving situation classifier evaluates the driving condition and the type of surasse in use and classifies them into classes such as stop-and-go traffic, winding country roads, highways, etc. Information supplied by sensors about the vehicle speed, the lateral acceleration, etc. and an Antπebs differential torque are used as system input variables. The fuzzy system used is a so-called neurofuzzy system, in which the system transmission behavior, that is to say which values of the sensor input signals of the control device, what driving state are assigned, must be known, in the form of reference or learning data. The fuzzy system is initially developed using expert knowledge, i.e. the system sizes such as the number of inputs and outputs, the rules and the number of membership functions are defined and an equivalent neural network is translated. This network then adjusts the transmission behavior of the fuzzy system to the learning data using selectable system parameters. After the desired transmission behavior has been achieved, the neural network is in turn transformed back into an equivalent fuzzy system.
Mit einem solchen Verfahren können Fuzzy-Systeme mit bis zu hunderten von Regeln und vielen Eingangs- und Ausgangsgroßen entwickelt und das Ubertragungsverhalten des Systems dem für das Steuergerat gewünschten Verhalten angepaßt werden. Dabei steigt die Komplexität des Systems und es können d e erwähnten Rechenzeit- und Rechnerleistungsprobleme auftreten.With such a method, fuzzy systems with up to hundreds of rules and many input and output sizes can be developed and the transmission behavior of the system can be adapted to the behavior desired for the control device. The complexity of the system increases and the computing time and computing performance problems mentioned can occur.
Die Erfindung liegt die Aufgabe zugrunde, eine Schaltungsan- Ordnung der eingangs genannten Art zu schaffen, die die Vorteile eines Fuzzy-Systems aufweist und d e in der Lage ist, bei vertretbarem Rechneraufwand die erforderlichen Regelungsund Steuerungsaufgaben m Echtzeit zu erledigen.The invention has for its object to provide a circuit arrangement of the type mentioned, which has the advantages of a fuzzy system and d e is able to do the necessary regulation and control tasks in real time with reasonable computer effort.
Diese Aufgabe wird erfmdungsgemaß αurch d e Schaltungsanordnung nach Anspruch 1 gelost. Zweckmäßige Weiterbildungen der Erfindung s nd in den Unteranspruchen niedergelegt.This object is achieved according to the invention by the circuit arrangement according to claim 1. Appropriate developments of the invention are set out in the subclaims.
Die Schaltungsanordnung weist auf eine programmgesteuerte Re- chenemheit, in der eine Aufbereitung der Eingangssignale erfolgt, einen Basisspeicher, in dem Eingangs- und Ausgangs- Zugehorigkeitsfunktionen, Fuzzy-Regeln sowie die Datenstruktur des Fuzzy-Systems enthalten sind, und eine fest verdrahtete Recheneinheit, die mit der programmgesteuerten Rechen- emheit und dem Basisspeicher verounden ist und in der eine Abarbeitung von Fuzzy-Algorithmen erfolgt. Diese Abarbeitung von Fuzzy-Algorithmen schließt: ein die Fuzziflzierung von Eingangssignalen, die Abarbeitung von Fuzzy-Regeln und die Defuzzifizierung der Ergebnisse, d.h. das Erzeugen von „scharfen" Ausgangssignalen.The circuit arrangement has a program-controlled computing unit in which the input signals are processed, a base memory in which input and output membership functions, fuzzy rules and the data structure of the fuzzy system are contained, and a hard-wired computing unit which with the program-controlled computing unit and the basic memory and in one Fuzzy algorithms are processed. This processing of fuzzy algorithms includes: fuzzifying input signals, processing fuzzy rules and defuzzifying the results, ie generating "sharp" output signals.
Die Vorteile der Erfindung liegen insbesondere darin, daß durch die Verwendung von zusatzlichen festverdrahteten Schal- tungsbestandteilen, einer sogenannten Zusatzhardware, in Form eines Fuzzy-Logik-Coprozessors , die Funktion des Fuzzy- Systems nicht mehr in Form eines Programmes von dem Prozessor eines Kraftfahrzeug-Steuergerätes abgearbeitet werden muß, sondern unabhängig von diesen Prozessor ausgeführt wird. Der Prozessor oder Rechner wird dadurch erheblich entlastet.The advantages of the invention are, in particular, that the use of additional hard-wired circuit components, so-called additional hardware, in the form of a fuzzy logic coprocessor means that the function of the fuzzy system is no longer in the form of a program from the processor of a motor vehicle. Control unit must be processed, but is executed independently of this processor. The processor or computer is considerably relieved.
Em Ausfuhrungsbeispiel der Erfindung wird im folgenden anhand der Zeichnungen naher erläutert. Es zeigen:Em exemplary embodiment of the invention is explained in more detail below with reference to the drawings. Show it:
Figur 1 eine ein Kraftfahrzeug-Steuergerät, z. B. eine Ge- triebesteuerung, bildende erf dungsgemaße Schaltungsanordnung, und Figur 2 e Flußdiagramm der in der Schaltungsanordnung nach Figur 1 abgearbeiteten Programme.1 shows a motor vehicle control unit, for. B. a transmission control, inventive circuit arrangement forming, and Figure 2 e flow chart of the programs processed in the circuit arrangement of Figure 1.
Die Funktion der erfmdungsgemaßen Schaltungsanordnung 1The function of the circuit arrangement 1 according to the invention
(Figur 1) kann weitgehend der in der Anmeldung DE 195 27 332 AI, auf die hiermit verwiesen wird, entsprechen. Abwandlungen davon sind für den Fachmann aber ohne weiteres möglich, so daß die erfmdungsgemaße Schaltungsanordnung auch für andere Steuerungsfunktionen unter Verwendung von Fuzzy-Systemen eingesetzt werden kann. Die Besonderheiten der erfmdungsgemaßen Schaltungsanordnung liegen insbesondere in der anderen Aufga- benverteilung auf die einzelnen Schaltungsbestandteile, die im folgenden in einzelnen beschrieben wird. Die Scnaltungsanordnung 1 enthalt e ne programmgesteuerte (oder speicherprogrammierte) Rechene neit 2 in Gestalt einer Mikroprozessoreinheit oder CPU, die hier die Funktion eines hostrechners ausuot. Die programmgesteuerte Recheneinheit 2 ist über einen acht Bit breiten Standard-Adressen- und Datenbus 3 mit einer fest verdrahteten Recheneinheit 4 verbunden, die z. B. als Fuzzy-Logik-Coprozessor ausgebildet ist. Diese Recheneinheit 4 is durch einen Adressen- und Datenbus 5 mit einem Basisspeicher 6 verbunden. Die programmgesteuerte Re- cnenemheit 2 und die fest verdrantete Recheneinheit 4 sind über den Adressen- und Datenbus 3 mit einem Nur-Lese-Spei- cherbaustein oder ROM 8 verbunden.(Figure 1) can largely correspond to that in the application DE 195 27 332 AI, to which reference is hereby made. Modifications thereof are, however, readily possible for the person skilled in the art, so that the circuit arrangement according to the invention can also be used for other control functions using fuzzy systems. The special features of the circuit arrangement according to the invention lie in particular in the other distribution of tasks among the individual circuit components, which is described in detail below. The circuit arrangement 1 contains a program-controlled (or memory-programmed) processor 2 in the form of a microprocessor unit or CPU, which here functions as a host computer. The program-controlled computing unit 2 is connected via an eight-bit standard address and data bus 3 to a hard-wired computing unit 4, which, for. B. is designed as a fuzzy logic coprocessor. This computing unit 4 is connected to a base memory 6 by an address and data bus 5. The program-controlled computing unit 2 and the permanently twisted computing unit 4 are connected to a read-only memory module or ROM 8 via the address and data bus 3.
Die programmgesteuerte Recheneinheit 2 st über eine Daten- und Signalleitung 10 an eine Em- und Ausgangsstufe 11 angeschlossen, αie die Schnittstelle zu verschiedenen Sensoren im Kraftfahrzeug und zu einem oder mehreren zu steuernden Aktoren im Kraftfahrzeug bildet. Sie empfangt d e von den Sensoren gelieferten Signale über eine Sensorsignalleitung 12 und sendet Steuersignale über eine Steuersignalleitung 14 an den oder die zu steuernden, hier nicht dargestellten Aktoren.The program-controlled computing unit 2 is connected via a data and signal line 10 to an Em and output stage 11, which forms the interface to various sensors in the motor vehicle and to one or more actuators to be controlled in the motor vehicle. It receives the signals delivered by the sensors via a sensor signal line 12 and sends control signals via a control signal line 14 to the actuator (s) to be controlled, not shown here.
Der Adressen- und Datenbus 3 bildet zusammen mit der programmgesteuerten Recheneinheit 2 und der Daten- und Signal- leitung 10 eine Hardware-Schnittstelle zwischen der fest verdrahteten Recheneinheit 4 und der E - und Ausgangsstufe 11 der hier als Steuergerat in einem Kraftfahrzeug dienenden Schaltungsanordnung 1. Über diese Schnittstelle werden die verwendeten und erzeugten Fuzzy-Systemgroßen - zum Beispiel scharfe Eingangswerte und Ausgangswerte des Fuzzy-Systems,The address and data bus 3 forms, together with the program-controlled computing unit 2 and the data and signal line 10, a hardware interface between the hard-wired computing unit 4 and the E and output stage 11 of the circuit arrangement 1 serving here as a control device in a motor vehicle. The fuzzy system sizes used and generated - for example, sharp input values and output values of the fuzzy system,
Steuerbefehle für die fest verdrahtete Recheneinheit zum Auswahlen der Fuzzy-Algorithmen - übertragen. Als fest verdrahtete Recheneinheit wird hier em Fuzzy-Coprozessor SAE 81C99A der Siemens AG verwendet. Fuzzy-Algorithmen sind in dem Ba- sisspeicher 6 abgelegt, der somit als Speicher für die Wissensbasis des Fuzzy-Systems bildet. Der Adressen- und Datenbus 5, mit dem die fest verdrahtete Recnenemheit 4 auf den Basisspeicher 6 zugreift, st von dem Adressen- und Datenbus 2 physikalisch unabhängig.Control commands for the hard-wired computing unit to select the fuzzy algorithms - transmitted. A fuzzy coprocessor SAE 81C99A from Siemens AG is used as the hard-wired computing unit. Fuzzy algorithms are stored in the base memory 6, which thus forms the memory for the knowledge base of the fuzzy system. The address and data bus 5, with which the hardwired recnenemheit 4 on the Base memory 6 accesses, is physically independent of the address and data bus 2.
D_e Eingangsgroßen des Fαzzy-Systems werden von der programm- gesteuerten Recheneinheit 2 an die fest verdrahtete Recheneinheit 4 übermittelt. Anhand dieser Eingangsgroßen und dem in dem Basisspeicher abgelegten Ubertragungsverhalten des Fuzzy-Systems berechnet die fest verdrahtete Recnene heit 4 die Ausgangsgroßen und stellt sie über den Adresser- und Da- tenbus 3 der programmgesteuerten Recheneinheit 2 zur Verfugung.The input variables of the Fαzzy system are transmitted from the program-controlled computing unit 2 to the hard-wired computing unit 4. On the basis of these input variables and the transmission behavior of the fuzzy system stored in the base memory, the hard-wired unit 4 calculates the output variables and makes them available to the program-controlled computing unit 2 via the address and data bus 3.
Die programmgesteuerte Rechenemneit 2 ist in dem vorliegenden Ausfuhrungsbeispiel mit einer Breite von acht Bit ausge- funrt, sie kann aber auch eine größere Bitbreite aufweisen. Die Adressen können auf dem Adress- und Datenbus 3 zeitversetzt oder auch auf gesonderten, hier nicht dargestellten, Leitungen übertragen werden. In dem ROM-Speicherbaustem 8 sind für die Datenübertragung erforderliche Befehlscodes ab- gelegt.In the present exemplary embodiment, the program-controlled computation unit 2 has a width of eight bits, but it can also have a larger bit width. The addresses can be shifted in time on the address and data bus 3 or can also be transmitted on separate lines (not shown here). Command codes required for data transmission are stored in the ROM memory module 8.
Bei Verwendung leistungsfähiger Recheneinheiten 2 können mehrere Adress- und Datenbusse angeschlossen werden, die em simultanes Ansprechen mehrerer Speicher ermöglichen.When using powerful computing units 2, several address and data buses can be connected, which enable multiple memories to be addressed simultaneously.
Dadurch, daß die fest verdrahtete Recheneinheit 4 auf den unabhängigen Basisspeicher 6 zugreifen kann, wird eine echte Parallelverarbeitung von Algorithmen ermöglicht.The fact that the hard-wired computing unit 4 can access the independent basic memory 6 enables real parallel processing of algorithms.
Die als sogenannte Hardwareeinheit ausgebildete Em- und Ausgangsstufe 11 bereitet einerseits eingehende Sensorsignale auf und steuert andererseits externe Aktoren, wie Ventiltπe- be, Elektromotoren usw. m dem Kraftfahrzeug. Es enthalt außerdem eine hier nicht besonders dargestellte serielle Schnittstelle zur Kommunikation mit anderen Steuergeraten und auch mit externen Rechnern. Solche externen Rechner dienen zum Beispiel zum Durchfuhren von Diagnosen und zum Program- mieren der Schaltungsanordnung 1. Diese Schnittstelle kann als CAN-Bus ausgeführt sein.Em and output stage 11, which is designed as a so-called hardware unit, on the one hand prepares incoming sensor signals and on the other hand controls external actuators, such as valve drives, electric motors, etc., in the motor vehicle. It also contains a serial interface (not shown here in particular) for communication with other control devices and also with external computers. Such external computers are used, for example, to carry out diagnoses and to program mieren of the circuit arrangement 1. This interface can be designed as a CAN bus.
Die in der Schaltungsanordnung 1 abgearbeiteten Programm- schritte werden nun anhand des Flußdiagramms (Figur 2) erläutert. Nach einem Start des Programms werden in einemThe program steps processed in the circuit arrangement 1 are now explained using the flow diagram (FIG. 2). After starting the program you will be in a
Schritt SO die Umweltdaten, d. h. insbesondere die von den Sensoren gelieferten Signale, aufbereitet. In einemStep SO the environmental data, d. H. in particular, the signals supplied by the sensors are processed. In one
Schritt Sl erfolgt eine Abfrage, ob eine Berechnung durch das Fuzzy-System angefordert worden ist. Falls nein, erfolgt em Rucksprung zum Start. Falls ja, werden m einemStep S1 is queried whether a calculation by the fuzzy system has been requested. If no, you will be returned to the start. If so, my will
Schritt S2 die Eingangsgroßen über den Bus 3 auf die fest verdrahtete Recheneinheit 4 transferiert. In einemStep S2 transfers the input variables via the bus 3 to the hard-wired computing unit 4. In one
Schritt S3 werden in der Recheneinheit 4 die erforderli- chen Fuzzy-Logic-Operationen oder -Berechnungen durchgeführt und zwar unabhängig von der Recheneinheit 2. In einemIn step S3, the necessary fuzzy logic operations or calculations are carried out in the computing unit 4, independently of the computing unit 2. In one
Schritt S4 werden die Ausgangsdaten des Fuzzy-Systems über den Adressen- und Datenbus 3 an die Recheneinheit 2 übermittelt. Damit ist der Programmdurchlauf beendet.In step S4, the output data of the fuzzy system are transmitted to the computing unit 2 via the address and data bus 3. This completes the program run.
Die vorstehend beschriebenen Berechnungen werden etwa 10 bis 100 mal schneller abgearbeitet als bei einer Abarbeitung m einer Software- oder programmgesteuerten Recheneinheit. Die genaue Rechenzeit des Coprozessors hangt von den jeweils m dem Fuzzy-System verwendeten Operatoren und Algorithmen ab. Die programmgesteuerte Recheneinheit (Host-Controller) wird hier nur mit der Übergabe der Eingangsdaten und der Abfrage der Ergebnisdaten des Fuzzy-Systems belastet. Die eigentlichen Berechnungen des Fuzzy-Systems erfolgen völlig unabhan- gig von dem Host-Controller. Dies bedeutet, daß ein echtesThe calculations described above are processed about 10 to 100 times faster than when processing in a software or program-controlled computing unit. The exact computing time of the coprocessor depends on the operators and algorithms used in each fuzzy system. The program-controlled computing unit (host controller) is only burdened with the transfer of the input data and the query of the result data of the fuzzy system. The actual calculations of the fuzzy system are carried out completely independently of the host controller. This means that a real one
„Parallel-Process g" mit eindeutiger „Master-Slave-Struktur" durchgeführt werden kann."Parallel process g" with a clear "master-slave structure" can be carried out.
Da der vorstehend genannte Coprozessor als Makrozelle n ei- ner Makrozellenbibliothek zur Verfugung steht, können die fest verdrahtete Recheneinheit 4, der Basisspeicher 6 und die programmgesteuerte Recheneinheit 2 auf einem Silizium-Chip integriert werden. Dadurch ergibt sich eine geringere Anzahl von Bauteilen für die Schaltungsanordnung 1 mit demzufolge geringeren Kosten, es wird weniger Leiterplattenfläche benötigt und es verringert sich die Fehleranfälligkeit. Since the coprocessor mentioned above is available as a macro cell in a macro cell library, the hard-wired computing unit 4, the base memory 6 and the program-controlled computing unit 2 can be on a silicon chip to get integrated. This results in a smaller number of components for the circuit arrangement 1 with consequently lower costs, less circuit board area is required and the susceptibility to errors is reduced.

Claims

Patentansprüche claims
1. Schaltungsanordnung (1) zum Steuern eines Fahrwerks- oder Antriebssystems in einem Kraftfahrzeug mit einem Fuzzy-System (10), in der von Sensoren gelieferte Eingangssignale ausgewertet und Stellsignale für das Fahrwerks- oder Antriebssystem erzeugt werden, dadurch gekennzeichnet, daß sie aufweist:1. Circuit arrangement (1) for controlling a chassis or drive system in a motor vehicle with a fuzzy system (10), in which input signals supplied by sensors are evaluated and control signals for the chassis or drive system are generated, characterized in that it comprises:
- eine programmgesteuerte Recheneinheit (2), in der eine Auf- bereitung der Eingangssignale erfolgt,a program-controlled computing unit (2) in which the input signals are processed,
- einen Basisspeicher (6), in dem Eingangs- und Ausgangs- Zugehörigkeitsfunktionen, Fuzzy-Regeln sowie die Datenstruktur des Fuzzy-Systems enthalten sind, und- a basic memory (6) in which input and output membership functions, fuzzy rules and the data structure of the fuzzy system are contained, and
- eine fest verdrahtete Recheneinheit (4), die mit der pro- grammgesteuerten Recheneinheit (2) und dem Basispeicher (β) verbunden ist und in der eine Abarbeitung von Fuzzy-Algorithmen erfolgt.- A hard-wired computing unit (4), which is connected to the program-controlled computing unit (2) and the basic memory (β) and in which fuzzy algorithms are processed.
2. Schaltungsanordnung nach Anspruch 1, dadurch gekennzeich- net, daß die programmgesteuerte Recheneinheit (2) mit einer2. Circuit arrangement according to claim 1, characterized in that the program-controlled computing unit (2) with a
Ein- und Ausgangsstufe (11) verbunden ist, in der von Sensoren im Kraftfahrzeug gelieferte Sensorsignale empfangen und von der Steuersignale an Aktoren im Kraftfahrzeug ausgesendet werden .Input and output stage (11) is connected, in which sensor signals supplied by sensors in the motor vehicle are received and from which control signals are sent to actuators in the motor vehicle.
3. Schaltungsanordnung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die fest verdrahtete Recheneinheit (4) als Fuzzy-Logik-Coprozessor ausgebildet ist.3. Circuit arrangement according to claim 1 or 2, characterized in that the hard-wired computing unit (4) is designed as a fuzzy logic coprocessor.
4. Schaltungsanordnung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die fest verdrahtete Recheneinheit (4), der Basisspeicher (β) und die programmgesteuerte Recheneinheit (2) auf einem Silizium-Chip integriert sind. 4. Circuit arrangement according to one of the preceding claims, characterized in that the hard-wired computing unit (4), the base memory (β) and the program-controlled computing unit (2) are integrated on a silicon chip.
PCT/DE1999/001680 1998-06-29 1999-06-08 Circuit arrangement for controlling a running gear or drive system in a motor vehicle WO2000000759A1 (en)

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