WO2021249709A1

WO2021249709A1 - Control system for a vehicle

Info

Publication number: WO2021249709A1
Application number: PCT/EP2021/062318
Authority: WO
Inventors: Gowtham Perumalsamy; Istvan Hegedüs-Bite; Timm Muntel; Ilker Bagci; Mohammad Alsharif; Hubert Bichelmeier; Bastian Hubracht
Original assignee: Zf Friedrichshafen Ag
Priority date: 2020-06-09
Filing date: 2021-05-10
Publication date: 2021-12-16
Also published as: DE102020207219A1

Abstract

The invention relates to a control system (105) for a vehicle (100), comprising: a plurality of interfaces (205), each designed for connection to an associated sensor (110) or actuator (115) on board the vehicle (100); a plurality of control devices (220), each designed to sample an associated sensor (110) or to actuate an associated actuator (115) via an associated interface (205) in order to control a predetermined function on board the vehicle (100); and a processing device (210) designed to form a plurality of virtual machines (215); wherein the control devices (220) each run in one of the virtual machines (215).

Description

Control system for a vehicle

The present invention relates to a control system for a vehicle. In particular, the invention relates to a control system having a plurality of control devices.

A vehicle comprises a plurality of control devices, each of which is set up to perform a predetermined task on board the vehicle. For this purpose, a control device is usually connected to a sensor or actuator and comprises a processing device which is designed as a microcomputer or microcontroller and which carries out a predetermined control by means of a computer program product.

The control device is often arranged close to the actuator or sensor. A higher-level control device can be provided for controlling a plurality of individual control devices. Functionally related control devices can form a domain and a higher-level control device can implement a domain controller.

Overall, an installed processing capacity of all control devices can be large, although the full performance of a control device is usually only rarely used. A transfer of measured values or parameters is to be implemented between the individual control devices, with different boundary conditions, for example with regard to transmission security, speed, real-time capability, failure security or eavesdropping security having to be observed. A control system comprising the control devices can therefore be complex and require extensive maintenance. Troubleshooting can be difficult.

One object of the present invention is to provide an improved control system for use on board a vehicle. The invention solves this problem by means of the subjects of the independent claims. Dependent claims reproduce preferred embodiments. A control system for a vehicle comprises several interfaces, each for connection to an associated sensor or actuator on board the vehicle; several control devices, each of which is set up to scan an assigned sensor via an assigned interface or to control an assigned actuator in order to control a predetermined function on board the vehicle; and a processing device which is set up to form a plurality of virtual machines; wherein the control devices each run in one of the virtual machines.

The various physical actuators or associated sensors are controlled from a single control system depending on which domain they are in, i.e. assignment of control systems for individual domains to a single main control system. Thus, actuators or sensors for individual domains can be controlled from a single control system.

A maximum of one sensor or actuator is usually assigned to an interface. Only one control device is preferably running in a virtual machine; in certain embodiments, multiple control devices can also run in a common virtual machine.

According to the invention, a real processing device can be used to execute or simulate a plurality of control devices in virtual machines. Such a virtual control device can execute a computer program already provided for a physical control device. For this purpose, the virtual machine can be modeled on an environment of the real control device.

The processing device can easily be dimensioned sufficiently to meet the requirements of the control devices included. If necessary, a powerful processing device can be used which comprises several computing cores or special devices such as a GPU, shader or vector computer. Overall, the control system can be set up more cost-effectively than with several real control devices. A communication between Components of the control system can be simplified. A reduced number of real components can increase the reliability of the control system. Should a control device in the control system fail, for example due to an error in a computer program product, the other control devices can continue to function. The virtual machine can also be restarted in order to free the control device from an error state, such as a deadlock. It is also possible to switch off a virtual machine in order to deactivate an assigned control device.

It is preferred that no more than one control device is assigned to an actuator. A collision of contradicting activations of different control devices can thus be avoided. However, one or more control devices can be assigned to a sensor. In this way, the effort required to provide all of the required sensors can be reduced. Redundant sensors can be saved. Thanks to the virtual machines, each control device can only “see” one sensor; the existence of another control device accessing the sensor can be hidden from it if necessary.

For a control device in a virtual machine, precisely those actuators or sensors that are to be used by the control device can be available. A sensor of the actuator, which is not relevant for the fulfillment of the task of the control device, cannot be accessible to them. Should the task or the approach of the control device change, the actuators or sensors that are “visible” to them can be adapted accordingly. Sensors or actuators can be added or removed for the control device without having to make an actual change to the configuration of the vehicle.

The processing device can be set up to provide a virtual interface to a virtual machine and to provide communication between virtual interfaces. In this way, virtual machines or control devices running in them can communicate with one another without having to use a physical interface. Communication can be simpler, less error-prone or less time-consuming. The processing device can further be set up to control an allocation of resources to virtual machines. In a first variant, existing resources can be permanently assigned to the control devices. In a second variant, an allocation scheme can be provided in order to dynamically allocate resources to the control devices. In both variants, information on the configuration of a virtual machine, the distribution of resources or the assignment of sensors or actuators to interfaces or of interfaces to control devices can be stored outside the control system. This information can be stored, for example, in another control device or on a server or in a service, for example in a cloud. If the control system has to be physically replaced, the configuration can be imported with little effort.

An administration interface can be provided which is set up to control an allocation of resources to control devices. For example, an allocation scheme for resources to control devices can be changed via the administration interface. A change can be made when the vehicle is serviced or, if necessary, while the vehicle is in operation. In one embodiment, the change can be controlled from a device external to the vehicle, for example via a wireless interface.

The resource can include an interface. The interface can comprise a real interface that is connected to a sensor or an actuator, or a virtual interface that is connected to a virtual machine.

The resource can include a memory. The memory can comprise a main memory, a read-only memory or a mass memory. A control device can be assigned a predetermined amount or a predetermined area in one of the memories. Overlapping memory areas can optionally be assigned to a plurality of control devices in order to To enable the exchange of information or the cooperative processing of shared data.

A resource can include processing power. The processing device can distribute time slices of its processing power to control devices according to the round robin method or another assignment method, for example. If the processing device comprises parallel execution devices, for example computing cores, then these can be assigned to control devices accordingly.

In accordance with a second aspect of the present invention, a vehicle includes a control system as described herein. The vehicle can in particular comprise a motor vehicle, for example a motorcycle, a passenger car, a truck or a bus.

The invention will now be described in more detail with reference to the accompanying figures, in which:

FIG. 1 shows a vehicle with a control system; and Figure 2 shows schematically a control system.

FIG. 1 shows a vehicle 100 with a control system 105. The control system 105 is connected to a number of sensors 110 or actuators 115 on the vehicle 100 and is set up to carry out several predetermined control tasks on the vehicle 100. A sensor 110 can scan a physical variable on the vehicle 100 and provide a corresponding sensor value. The sensor 110 can, in particular, have read access. An actuator 115 can be set up for, in particular, the physical actuation of an element of the vehicle 100 and can comprise, for example, an electromagnet, a valve, a display, an electric motor or an optical or acoustic output device. In particular, write access can be made to an actuator 115. In addition, a combined device 120 can be provided, which can be accessed both for reading and writing. For example, the device 120 can comprise a configurable sensor 110 or actuator 115. For example, a communication device that is set up for bidirectional communication can also be provided as a combined device 120.

A control task of the control system 105 can include, for example, a movement of the vehicle 100 in the longitudinal or transverse direction or a navigation of the vehicle 100. In particular, the control system 105 can be set up to control a drive motor, a transmission or a steering of the vehicle 100. Other possible tasks of the control system 105 include auxiliary functions such as controlling an entertainment system or an air conditioning system or adjusting a seat or a headlight. A driving assistant, for example for keeping in lane or for emergency braking, can also be controlled by the control system 105.

FIG. 2 shows a system 200 which comprises a control system 105 and a plurality of sensors 110, actuators 115 and / or combined devices 120 which are connected to the control system 105. Purely by way of example, two sensors 110, two actuators 115 and a combined device 120 are provided in FIG. The control system 105 is preferably designed as an integrated unit which, in particular, can be handled separately. In one embodiment, the control system 105 is formed as a single printed circuit board (PCB). The control system 105 may be attached to the vehicle 100 in a suitable location. Several control systems 105 can be used on some vehicles 100, which optionally communicate with one another or can be controlled by a higher-level control device.

The control system 105 comprises a number of interfaces 205, an interface 205 preferably being connected to a sensor 110, an actuator 115 or a reading or writing side of a combined device 120. A bidirectional interface 205 is also possible. In the illustration of FIG. 2, three interfaces 205 shown on the left are each one, by way of example read access and three interfaces 205 shown on the right are each assigned to a write access of the control system 105.

The control system 105 comprises a processing device 210 which is set up to provide a plurality of virtual machines 215, in each of which a control device 120 runs. Two virtual machines 215 are shown in FIG. 2, but there can also be more, as indicated by a broken horizontal line. A control device 120 can be implemented by a computer program product which, in another embodiment, can run on a real, dedicated processing device that can be physically connected to interfaces 205 or sensors 110, actuators 115 or devices 115. The control device 120 is set up to perform a predetermined control task on board the vehicle 100. Two virtual machines 215, each with an assigned control device 120, are shown by way of example.

Each virtual machine 215 simulates a predetermined execution environment for a control device 120, which usually comprises a predetermined type of processing device and a predetermined periphery. The processing device can be implemented by the real processing device 210. The periphery can be provided by assigning or configuring real resources, wherein a resource can in particular comprise a memory, a processing capacity of the processing device or an interface.

Real interfaces 205 can be provided to a virtual machine 220 via a mapping unit 225 or made visible to it. The imaging unit 225 can comprise an arrangement of switches or wiring or can be controlled, for example, by a reconfigurable semiconductor. In one embodiment, the mapping unit 225 is controlled or simulated by the processing device 210. FIG. 2 shows exemplary assignments between real, physical interfaces 205 and interfaces that are respectively visible for a virtual machine 215 by means of broken lines. The left virtual machine 215 is connected to two sensors 110 and the writing side of the combined device 120; in addition, a virtual interface 230 can be provided, which cannot be physically available outside of the control system 105. The right virtual machine 215 is connected to a sensor 110, a reading side of the combined device 120 and an actuator 115. In the present example, both virtual machines 215 are connected to a common sensor 110 and one of the actuators 115 is not connected to any of the virtual machines 215. In addition, the right virtual machine 215 also includes a virtual interface 230, which is connected, for example, to the virtual interface 230 of the left virtual machine 215. In one embodiment, any number of virtual machines 215 can be connected to a virtual interface 230. This can result in a bus structure or a point-to-point structure, for example.

In the embodiment shown, an administration interface 235 is also provided, via which an external device can communicate with the processing device 210. In particular, the processing device 210 can be configured or a control program can be adapted. Furthermore, parameters or procedures can be changed. In particular, a configuration of a virtual machine 215 can be controlled via the administration interface 235. The configuration can include a provision of resources and in particular an assignment of interfaces 205 to the virtual machine 215. Furthermore, a computer program can be loaded into a virtual machine 215 which, when it is executed, implements a control device 220. A virtual machine 215 or a control device 220 can be started, interrupted or stopped. In one embodiment, a controller 220 can be moved from one virtual machine 215 to another. In addition, a control device 220 can be downloaded from the control system 105 via the administration interface 235. Reference vehicle control system sensors actuator combined device system interface processing device virtual machine control device imaging unit virtual interface administration interface

Claims

1. A control system (105) for a vehicle (100), the control system (105) comprising: several interfaces (205), each for connection to an associated sensor (110) or actuator (115) on board the vehicle (100) ; a plurality of control devices (220) which are each set up to scan an assigned sensor (110) via an assigned interface (205) or to control an assigned actuator (115) in order to control a predetermined function on board the vehicle (100); a processing device (210) which is set up to form a plurality of virtual machines (215); wherein the control devices (220) each run in one of the virtual machines (215).

2. Control system (105) according to claim 1, wherein no more than one control device (220) is assigned to an actuator (115).

3. Control system (105) according to claim 1 or 2, wherein one or more control devices (220) are assigned to a sensor (110).

4. Control system (105) according to one of the preceding claims, wherein precisely the actuators (115) or sensors (110) that are to be used by the control device (220) are available for a control device (220) in a virtual machine (215) .

5. Control system (105) according to one of the preceding claims, wherein the processing device (210) is set up to provide a virtual machine (215) with a virtual interface (230) and to provide communication between virtual interfaces (230).

6. Control system (105) according to one of the preceding claims, wherein the processing device (210) is set up to control an allocation of resources to virtual machines (215).

7. The control system (105) according to claim 6, further comprising an administration interface (235) which is configured to control an allocation of resources to control devices (220).

8. The control system (105) of claim 6 or 7, wherein a resource comprises an interface (205).

9. The control system (105) according to any one of claims 6 to 8, wherein a resource comprises a memory.

10. The control system (105) according to any one of claims 6 to 9, wherein a resource comprises processing power.

11. A vehicle (100) comprising a control system (105) according to any one of the preceding claims.