WO2020050763A1

WO2020050763A1 - Method and control device method for validating sensor data from a vehicle during drive of the vehicle

Info

Publication number: WO2020050763A1
Application number: PCT/SE2019/050785
Authority: WO
Inventors: Fredrich Claezon; Mattias Johansson; Daniel Tenselius
Original assignee: Scania Cv Ab
Priority date: 2018-09-05
Filing date: 2019-08-27
Publication date: 2020-03-12
Also published as: SE1851051A1

Abstract

The present invention relates to a method performed by a control device (100) for validating sensor data from a vehicle (V) during drive of the vehicle. The vehicle (V) has a chassis (1) and a cab (2) suspendedly arranged so as to allow movement relative to the vehicle chassis (1). The vehicle (V) is provided with a chassis related sensor unit (110) associated with a first inertial measurement unit (IMU1) a cab related sensor unit (120) associated with a second inertial measurement unit (IMU2). The method comprises co-validating sensor data from the chassis related sensor unit (110) and sensor data from the cab related sensor unit (120) by means of the first and second inertial measurement units (IMU1, IMU2). The method further comprises, by means of a dynamic model, estimating measurement data from one of the inertial measurement units (IMU1, IMU2) based on measurement data from the other inertial measurement unit (IMU2, IMU1); and diagnosing the first and second inertial measurement units (IMU1, IMU2) based on the thus estimated measurement data from the respective inertial measurement unit as a basis for co-validating sensor data from the chassis related sensor unit (110) and sensor data from the cab related sensor unit (120). The present invention also relates to a control device for validating sensor data from a vehicle during drive of the vehicle. The present invention also relates to a computer program and a computer readable medium.

Description

METHOD AND CONTROL DEVICE METHOD FOR VALIDATING SENSOR DATA FROM A VEHICLE DURING DRIVE OF THE VEHICLE

TECHNICAL FIELD The invention relates to a method performed by a control device for validating sensor data from a vehicle during drive of the vehicle. The invention also relates to a control device for validating sensor data from a vehicle during drive of the vehicle. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer readable medium.

BACKGROUND ART

Heavy vehicles in the shape of trucks have a vehicle chassis and a cab, where the cab is suspendedly arranged so as to allow movement relative to the vehicle chassis. Such vehicles are equipped with sensors in connection to both the cab and vehicle chassis.

Sensors such as cameras, radar and Lidar perform best when they are stationary relative to the ground. Large and fast relative movement of the sensor installation may cause performance reduction and lost or erroneous targets due to blurring and other effects. Sensor data from sensors on the cab, e.g. one or more cameras, and sensor data from sensors on the chassis, e.g. one or more radars, may differ due to the partially independent movement of the cab relative to the chassis during drive of the vehicle. For vehicles, and particularly autonomous vehicles and semi-autonomous vehicles, it is important that certain sensor data is accurate.

There is thus a need for improving validating sensor data from a vehicle during drive of the vehicle. OBJECTS OF THE INVENTION

An object of the present invention is to provide a method performed by a control device for validating sensor data from a vehicle during drive of the vehicle which facilitates accurate validation.

Another object of the present invention is to provide a control device for validating sensor data from a vehicle during drive of the vehicle which facilitates accurate validation.

Another object of the present invention is to provide a vehicle comprising such a control device.

SUMMARY OF THE INVENTION

These and other objects, apparent from the following description, are achieved by a method, a control device, a vehicle, a computer program and a computer readable medium, as set out in the appended independent claims. Preferred embodiments of the method and the control device are defined in appended dependent claims.

Specifically an object of the invention is achieved by a method performed by a control device for validating sensor data from a vehicle during drive of the vehicle. The vehicle has a vehicle chassis and a cab. The cab is suspendedly arranged so as to allow movement relative to the vehicle chassis. The vehicle is provided with at least one chassis related sensor unit associated with a first inertial measurement unit arranged in connection to the vehicle chassis and at least one cab related sensor unit associated with a second inertial measurement unit arranged in connection to the cab. The method comprises the step of co-validating sensor data from the at least one chassis related sensor unit arranged in connection to the vehicle chassis and sensor data from the at least one cab related sensor unit arranged in connection to the cab by means of the first and second inertial measurement units. The method further comprises the step of, by means of a dynamic model, estimating measurement data from one of the inertial measurement units based on measurement data from the other inertial measurement unit. The method comprises the step of diagnosing the first and second inertial measurement units based on the thus estimated measurement data from the respective inertial measurement unit as a basis for co-validating sensor data from the at least one sensor unit arranged in connection to the vehicle chassis and sensor data from the at least one sensor unit arranged in connection to the cab.

By thus estimating measurement data from one of the inertial measurement units based on measurement data from the other inertial measurement unit by means of a dynamic model such as a trained Deep Neural Network improved co-validation of chassis sensors and cab sensors is facilitated in that diagnostics and error detection of the first and second inertial measurement units is facilitated.

According to an embodiment the method comprises the step of creating a first virtual inertial measurement unit for the first inertial measurement unit based on estimated measurement data for the first inertial measurement unit and a second virtual inertial measurement unit for the second inertial measurement unit based on estimated measurement data for the second inertial measurement unit. By thus creating first and second virtual inertial measurement units based for the first and second inertial measurement units improved vehicle capability is facilitated in that a virtual inertial measurement unit if an inertial measurement unit malfunctions, e.g. fails.

According to an embodiment the method comprises the step of comparing data from the first virtual inertial measurement unit with data from the first inertial measurement unit, and comparing data from the second virtual inertial measurement unit with data from the second inertial measurement unit, so as to determine whether an inertial measurement unit is malfunctioning. According to an embodiment the method comprises the step of utilizing the virtual inertial measurement unit for said co-validation if it has been determined that its inertial measurement unit is malfunctioning. Hereby improved vehicle capability is facilitated.

According to an embodiment the method comprises the step of utilizing the virtual inertial measurement units for redundancy in co-validation so as to facilitate improved Automotive Safety Integrity Level. Hereby the need for additional sensors arranged in connection to vehicle chassis and cab may be avoided, thus reducing costs. Further, the legal situation may be improved in case of accident for an autonomous vehicle.

Specifically an object of the invention is achieved by a control device for validating sensor data from a vehicle during drive of the vehicle. The vehicle has a vehicle chassis and a cab. The cab is suspendedly arranged so as to allow movement relative to the vehicle chassis. The vehicle is provided with at least one chassis related sensor unit associated with a first inertial measurement unit arranged in connection to the vehicle chassis and at least one cab related sensor unit associated with a second inertial measurement unit arranged in connection to the cab. The control device is configured to co validate sensor data from the at least one chassis related sensor unit arranged in connection to the vehicle chassis and sensor data from the at least one cab related sensor unit arranged in connection to the cab by means of the first and second inertial measurement units. The control device is configured to, by means of a dynamic model, estimate measurement data from one of the inertial measurement units based on measurement data from the other inertial measurement unit. The control device is further configured to diagnose the first and second inertial measurement units based on the thus estimated measurement data from the respective inertial measurement unit as a basis for co-validating sensor data from the at least one sensor unit arranged in connection to the vehicle chassis and sensor data from the at least one sensor unit arranged in connection to the cab. According to an embodiment the control device is configured to create a first virtual inertial measurement unit for the first inertial measurement unit based on estimated measurement data for the first inertial measurement unit and a second virtual inertial measurement unit for the second inertial measurement unit based on estimated measurement data for the second inertial measurement unit.

According to an embodiment the control device is configured to compare data from the first virtual inertial measurement unit with data from the first inertial measurement unit, and compare data from the second virtual inertial measurement unit with data from the second inertial measurement unit, so as to determine whether an inertial measurement unit is malfunctioning.

According to an embodiment the control device is configured to utilize a virtual inertial measurement unit for said co-validation if it has been determined that its inertial measurement unit is malfunctioning. According to an embodiment the control device is configured to utilize the virtual inertial measurement units for redundancy in co-validation so as to facilitate improved Automotive Safety Integrity Level.

Specifically an object of the invention is achieved by a vehicle comprising a control device as set out herein. Specifically an object of the invention is achieved by a computer program for validating sensor data from a vehicle during drive of the vehicle, said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit causes the electronic control unit to perform the steps as set out herein. Specifically an object of the invention is achieved by a computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method as set out herein. BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which:

Fig. 1 schematically illustrates a side view of a vehicle according to an embodiment of the present disclosure;

Fig. 2 schematically illustrates a front view of the vehicle in fig. 1 according to an embodiment of the present disclosure; Fig. 3 schematically illustrates a block diagram of a control device for validating sensor data from a vehicle during drive of the vehicle according to an embodiment of the present disclosure;

Fig. 4 schematically illustrates a block diagram of a method performed by a control device for validating sensor data from a vehicle during drive of the vehicle according to an embodiment of the present disclosure; and

Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter the term“link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non- physical connector such as a wireless connection, for example a radio or microwave link.

Fig. 1 schematically illustrates a side view of a vehicle V according to an embodiment of the present disclosure. The vehicle V is travelling on a road R. The exemplified vehicle V is a commercial vehicle in the shape of a truck. The vehicle V has a vehicle chassis 1 and a cab 2. The cab 2 is suspendedly arranged so as to allow movement relative to the vehicle chassis 1.

The vehicle according to the present disclosure may be any vehicle with a chassis and a cab arranged so as to allow movement relative to the vehicle chassis. The vehicle may be a heavy vehicle in the shape of a truck having a tractor with a cab and a trailer connected to the tractor, wherein the tractor may comprise a chassis and the trailer may comprise a chassis, wherein the cab is suspendedly arranged so as to allow movement relative to the vehicle chassis of the tractor and the chassis of the trailer. For such a vehicle the vehicle chassis may refer to the chassis of the tractor and/or the chassis of the trailer.

Fig. 2 schematically illustrates a front view of the vehicle V in fig. 1 according to an embodiment of the present disclosure.

The vehicle V has a vehicle chassis 1 and a cab 2. The cab 2 is suspendedly arranged so as to allow movement relative to the vehicle chassis 1. In fig. 2 movement of the cab 2 relative to the chassis 1 is illustrated by a slightly tilted cab 2.

The vehicle V is provided with at least one chassis related sensor unit 110 associated with a first inertial measurement unit IMU1 arranged in connection to the vehicle chassis 1. In fig. 2 the first inertial measurement unit IMU1 is illustrated as being comprised in the at least one chassis related sensor unit 1 10 and attached to the chassis 1. The first inertial measurement unit IMU1 and the at least one chassis related sensor unit 110 could according to a variant be separate but operably connected units arranged in connection to the chassis. The at least one chassis related sensor unit 1 10 may comprise any suitable sensor unit arranged in connection to the chassis of the vehicle, e.g. a radar.

The vehicle is provided with at least one cab related sensor unit 120 associated with a second inertial measurement unit IMU2 arranged in connection to the cab 2. In fig. 2 the second inertial measurement unit IMU2 is illustrated as being comprised in the at least one cab related sensor unit 120 and attached to the cab 2. The second inertial measurement unit IMU2 and the at least one cab related sensor unit 120 could according to a variant be separate but operably connected units arranged in connection to the cab. The at least one cab related sensor unit 120 may comprise any suitable sensor unit arranged in connection to the cab of the vehicle, e.g. a camera.

The chassis related sensor unit 1 10 and the cab related sensor unit 120 may be arranged to detect the same object, e.g. another vehicle, an obstacle ahead of the vehicle or the like.

The vehicle V may comprise a control device 100 for validating sensor data from the vehicle V during drive of the vehicle V.

The vehicle V comprises, according to an embodiment, a control device 100 for validating sensor data from a vehicle during drive of the vehicle according to fig. 3.

The control device 100 is configured to co-validate sensor data from the at least one chassis related sensor unit 1 10 arranged in connection to the vehicle chassis 1 and sensor data from the at least one cab related sensor unit 120 arranged in connection to the cab 2 by means of the first and second inertial measurement units IMU1 , IMU2.

The control device 100 is configured to, by means of a dynamic model, estimate measurement data from the first inertial measurement unit IMU1 based on measurement data from the second inertial measurement unit IMU2 and vice versa. The control device 100 is further configured to diagnose the first and second inertial measurement units IMU1 , IMU2 based on the thus estimated measurement data from the respective inertial measurement unit as a basis for co-validating sensor data from the at least one sensor unit 1 10 arranged in connection to the vehicle chassis 1 and sensor data from the at least one sensor unit 120 arranged in connection to the cab 2.

A first virtual inertial measurement unit VIMU1 for the first inertial measurement unit IMU1 is configured to be created based on estimated measurement data for the first inertial measurement unit IMU1 . A second virtual inertial measurement unit VIMU2 for the second inertial measurement unit IMU2 is configured to be created based on estimated measurement data for the second inertial measurement unit IMU2. The first virtual inertial measurement unit VIMU1 and second virtual inertial measurement unit VIMU2 are thus created by means of the dynamic model and hence by means of the control device 100. The dynamic model, e.g. a trained Deep Neural Network, is configured to receive sensor data from the first and second inertial measurement units IMU1 , IMU2 and is trained based on those sensor data, i.e. those signals, in an iterative process. The first and second virtual inertial measurement units VIMU1 , VIMU2 are thus created through that iterative process.

The vehicle V is, according to an embodiment, arranged to be operated in accordance with a method M1 for validating sensor data from a vehicle during drive of the vehicle according to fig. 4.

Fig. 3 schematically illustrates a block diagram of a control device 100 for validating sensor data from a vehicle during drive of the vehicle according to an embodiment of the present disclosure.

The vehicle has a vehicle chassis and a cab. The cab is suspendedly arranged so as to allow movement relative to the vehicle chassis.

The vehicle is provided with at least one chassis related sensor unit 1 10 associated with a first inertial measurement unit IMU1 arranged in connection to the vehicle chassis. In fig. 3 the first inertial measurement unit IMU1 is illustrated as being comprised in the at least one chassis related sensor unit 1 10. The first inertial measurement unit IMU1 and the at least one chassis related sensor unit 110 could according to a variant be separate but operably connected units. The at least one chassis related sensor unit 1 10 may comprise any suitable sensor unit arranged in connection to the chassis of the vehicle, e.g. a radar. The vehicle is provided with at least one cab related sensor unit 120 associated with a second inertial measurement unit IMU2 arranged in connection to the cab. In fig. 3 the second inertial measurement unit IMU2 is illustrated as being comprised in the at least one cab related sensor unit 120. The second inertial measurement unit IMU2 and the at least one cab related sensor unit 120 could according to a variant be separate but operably connected units. The at least one cab related sensor unit 120 may comprise any suitable sensor unit arranged in connection to the cab of the vehicle, e.g. a camera.

The control device 100 is configured to for validate sensor data from a vehicle during drive of the vehicle. The control device 100 for validating sensor data from a vehicle during drive of the vehicle may be comprised in a system I for validating sensor data from a vehicle during drive of the vehicle.

The control device 100 may be implemented as a separate entity or distributed in two or more physical entities. The control device 100 may comprise one or more computers. The control device 100 may thus be implemented or realised by the control device comprising a processor and a memory, the memory comprising instructions, which when executed by the processor causes the control device to perform the herein disclosed method.

The control device 100 may comprise one or more electronic control units, processing units, computers, server units or the like for validating sensor data from a vehicle during drive of the vehicle. The control device 100 may comprise control device such as one or more electronic control units arranged on board a vehicle. The control device 100 may comprise one or more electronic control units of the vehicle. The control device 100 may comprise one or more electronic control units, processing units, computers, server units or the like of an off-board system arranged externally to the vehicle and being operably connectable to the vehicle.

The control device 100 is configured to co-validate sensor data from the at least one chassis related sensor unit 1 10 arranged in connection to the vehicle chassis and sensor data from the at least one cab related sensor unit 120 arranged in connection to the cab by means of the first inertial measurement unit IMU1 and the second inertial measurement unit IMU2. The control device 100 is configured to, by means of a dynamic model M, estimate measurement data from one of the inertial measurement units based on measurement data from the other inertial measurement unit.

According to an embodiment the system I comprises the dynamic model M. The control device 100 may comprise or be operably connectable to the dynamic model M.

The dynamic model M may be any suitable dynamic model, which may be based on any suitable types of algorithms. The dynamic model M is according to an embodiment a deep neural network. The dynamic model may be a traditional model based on traditional algorithms. The dynamic model may be mathematical model. The dynamic model may be a statistical model based on statistical algorithms.

By means of the dynamic model M, measurement data from the first inertial measurement unit IMU1 is estimated based on measurement data D2 from the second inertial measurement unit IMU2. By means of the dynamic model M, measurement data D2 from the second inertial measurement unit IMU2 is estimated based on measurement data from the first inertial measurement unit IMU1. The dynamic model M is thus, according to this embodiment, operably connected to the first inertial measurement unit IMU1 via a link D1. The dynamic model M is, via the link D1 , arranged to receive a signal from the first inertial measurement unit IMU1 representing measurement data. The dynamic model M is thus further, according to this embodiment, operably connected to the second inertial measurement unit IMU2 via a link D2. The dynamic model M is, via the link D2, arranged to receive a signal from the second inertial measurement unit IMU2 representing measurement data.

The dynamic model M, which according to an embodiment is a trained Deep Neural Network, will estimate measurement data from one of the inertial measurement units based on measurement data from the other inertial measurement unit. This is performed in an iterative process where signals via said links D1 , D2 with a large amount of data from the first and second inertial measurement units is processed. The control device 100 is further configured to diagnose the first and second inertial measurement units IMU1 , IMU2 based on the thus estimated measurement data from the respective inertial measurement unit as a basis for co-validating sensor data from the at least one sensor unit 1 10 arranged in connection to the vehicle chassis and sensor data from the at least one sensor unit 120 arranged in connection to the cab.

According to an embodiment the control device 100 is configured to create a first virtual inertial measurement unit VIMU1 for the first inertial measurement unit IMU1 based on estimated measurement data for the first inertial measurement unit IMU1. According to an embodiment the control device 100 is configured to create a second virtual inertial measurement unit VIMU2 for the second inertial measurement unit IMU2 based on estimated measurement data for the second inertial measurement unit IMU2.

The first virtual inertial measurement unit VIMU1 for the first inertial measurement unit IMU1 and the second virtual inertial measurement unit VIMU2 for the second inertial measurement unit IMU2 are thus, according to a variant, configured to be created by means of the dynamic model M. The first virtual inertial measurement unit VIMU1 and the second virtual inertial measurement unit VIMU2 are thus, according to a variant, configured to be created by means of the dynamic model M based on based on estimated measurement data for the first and second inertial measurement units IMU1 , IMU2.

The first virtual inertial measurement unit VIMU1 and the second virtual inertial measurement unit VIMU2 are, according to a variant, comprised in the dynamic model M.

According to an embodiment of the invention, the control device 100 is, via a link 10, operably connected to the at least one chassis related sensor unit 1 10. According to an embodiment of the invention, the control device 100 is via the link 10 arranged to receive a signal from the at least one chassis related sensor unit 1 10 representing sensor data, e.g. data about a detected obstacle ahead of the vehicle.

According to an embodiment of the invention, the control device 100 is, via a link 20, operably connected to the at least one cab related sensor unit 120. According to an embodiment of the invention, the control device 100 is via the link 20 arranged to receive a signal from the at least one cab related sensor unit 120 representing sensor data, e.g. data about a detected obstacle ahead of the vehicle.

According to an embodiment of the invention, the control device 100 is, via a link D1 , operably connected to the first inertial measurement unit IMU1 . According to an embodiment of the invention, the control device 100 is via the link D1 arranged to receive a signal from the first inertial measurement unit IMU1 representing sensor data comprising data about chassis movement.

According to an embodiment of the invention, the control device 100 is, via a link D2, operably connected to the second inertial measurement unit IMU2. According to an embodiment of the invention, the control device 100 is via the link D2 arranged to receive a signal from the second inertial measurement unit IMU2 representing sensor data comprising data about chassis movement.

According to an embodiment of the invention, the control device 100 is, via a link V1 , operably connected to the first virtual inertial measurement unit VIMU1 . According to an embodiment of the invention, the control device 100 is via the link V1 arranged to receive a signal from the first virtual inertial measurement unit VIMU1 representing sensor data comprising data about chassis movement.

According to an embodiment of the invention, the control device 100 is, via a link V2, operably connected to the second virtual inertial measurement unit VIMU2. According to an embodiment of the invention, the control device 100 is via the link V2 arranged to receive a signal from the second virtual inertial measurement unit VIMU2 representing sensor data comprising data about chassis movement.

According to an embodiment the control device 100 is configured to compare data from the first virtual inertial measurement unit VIMU1 with data from the first inertial measurement unit IMU1 , so as to determine whether the first inertial measurement unit IMU1 is malfunctioning.

According to an embodiment the control device 100 is configured to compare data from the second virtual inertial measurement unit VIMU2 with data from the second inertial measurement unit IMU2, so as to determine whether the second inertial measurement unit IMU2 is malfunctioning.

According to an embodiment the control device 100 is configured to utilize a virtual inertial measurement unit for said co-validation if it has been determined that its inertial measurement unit is malfunctioning. Thus, if e.g. it has been determined, by means of comparing data from the first virtual inertial measurement unit VIMU1 with data from the first inertial measurement unit IMU1 , that the first inertial measurement unit IMU1 is malfunctioning, the first virtual inertial measurement unit VIMU1 will be used instead of the first inertial measurement unit IMU1 together with the second inertial measurement unit IMU2 for co-validating sensor data from the chassis related sensor unit 1 10 and sensor data from the cab related sensor unit 120.

According to an embodiment the control device is configured to utilize the virtual inertial measurement units VIMU1 , VIMU2 for redundancy in co validation so as to facilitate improved Automotive Safety Integrity Level.

The control device 100 for validating sensor data from a vehicle during drive of the vehicle is, according to an embodiment, adapted to perform the method M1 described below with reference to fig. 4.

Fig. 4 schematically illustrates a block diagram of a method M1 performed by a control device for validating sensor data from a vehicle during drive of the vehicle according to an embodiment of the present disclosure.

The vehicle has a vehicle chassis and a cab. The cab is suspendedly arranged so as to allow movement relative to the vehicle chassis. The vehicle is provided with at least one chassis related sensor unit associated with a first inertial measurement unit arranged in connection to the vehicle chassis and at least one cab related sensor unit associated with a second inertial measurement unit arranged in connection to the cab.

According to the embodiment the method comprises a step S1 . In this step sensor data from the at least one chassis related sensor unit arranged in connection to the vehicle chassis and sensor data from the at least one cab related sensor unit arranged in connection to the cab are co-validated by means of the first and second inertial measurement units.

According to the embodiment the method comprises a step S2. In this step, by means of a dynamic model, measurement data from one of the inertial measurement units is estimated based on measurement data from the other inertial measurement unit. According to the embodiment the method comprises a step S3. In this step the first and second inertial measurement units are diagnosed based on the thus estimated measurement data from the respective inertial measurement unit as a basis for co-validating sensor data from the at least one sensor unit arranged in connection to the vehicle chassis and sensor data from the at least one sensor unit arranged in connection to the cab.

According to an embodiment the method comprises the step of creating a first virtual inertial measurement unit for the first inertial measurement unit based on estimated measurement data for the first inertial measurement unit and a second virtual inertial measurement unit for the second inertial measurement unit based on estimated measurement data for the second inertial measurement unit.

According to an embodiment the method comprises the step of comparing data from the first virtual inertial measurement unit with data from the first inertial measurement unit, and comparing data from the second virtual inertial measurement unit with data from the second inertial measurement unit, so as to determine whether an inertial measurement unit is malfunctioning.

According to an embodiment the method comprises the step of utilizing the virtual inertial measurement unit for said co-validation if it has been determined that its inertial measurement unit is malfunctioning.

According to an embodiment the method comprises the step of utilizing the virtual inertial measurement units for redundancy in co-validation so as to facilitate improved Automotive Safety Integrity Level.

The method M1 performed by a control device f for validating sensor data from a vehicle during drive of the vehicle is according to an embodiment adapted to be performed by the control device 100 described above with reference to fig. 3. The method M1 performed by a control device for validating sensor data from a vehicle during drive of the vehicle is according to an embodiment adapted to be performed by the system I described above with reference to fig. 3.

With reference to fig. 5, a diagram of a computer 500/apparatus 500 is shown. The control device 100 described with reference to fig. 3 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.

A computer program P is provided comprising routines for validating sensor data from a vehicle during drive of the vehicle.

The program P comprises routines for co-validating sensor data from the at least one chassis related sensor unit arranged in connection to the vehicle chassis and sensor data from the at least one cab related sensor unit arranged in connection to the cab by means of the first and second inertial measurement units. The program P comprises routines for, by means of a dynamic model, estimating measurement data from one of the inertial measurement units based on measurement data from the other inertial measurement unit. The program P comprises routines for diagnosing the first and second inertial measurement units based on the thus estimated measurement data from the respective inertial measurement unit as a basis for co-validating sensor data from the at least one sensor unit arranged in connection to the vehicle chassis and sensor data from the at least one sensor unit arranged in connection to the cab.

The program P comprises routines for creating a first virtual inertial measurement unit for the first inertial measurement unit based on estimated measurement data for the first inertial measurement unit and a second virtual inertial measurement unit for the second inertial measurement unit based on estimated measurement data for the second inertial measurement unit.

The program P comprises routines for comparing data from the first virtual inertial measurement unit with data from the first inertial measurement unit, and comparing data from the second virtual inertial measurement unit with data from the second inertial measurement unit, so as to determine whether an inertial measurement unit is malfunctioning.

The program P comprises routines for utilizing the virtual inertial measurement unit for said co-validation if it has been determined that its inertial measurement unit is malfunctioning.

The program P comprises routines for utilizing the virtual inertial measurement units for redundancy in co-validation so as to facilitate improved Automotive Safety Integrity Level.

The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550. When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550. Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512. Separate memory 560 is adapted for communication with data processing device 510 via a data bus 51 1 . Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control unit 100 may be connected.

When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 may be used by apparatus 500 for co-validating sensor data from the at least one chassis related sensor unit arranged in connection to the vehicle chassis and sensor data from the at least one cab related sensor unit arranged in connection to the cab by means of the first and second inertial measurement units. The signals received on data port 599 may be used by apparatus 500 for, by means of a dynamic model, estimating measurement data from one of the inertial measurement units based on measurement data from the other inertial measurement unit. The signals received on data port 599 may be used by apparatus 500 for diagnosing the first and second inertial measurement units based on the thus estimated measurement data from the respective inertial measurement unit as a basis for co-validating sensor data from the at least one sensor unit arranged in connection to the vehicle chassis and sensor data from the at least one sensor unit arranged in connection to the cab.

The signals received on data port 599 may be used by apparatus 500 for creating a first virtual inertial measurement unit for the first inertial measurement unit based on estimated measurement data for the first inertial measurement unit and a second virtual inertial measurement unit for the second inertial measurement unit based on estimated measurement data for the second inertial measurement unit. The signals received on data port 599 may be used by apparatus 500 for comparing data from the first virtual inertial measurement unit with data from the first inertial measurement unit, and comparing data from the second virtual inertial measurement unit with data from the second inertial measurement unit, so as to determine whether an inertial measurement unit is malfunctioning.

The signals received on data port 599 may be used by apparatus 500 for utilizing the virtual inertial measurement unit for said co-validation if it has been determined that its inertial measurement unit is malfunctioning.

The signals received on data port 599 may be used by apparatus 500 for utilizing the virtual inertial measurement units for redundancy in co-validation so as to facilitate improved Automotive Safety Integrity Level.

Parts of the methods described herein may be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.

The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims

1 . A method (M1 ) performed by a control device (100) for validating sensor data from a vehicle (V) during drive of the vehicle, said vehicle (V) having a vehicle chassis (1 ) and a cab (2), the cab (2) being suspendedly arranged so as to allow movement relative to the vehicle chassis (1 ), the vehicle (V) being provided with at least one chassis related sensor unit (1 10) associated with a first inertial measurement unit (IMU1 ) arranged in connection to the vehicle chassis (1 ) and at least one cab related sensor unit (120) associated with a second inertial measurement unit (IMU2) arranged in connection to the cab (2), the method comprising the step of co-validating sensor data from the at least one chassis related sensor unit (1 10) arranged in connection to the vehicle chassis (1 ) and sensor data from the at least one cab related sensor unit (120) arranged in connection to the cab (2) by means of the first and second inertial measurement units (IMU1 , IMU2), the method further comprising the steps of:

- by means of a dynamic model (M), estimating measurement data from one of the inertial measurement units (IMU1 , IMU2) based on measurement data from the other inertial measurement unit (IMU2, IMU1 ); and

- diagnosing the first and second inertial measurement units (IMU1 , IMU2) based on the thus estimated measurement data from the respective inertial measurement unit as a basis for co-validating sensor data from the at least one sensor unit (1 10) arranged in connection to the vehicle chassis (1 ) and sensor data from the at least one sensor unit (120) arranged in connection to the cab (2).

2. A method according to claim 1 , comprising the step of creating a first virtual inertial measurement unit (VIMU1 ) for the first inertial measurement unit (IMU1 ) based on estimated measurement data for the first inertial measurement unit (IMU1 ) and a second virtual inertial measurement unit (VIMU2) for the second inertial measurement unit (IMU2) based on estimated measurement data for the second inertial measurement unit (IMU2).

3. A method according to claim 1 or 2, comprising the step of comparing data from the first virtual inertial measurement unit (VIMU1 ) with data from the first inertial measurement unit (IMU1 ), and comparing data from the second virtual inertial measurement unit (VIMU2) with data from the second inertial measurement unit (IMU2), so as to determine whether an inertial measurement unit is malfunctioning.

4. A method according to claim 3, comprising the step of utilizing a virtual inertial measurement unit for said co-validation if it has been determined that its inertial measurement unit is malfunctioning.

5. A method according to claim 3, comprising the step of utilizing the virtual inertial measurement units (VIMU1 , VIMU2) for redundancy in co-validation so as to facilitate improved Automotive Safety Integrity Level.

6. A control device (100) for validating sensor data from a vehicle (V) during drive of the vehicle, said vehicle (V) having a vehicle chassis (1 ) and a cab (2), the cab (2) being suspendedly arranged so as to allow movement relative to the vehicle chassis (1 ), the vehicle (V) being provided with at least one chassis related sensor unit (1 10) associated with a first inertial measurement unit (IMU1 ) arranged in connection to the vehicle chassis (1 ) and at least one cab related sensor unit (120) associated with a second inertial measurement unit (IMU2) arranged in connection to the cab (2), the control device (100) being configured to co-validate sensor data from the at least one chassis related sensor unit (1 10) arranged in connection to the vehicle chassis (1 ) and sensor data from the at least one cab related sensor unit (120) arranged in connection to the cab (2) by means of the first and second inertial measurement units (IMU1 , IMU2), the control device further being configured to:

- by means of a dynamic model (M), estimate measurement data from one of the inertial measurement units (IMU1 , IMU2) based on measurement data from the other inertial measurement unit (IMU2, IMU1 ); and

- diagnose the first and second inertial measurement units (IMU1 , IMU2) based on the thus estimated measurement data from the respective inertial measurement unit (IMU1 , IMU2) as a basis for co-validating sensor data from the at least one sensor unit (1 10) arranged in connection to the vehicle chassis (1 ) and sensor data from the at least one sensor unit (120) arranged in connection to the cab (2).

7. A control device according to claim 6, the control device (100) being configured to create a first virtual inertial measurement unit (VIMU1 ) for the first inertial measurement unit (IMU1 ) based on estimated measurement data for the first inertial measurement unit (IMU1 ) and a second virtual inertial measurement unit (VIMU2) for the second inertial measurement unit (IMU2) based on estimated measurement data for the second inertial measurement unit (IMU2)..

8. A control device according to claim 6 or 7, the control device (100) being configured to compare data from the first virtual inertial measurement unit (VIMU1 ) with data from the first inertial measurement unit (IMU1 ), and compare data from the second virtual inertial measurement unit (VIMU2) with data from the second inertial measurement unit (IMU2), so as to determine whether an inertial measurement unit is malfunctioning.

9. A control device according to claim 8, the control device (100) being configured to utilize a virtual inertial measurement unit for said co-validation if it has been determined that its inertial measurement unit is malfunctioning.

10. A control device according to claim 3, the control device being configured to utilize the virtual inertial measurement units (VIMU1 , VIMU2) for redundancy in co-validation so as to facilitate improved Automotive Safety Integrity Level.

1 1 . A vehicle (V1 ) comprising a control device (100) according to any of claims 6-10.

12. A computer program (P) for validating sensor data from a vehicle during drive of the vehicle, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1 -5.

13. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to anyone of claims 1 -5.