WO2004043756A1 - Electronic control apparatus for a vehicle - Google Patents
Electronic control apparatus for a vehicle Download PDFInfo
- Publication number
- WO2004043756A1 WO2004043756A1 PCT/GB2003/004799 GB0304799W WO2004043756A1 WO 2004043756 A1 WO2004043756 A1 WO 2004043756A1 GB 0304799 W GB0304799 W GB 0304799W WO 2004043756 A1 WO2004043756 A1 WO 2004043756A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- control
- vehicle
- control apparatus
- ecu
- inteφreter
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
- B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
Definitions
- the invention relates to electronic control apparatus for a vehicle and in particular, but not exclusively, to control equipment for commercial vehicles.
- ECU's electronice control units
- ABS anti-lock brake pressure modulation means
- EP1 167147 One such ECU is described in EP1 167147 in which the ECU comprises a main data memory and electronics for specific braking related vehicle parameters.
- the memory is parameterized by the trailer builder using specialised equipment to enable the function of the ECU to be matched to the particular vehicle. This is analogous to the setting up of a conventionally mechanically operable variable load valve in a purely pneumatic system.
- the present invention seeks to provide a control apparatus for a vehicle which addresses the above problem
- control apparatus for a vehicle, which apparatus comprises an electronic control unit adapted to control actuation of vehicle brakes, which ECU has non volatile storage memory means for storing braking related control parameters particular to the vehicle, wherein the ECU further comprises discretely programmable storage means to carry operating data for one or more auxiliary functions of the vehicle is operable to check one or more incoming and outgoing variables and control algorithms against a predefined list such as to safeguard the braking function against error modes.
- Fig. 1 shows a schematic of an ECU for a commercial vehicle brake system
- Fig. 2 shows a generic method according to the invention.
- FIG. 1 shows a schematic of an electronic control unit (ECU) for a commercial vehicle brake system, comprising a plurality of wheel speed sensors 1 with one sensor associated with each of the vehicle wheels.
- the output of the wheel speed sensors 1 is fed to the ECU via a respective input stage 6. which is then fed to a respective one of two microcomputers 7.
- microcomputers 7 which microcomputers comprise a RAM for volatile memory storage and an EEPROM for programmable non-volatile memory storage.
- the two microcomputers 7 are adapted to talk to one another for reasons of redundancy.
- the microcomputers 7 then communicate with output stages 8. which output stages 8 are in turn adapted to control a respective pressure control valve, which in use will control the application of pressure to the vehicle brakes.
- a warning lamp 1 1 is also provided to inform the driver when the system is operating.
- Such an ECU is also often used to provide elements of traction control.
- the ECU is provided with a Traction Control System (TCS) engine-management interface 2 and self diagnosis means 3.
- TCS Traction Control System
- the output of the microcomputers 7 can then be fed to the TCS solenoid valve 10.
- the ECU also comprises a power supply 5 driven from the vehicle battery 4 and a retarder relay 13 and valve relay 14.
- the ECU will also be fed input from a variety of sensors on the vehicle including various pressures in the brake system such as: driver demand pressure, main system pressure and actual output brake pressure: vehicle reference speed, pad wear sensors and others.
- various pressures in the brake system such as: driver demand pressure, main system pressure and actual output brake pressure: vehicle reference speed, pad wear sensors and others.
- the permitted values for these detected sensor outputs are stored in a table, which the control software for the ABS calls to ensure that the system is working correctly.
- the ECU comprises an EEPROM as a non-volatile storage memory means in which the memory is divided into two blocks.
- the first block comprises the main safety critical control parameters in particular those related to the actuation and operation of the vehicle brakes.
- the second block of memory comprises a discretely programmable storage means for carrying operating data relating to one or more auxiliary functions. To be able to take the real data from the vehicle wheels
- the design language and interpreter should not cause any failures that would result in a loss of system performance or availability.
- Loops and iterations should not be allowed to avoid the risk that the program can end up in an endless loop, which could potentially affect or even disable brake functions.
- Process and control variables from the main control algorithms should only be accessed through a predefined list.
- the main control algorithms are designed to control such auxiliary functions as Lift Axle Control, the Integrated Speed Switch and Reset to Ride functions.
- the control language shall not be able to write to any area of memory other than the one reserved for the language interpreter.
- the language interpreter shall range check all input and output variables. Ideally, the language shall only allow simple constructs and if more complex constructs are required they should be made up of multiple simple constructs. To help ensure simplicity, all instructions could have the same number of bytes.
- the auxiliary design language/interpreter is a sub-process of the auxiliary function subsystem and is stored on the EEPROM.
- This subsubsystem comprises the language interpreter which is designed to process the input data from a measured value table, which is defined in a diagnostic system of the brake system and from a CAN bus interface and from an auxiliarv subsvstem.
- the ADL program is split into a number of processes.
- the instruction set or op codes comprise the set of Boolean operators (AND. OR etc) and certain simple mathematical operators (greater than, equals etc.).
- the first process is ADL_control which is adapted to initiate the program and read the process operating code and control the other processes.
- the other processes include put operands, convert operands, timer controls, counter controls, set-reset latch (SRLatch) control.
- the ADL interpreter has a duplicity of timers, each having the elements (Read) TimerValue/(Write) Timer Preset: Run; Reset; Output.
- the Timer Value is incremented once per 50ms if the Run bit is set.
- the output bit is set if the timer exceeds the Timer Preset.
- the counter control has a duplicity of counters each comprising the elements: Counter Value; Increment; Decrement; Reset.
- a duplicity of SRLatches with a clock comprising the elements: Set; Reset; Clock; Output.
- the Output is set on the rising edge of the "Set” input.
- the Output is set on the rising edge of the Reset input.
- the Output is toggled on the rising edge of the "Clock " Input.
- the process ConvertOperands converts the two input operands into three real values. If the op code has the immediate bit set, then the input operands need no conversion. If not then the operand is used as an index in the register table.
- the Put Operand process returns the result into the register table.
- FIG. 2 shows the main processes of the language interpreter in use.
- step 100 the ADL control process is initially loaded into RAM from the EEPROM by a load module until the process is complete. This process is called from the 50ms Task. As each instruction is conveniently four bytes in length, the program takes 2.5 s to load. Once the program is loaded into RAM. the program init complete flag is set and processing of instructions can begin.
- step 101 the timer, counter and SRLatch controls are called in order for the control elements to be updated.
- next step 102 the process call the next instruction. This consists of the op code followed by a three operands.
- the next step is to call the convert operand process 103. which process converts operand 1 and 2 into "real " data.
- the actual type of instruction is then decoded to an op code and the required instruction is called via a jump table 104.
- step 105 the result of the instruction is processed and if the op code has a return value, then the Put Operand process is called at step 106 to return operand 3 to the required location. If the op code indicates that the instruction is the last instruction of the sequence, then the inte ⁇ reter exits at 107, otherwise the inte ⁇ reter then returns to step 102.
- the inte ⁇ reter when processing the instruction in step 104 checks to see if the requested function in the jump table falls within an allowed range. If the requested function falls outside the range, then an InstructionError flag is set and the process exits at 107 to ensure that braking remains unaffected. If the InstructionError flag is not set then the instruction is processed at step 106 as described above.
- the example below shows how the inte ⁇ reter can be used to solve the problem of operating a integrated speed switch (1SS).
- a typical application of an 1SS is to control steering axles on a trailer or semi-trailer, which are to be locked at certain speeds. Whenever the speed rises or falls below a certain threshold then the switching condition of the output will change and can be used to control solenoid valves, for example.
- an ISS will require an hysterisis of lkm/h.
- REG1 10 - 1
- REG1 contains the Switch speed - hys (lKm/h)
- REG1 REG1 * OP1
- REG1 contains the Switch speed value required for switch off if the output is on.
- 10 REG3 contains the Switch speed value required for switch on if the output is off.
- SLH REG1 REG3 REG4 Reg4 contains the highest value of
- the next example is a reset to ride function (RTR).
- RTR reset to ride function
- the RTR function is used to reset the air suspension of a trailer to the normal (ride) position.
- lOKm/h an output is switched on for 10 seconds, once complete the function is suspended until the vehicle velocity is zero for 30 seconds.
- SRLl OP T1 OP OP1 OP1 SRLl_OP ORTl_OP
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
MXPA05005066A MXPA05005066A (en) | 2002-11-12 | 2003-11-06 | Electronic control apparatus for a vehicle. |
AU2003279459A AU2003279459A1 (en) | 2002-11-12 | 2003-11-06 | Electronic control apparatus for a vehicle |
CA2505790A CA2505790C (en) | 2002-11-12 | 2003-11-06 | Electronic control apparatus for a vehicle |
EP03772407.7A EP1562813B1 (en) | 2002-11-12 | 2003-11-06 | Electronic control apparatus for a trailer vehicle |
JP2004550786A JP2006508845A (en) | 2002-11-12 | 2003-11-06 | Electronic control device for vehicle |
CN2003801055143A CN1723144B (en) | 2002-11-12 | 2003-11-06 | Electronic control apparatus for a vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0226386A GB2395241B (en) | 2002-11-12 | 2002-11-12 | Electronic control apparatus for a vehicle |
GB0226386.1 | 2002-11-12 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2004043756A1 true WO2004043756A1 (en) | 2004-05-27 |
WO2004043756A8 WO2004043756A8 (en) | 2005-06-23 |
Family
ID=9947679
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/GB2003/004799 WO2004043756A1 (en) | 2002-11-12 | 2003-11-06 | Electronic control apparatus for a vehicle |
Country Status (10)
Country | Link |
---|---|
US (1) | US7133759B2 (en) |
EP (1) | EP1562813B1 (en) |
JP (2) | JP2006508845A (en) |
CN (1) | CN1723144B (en) |
AU (1) | AU2003279459A1 (en) |
CA (1) | CA2505790C (en) |
GB (1) | GB2395241B (en) |
HU (1) | HUE035340T2 (en) |
MX (1) | MXPA05005066A (en) |
WO (1) | WO2004043756A1 (en) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060097569A1 (en) * | 2004-11-05 | 2006-05-11 | Eberling Charles E | Trailer brake status indication |
DE102006039765A1 (en) * | 2006-08-24 | 2008-02-28 | Wabco Gmbh | Operating device for trailer vehicles |
US7971942B2 (en) | 2006-09-19 | 2011-07-05 | Wabco Gmbh | Trailer brake system |
US7938411B2 (en) * | 2007-09-21 | 2011-05-10 | Bendix Commercial Vehicle Systems, Llc | Axle air dump for multiple axle vehicles |
GB2493127C (en) | 2011-07-04 | 2020-08-05 | Knorr-Bremse Rail Systems (Uk) Ltd | Braking system |
GB2499460B (en) | 2012-02-20 | 2019-04-03 | Knorr Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Trailer access point |
GB2499459B (en) | 2012-02-20 | 2019-04-03 | Knorr Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Trailer access point pairing |
DE102014004182A1 (en) | 2014-03-22 | 2015-09-24 | Wabco Gmbh | Method for establishing a wireless connection |
US20180043876A1 (en) * | 2016-08-11 | 2018-02-15 | GM Global Technology Operations LLC | Brake-by-wire system |
GB201617211D0 (en) | 2016-10-10 | 2016-11-23 | Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Trailer power and communication management |
US11352024B2 (en) * | 2020-01-08 | 2022-06-07 | Nio Usa, Inc. | Autonomous vehicle emergency route guidance |
GB2622108A (en) | 2022-09-05 | 2024-03-06 | Knorr Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Trailer vehicle and trailer control system |
GB2622107A (en) | 2022-09-05 | 2024-03-06 | Knorr Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Trailer vehicle and trailer control system |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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EP0794519A1 (en) * | 1996-03-09 | 1997-09-10 | Wolfgang Salge | IC-card |
DE29711887U1 (en) * | 1997-06-30 | 1997-09-18 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 80636 München | Facade access system with electronic control |
DE19716197A1 (en) * | 1997-04-18 | 1998-10-22 | Itt Mfg Enterprises Inc | Microprocessor system for safety-critical regulations |
US5941919A (en) * | 1996-10-16 | 1999-08-24 | General Motors Corporation | Chassis control system |
Family Cites Families (15)
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DE3234637A1 (en) * | 1982-09-18 | 1984-03-22 | Alfred Teves Gmbh, 6000 Frankfurt | METHOD AND CIRCUIT FOR CONTROLLING A BRAKE-SLIP CONTROL SYSTEM |
DE4003507A1 (en) * | 1990-02-06 | 1991-08-08 | Bosch Gmbh Robert | DIGITAL CONTROL UNIT, IN PARTICULAR IGNITION AND / OR INJECTION CONTROL UNIT FOR MOTOR VEHICLES |
US5458404A (en) * | 1991-11-12 | 1995-10-17 | Itt Automotive Europe Gmbh | Redundant wheel sensor signal processing in both controller and monitoring circuits |
DE4315494C1 (en) * | 1993-05-10 | 1994-09-29 | Daimler Benz Ag | Arrangement and method for programming at least one motor vehicle control unit |
US5445128A (en) * | 1993-08-27 | 1995-08-29 | Detroit Diesel Corporation | Method for engine control |
DE4332499A1 (en) * | 1993-09-24 | 1995-03-30 | Bosch Gmbh Robert | Procedure for completely reprogramming an erasable, non-volatile memory |
DE4341082A1 (en) * | 1993-12-02 | 1995-06-08 | Teves Gmbh Alfred | Circuit arrangement for safety-critical control systems |
US5766486A (en) * | 1995-07-27 | 1998-06-16 | Pall Corporation | Hybrid filter system and method for filtering process fluid |
DE19529434B4 (en) * | 1995-08-10 | 2009-09-17 | Continental Teves Ag & Co. Ohg | Microprocessor system for safety-critical regulations |
US5667286A (en) * | 1996-05-29 | 1997-09-16 | General Motors Corporation | Brake control system |
JP2000201401A (en) * | 1999-01-06 | 2000-07-18 | Nippon Signal Co Ltd:The | Confirming method for record of group of data |
FR2809200B1 (en) * | 2000-05-17 | 2003-01-24 | Bull Cp8 | METHOD FOR SECURING A LANGUAGE OF THE TYPE TYPE, IN PARTICULAR IN AN ON-BOARD SYSTEM AND ON-BOARD SYSTEM FOR IMPLEMENTING THE METHOD |
GB2363435B (en) | 2000-06-17 | 2004-03-03 | Knorr Bremse Systeme | Vehicle braking system using stored vehicle parameters for electronic control of braking |
JP3900826B2 (en) * | 2000-12-06 | 2007-04-04 | トヨタ自動車株式会社 | Automatic engine stop / start device |
US6536402B2 (en) * | 2001-05-04 | 2003-03-25 | Caterpillar Inc. | Programmable torque limit |
-
2002
- 2002-11-12 GB GB0226386A patent/GB2395241B/en not_active Expired - Lifetime
-
2003
- 2003-08-15 US US10/641,098 patent/US7133759B2/en not_active Expired - Lifetime
- 2003-11-06 WO PCT/GB2003/004799 patent/WO2004043756A1/en active Application Filing
- 2003-11-06 MX MXPA05005066A patent/MXPA05005066A/en active IP Right Grant
- 2003-11-06 CA CA2505790A patent/CA2505790C/en not_active Expired - Lifetime
- 2003-11-06 EP EP03772407.7A patent/EP1562813B1/en not_active Expired - Lifetime
- 2003-11-06 JP JP2004550786A patent/JP2006508845A/en active Pending
- 2003-11-06 AU AU2003279459A patent/AU2003279459A1/en not_active Abandoned
- 2003-11-06 CN CN2003801055143A patent/CN1723144B/en not_active Expired - Lifetime
- 2003-11-06 HU HUE03772407A patent/HUE035340T2/en unknown
-
2011
- 2011-02-25 JP JP2011039502A patent/JP5335837B2/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0794519A1 (en) * | 1996-03-09 | 1997-09-10 | Wolfgang Salge | IC-card |
US5941919A (en) * | 1996-10-16 | 1999-08-24 | General Motors Corporation | Chassis control system |
DE19716197A1 (en) * | 1997-04-18 | 1998-10-22 | Itt Mfg Enterprises Inc | Microprocessor system for safety-critical regulations |
DE29711887U1 (en) * | 1997-06-30 | 1997-09-18 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 80636 München | Facade access system with electronic control |
Also Published As
Publication number | Publication date |
---|---|
CA2505790A1 (en) | 2004-05-27 |
CN1723144B (en) | 2012-07-18 |
GB0226386D0 (en) | 2002-12-18 |
CN1723144A (en) | 2006-01-18 |
JP2006508845A (en) | 2006-03-16 |
WO2004043756A8 (en) | 2005-06-23 |
HUE035340T2 (en) | 2018-05-02 |
MXPA05005066A (en) | 2005-10-18 |
GB2395241B (en) | 2004-12-29 |
EP1562813A1 (en) | 2005-08-17 |
AU2003279459A1 (en) | 2004-06-03 |
GB2395241A (en) | 2004-05-19 |
JP2011136691A (en) | 2011-07-14 |
US20040093143A1 (en) | 2004-05-13 |
EP1562813B1 (en) | 2016-09-28 |
JP5335837B2 (en) | 2013-11-06 |
US7133759B2 (en) | 2006-11-07 |
CA2505790C (en) | 2010-12-21 |
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