WO2017178211A1 - Procédé de mise en oeuvre d'un dispositif de commande d'un véhicule, dispositif de commande, système de mise en oeuvre, véhicule à moteur - Google Patents

Procédé de mise en oeuvre d'un dispositif de commande d'un véhicule, dispositif de commande, système de mise en oeuvre, véhicule à moteur Download PDF

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Publication number
WO2017178211A1
WO2017178211A1 PCT/EP2017/057097 EP2017057097W WO2017178211A1 WO 2017178211 A1 WO2017178211 A1 WO 2017178211A1 EP 2017057097 W EP2017057097 W EP 2017057097W WO 2017178211 A1 WO2017178211 A1 WO 2017178211A1
Authority
WO
WIPO (PCT)
Prior art keywords
program
program memory
memory section
control program
control
Prior art date
Application number
PCT/EP2017/057097
Other languages
German (de)
English (en)
Inventor
Thomas Kuehnhoefer
Thomas Frenz
Original Assignee
Robert Bosch Automotive Steering Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Automotive Steering Gmbh filed Critical Robert Bosch Automotive Steering Gmbh
Publication of WO2017178211A1 publication Critical patent/WO2017178211A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0426—Programming the control sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23298—Remote load of program, through internet
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24185—After repair, update redundant system during non critical periods

Definitions

  • the invention relates to a method for operating a control device for a motor vehicle, in particular for a steering system of a motor vehicle, which has at least one arithmetic unit which has at least one
  • Program memory is connected.
  • the invention relates to a corresponding control device for operating a motor vehicle, in particular a steering system of a motor vehicle, having at least one arithmetic unit which is connected to at least one program memory, in which a to be executed by the arithmetic unit
  • Control program is stored or stored, and with a
  • the invention relates to an operating system, in particular steering system, a motor vehicle and a motor vehicle.
  • Control devices of the type mentioned and method for operating these are known from the prior art. In modern motor vehicles, multiple controllers are used, the different subsystems of
  • Control units serve to implement the commands desired by the user, to monitor the operation of the respective system and, if necessary, to control it automatically.
  • the control devices usually execute a computer program which is stored in a program memory to which a computing unit of the respective control device has access. As is known, such
  • the inventive method with the features of claim 1 has the advantage that a secure update of the control program is ensured without waiving the functions of the controller during the implementation of the update or an error during the update must lead to a total failure of the controller. According to the invention this is achieved in that first a first arithmetic unit with a in a first Program memory section of the program memory deposited
  • Control program is operated.
  • Control unit is then controlled as needed or in predetermined, in particular regular intervals to receive a new control program. As soon as a new control program has been received, this is written in a subsequent step in a second program memory section of the program memory. This leaves the first
  • Program memory section for the first processing unit further available, so that the function of the controller during receiving and storing the new control program remains functional without any restriction.
  • Control program operated. So there is a change of the control program and the arithmetic unit. This will achieve that a negative
  • Program memory section is minimized to the overall operation of the controller. If an error occurs during overwriting, the second program memory section may not be usable for the further operation of the control device, but the control device can easily continue to be operated with the control program from the first program memory section. In normal operation, the first arithmetic unit and the first one are preferred
  • Program memory section used and only in case of error in the first arithmetic unit and / or in the first program memory section is on the second arithmetic unit and the second program memory section
  • the program memory sections can be two virtually separate sections of a program memory module / component, or two separate program memories or
  • the new control program will also be in the first
  • Computing unit to the first processing unit without disadvantages for the operation of the control unit is possible. It is thus provided that, by using two arithmetic units and one program memory having at least two program memory sections, a redundant operation of the control device with uninterrupted operation during a program update ensures a particularly high reliability of the control device. In particular, even when aborts during the reception of the new program or writing errors in the program memory, the controller is initially further usable, without disadvantages for the operation of the vehicle.
  • the described method is subsequently repeated, wherein in a first step either the second arithmetic unit continues to operate with the second program memory section or with the control program stored in the second program memory section and the new control program is first written into the first program memory section, so that when the program is repeated previously referred to as the first program memory section program memory section now in the course of the process, the second program memory section and the second
  • Program memory section represents the first program memory section, or that the second arithmetic unit is referred to in the repetition of the program as the first arithmetic unit and the first arithmetic unit as the second arithmetic unit.
  • the operation of the control unit is initially set again by means of the first arithmetic unit, so that the new control program first moves into the first
  • the change of the arithmetic units takes place only when the new control program has been completely or successfully written to the second program memory section. So only at completed update of the control program switching to the second processing unit and the new control program is performed. This can be done, for example, with each new ignition cycle of the motor vehicle, so at each restart. This ensures error-free operation of the controller during the update process.
  • the new control program is received wirelessly.
  • the so-called “flashing over the air” can be carried out, for which purpose the communication device has in particular a mobile radio module in order to receive the data.
  • the communication device is controlled regularly to receive a new control program. This triggers the communication device itself the receipt of a new one
  • Control program If there is no new control program, then no new control program is downloaded or in the respective
  • control device with the features of claim 6 is characterized by a control device which is specially adapted to perform the inventive method when used as intended, and by a first processing unit and a second
  • Arithmetic unit which are each connected to the program memory, wherein each arithmetic unit is connected in particular each with a program memory section of the program memory, or wherein in each case a program memory section of the program memory each one of
  • the program memory sections may be virtual or digital sections of a
  • Program memory devices are, or preferably, two physically separate program memory devices. This results in the already mentioned advantages. Conveniently, the
  • Program memory sections physically different sections of Program memory that can be addressed individually by the computing units.
  • the communication device has at least one radio module, in particular a mobile radio module.
  • the wireless reception of the new program or the new program data is ensured in a simple manner.
  • Program memory module and the second program memory section (4b) are formed by a second program memory module.
  • the first processor with the first program memory and the second processor with the second program memory each redundant control units of the control unit 1, which are operated as described above. It is provided in particular that only one of the control units the
  • Program memory / program memory section copied. Due to the design of the program memory sections as program memory modules, these are physically separated from one another and, in particular, can be integrated or arranged in the respectively assigned arithmetic unit, so that the respective arithmetic unit with the associated arithmetic unit
  • Program storage section forms a compact unit.
  • Program memory modules or program memory sections then form the program memory of the control unit as a whole.
  • the operating system according to the invention with the features of claim 8 is characterized by the control device according to the invention.
  • the operating system is designed as a steering system of the motor vehicle, wherein the steering system in particular has at least one steerable wheel and an actuator for acting on the wheel with a steering torque.
  • the motor vehicle according to the invention with the features of claim 9 is characterized by the control device according to the invention. This results in the already mentioned advantages.
  • Figure 1 is a control device of a motor vehicle in a simplified representation
  • FIG. 2 shows an advantageous method for operating the control unit.
  • the figure shows a simplified representation of a control unit 1 for a steering system not shown here in detail of a motor vehicle in a simplified representation.
  • the control unit 1 has a first arithmetic unit 2 and a second arithmetic unit 3, which are both connected to a program memory 4.
  • a control program is stored in the program memory 4. This is the control program for the arithmetic unit
  • Control programs and arithmetic units 2, 3 are redundant, so that the control unit 1 has a high reliability. According to the
  • Program memory sections 4a and 4b are each independent
  • Program memory modules that are physically separated from each other in the control unit 1 and are available.
  • the control unit 1 Program memory modules that are physically separated from each other in the control unit 1 and are available.
  • program memory sections 4a and 4b may also be implemented as digital or virtual memory sections of a single memory Program memory modules, on which both arithmetic units 2, 3 access, be formed, as indicated in Figure 1 by dashed lines.
  • Control unit 1 in a step Sl the arithmetic unit 2, 3 by a control device 5, in particular micro-controller, driven to execute each stored for them control programs.
  • the control device 5 controls, for example, if necessary or at regular intervals, a communication device 6, which has at least one mobile radio module 7, to receive a new control program wirelessly. This is done for example by the
  • Communication module 6 sent a request to a central database, if a new control program is available. If this is confirmed, the new control program is sent to the communication device 6 and received by this.
  • Control program written in the currently unused program memory section 4b by means of which the currently disabled computing unit 3 would otherwise be operated. Only upon successful completion of the overwriting of the program memory section 4b by the new one
  • Control program controls the control device 5, the control unit 1 such that the operation of the arithmetic unit 2 is changed to the arithmetic unit 3, so that the arithmetic unit 3 is operated with the new control program or executes the new control program. Subsequently, in a step S5, the new control program is entered into the program memory section
  • the two program memory sections 4a and 4b are each formed by a program memory (building block), wherein each arithmetic unit 2 and 3 is connected to only one of the program memory sections, as already discussed above.
  • the control device 5 copies the new control program from there to the other
  • Program storage section 4a for overwriting the
  • Program memory section 4a copied so that the new control program does not need to be received again.
  • the advantageous method the high demands on safety and availability, which arise in particular from the increasing use of autonomous driving functions, met. Due to the redundant design of the control unit 1 a high reliability is guaranteed. Because the control programs that are independent of one another are replaced one after the other, the vehicle can continue to be operated during the update process with one of the redundant subareas. In this way a valid control program is present at all times and a failure of the
  • Control unit 1 is reliably prevented even when an error occurs when overwriting one of the program memory modules or sections.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Security & Cryptography (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

L'invention concerne un procédé de mise en oeuvre d'un dispositif de commande (1) pour un véhicule, notamment un véhicule à moteur, lequel présente deux unités de traitement (2, 3) reliées à au moins une mémoire de programmes (4), ledit procédé consistant : à mettre en oeuvre une première unité de traitement (2) au moyen d'un programme de commande enregistré dans un premier segment de mémoire de programmes (4a) de la mémoire de programmes (4), à mettre en oeuvre un dispositif de communication (6) en vue de la réception d'un nouveau programme de commande, à inscrire le nouveau programme de commande dans un second segment de mémoire de programmes (4b) de la mémoire de programmes (4), à mettre en oeuvre une seconde unité de traitement (3) au moyen du nouveau programme de commande enregistré dans le second segment de mémoire de programmes (4b), à inscrire un nouveau ou le nouveau programme de commande dans le premier segment de mémoire de programmes (4a), et à répéter ces étapes.
PCT/EP2017/057097 2016-04-11 2017-03-24 Procédé de mise en oeuvre d'un dispositif de commande d'un véhicule, dispositif de commande, système de mise en oeuvre, véhicule à moteur WO2017178211A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016106572.2 2016-04-11
DE102016106572.2A DE102016106572A1 (de) 2016-04-11 2016-04-11 Verfahren zum betreiben eines steuergeräts für ein fahrzeug, steuergerät, betriebssystem, kraftfahrzeug

Publications (1)

Publication Number Publication Date
WO2017178211A1 true WO2017178211A1 (fr) 2017-10-19

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PCT/EP2017/057097 WO2017178211A1 (fr) 2016-04-11 2017-03-24 Procédé de mise en oeuvre d'un dispositif de commande d'un véhicule, dispositif de commande, système de mise en oeuvre, véhicule à moteur

Country Status (2)

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DE (1) DE102016106572A1 (fr)
WO (1) WO2017178211A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019137653A1 (fr) * 2018-01-11 2019-07-18 Robert Bosch Gmbh Procédé de fabrication d'un système de commande pour un véhicule automobile, système de commande

Families Citing this family (2)

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Publication number Priority date Publication date Assignee Title
DE102021203435A1 (de) 2021-04-07 2022-10-13 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Aktualisieren eines Betriebsprogramms zum Betrieb und/oder zur Ansteuerung einer Fahrzeugkomponente eines Fahrzeugs, insbesondere eines Lenksystems des Fahrzeugs
DE102021210077A1 (de) 2021-06-25 2022-12-29 Vitesco Technologies GmbH Computerimplementiertes Verfahren und Steuervorrichtung zur Steuerung einer Einheit eines Automotivesystems

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US20140032916A1 (en) * 2012-07-27 2014-01-30 GM Global Technology Operations LLC Secured flash programming of secondary processor
DE102014008479A1 (de) * 2014-06-07 2015-12-17 Audi Ag Kraftfahrzeug-Steuergerät mit Stromsparmodus für eine Parkphase

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DE3825280A1 (de) * 1988-07-26 1990-02-01 Bayerische Motoren Werke Ag Steuersystem fuer stelleinrichtungen eines kraftfahrzeugs
DE4332499A1 (de) * 1993-09-24 1995-03-30 Bosch Gmbh Robert Verfahren zur vollständigen Neuprogrammierung eines löschbaren, nichtflüchtigen Speichers
US20060259207A1 (en) * 2005-04-20 2006-11-16 Denso Corporation Electronic control system for automobile

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US20140032916A1 (en) * 2012-07-27 2014-01-30 GM Global Technology Operations LLC Secured flash programming of secondary processor
DE102014008479A1 (de) * 2014-06-07 2015-12-17 Audi Ag Kraftfahrzeug-Steuergerät mit Stromsparmodus für eine Parkphase

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&#XF075;&#XF075;: "Software-Update over-the-air (SOTA)", 20 October 2015 (2015-10-20), XP055373119, Retrieved from the Internet <URL:https://vector.com/technologie-tage/downloads/VTT15_Herausforderungen_beim_Software_Update_over_the_air.pdf> [retrieved on 20170516] *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019137653A1 (fr) * 2018-01-11 2019-07-18 Robert Bosch Gmbh Procédé de fabrication d'un système de commande pour un véhicule automobile, système de commande
US11400949B2 (en) 2018-01-11 2022-08-02 Robert Bosch Gmbh Method for producing a control system for a motor vehicle, and control system

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