WO2011098333A1 - Fahrzeug-sensor-knoten - Google Patents
Fahrzeug-sensor-knoten Download PDFInfo
- Publication number
- WO2011098333A1 WO2011098333A1 PCT/EP2011/050774 EP2011050774W WO2011098333A1 WO 2011098333 A1 WO2011098333 A1 WO 2011098333A1 EP 2011050774 W EP2011050774 W EP 2011050774W WO 2011098333 A1 WO2011098333 A1 WO 2011098333A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sensor
- signal processing
- elements
- derived
- sensor system
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03J—TUNING RESONANT CIRCUITS; SELECTING RESONANT CIRCUITS
- H03J1/00—Details of adjusting, driving, indicating, or mechanical control arrangements for resonant circuits in general
- H03J1/0008—Details of adjusting, driving, indicating, or mechanical control arrangements for resonant circuits in general using a central processing unit, e.g. a microprocessor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
Definitions
- the invention relates to a sensor system according to the preamble of claim 1.
- vehicle ⁇ architectures are primarily associated with sensors or sensor elements ⁇ radio functions or functional devices.
- the sensor signals can be used by secondary functions by being passed either via interfaces or gateways further ⁇ , which is the case in particular for safety-relevant primary functions, or by being directly ⁇ accessible.
- An example of such a sensor system ge ⁇ Gurss prior art is illustrated with reference to FIG. 2.
- the object underlying the invention is to provide a sensor system having an efficient structure, especially as regards the development effort of such a sensor system, and / or which offers improved ⁇ from falling safety and / or a higher accuracy.
- the sensor system is preferably designed as part of a motor driving ⁇ imaging control system and at least one of the functional means is automotive safety function formed as a vehicle dynamics control and / or and / or vehicle occupant comfort function of force, wherein insbeson ⁇ particular this is a function at least partially as a program at least.
- the signal processing functions of the signal processing means are combined to function devices and / or provided in ⁇ defined, shared manner.
- Connected the term is meant preferably a hardware ⁇ even and / or a software-based connection, that particular communication programs or parts of programs via defined interfaces.
- the sensor system preferably comprises sensing elements with min ⁇ least three, in particular at least five, different? ⁇ chen primary measured variables and / or at least three Sensorele ⁇ elements, in particular at least five sensor elements, which are based on different measuring principles and use differing ⁇ che measuring principles.
- the signal processing means is preferably formed from ⁇ that it comprises at least the following three Signalver ⁇ processing functions comprising at least an Error Handling ⁇ lung, which is designed as a fail-safe function or fail Silent function, at least one filtering and min- at least one calculation of a derived measurand.
- the sensor system is expediently embodied such that the sensor elements and the devices, that is to say at least the signal processing device and in particular additionally the interface device and the functional device, are integrated on a circuit board and / or in a jointly housed electronic component, thus for example in the electronic control unit of a motor vehicle control system ,
- all sensor elements of this sensor system are connected together and / or in each case with the signal processing device.
- none of the sensor elements is directly connected to one or more functional devices and / or communicates directly with one or more functional devices.
- the signal processing means is configured such that it comprises in addition tösbeêtsfunktion a Informationsquali- which, in particular, information about the reliability and / or accuracy and / or availability of one or more or each of a ⁇ individual derived and / or primary measured variable / n be ⁇ riding up.
- the information about the accuracy is preferably understood as an attribute to a first or a defined further measured variable, wherein this first measured variable is at least partially redundant.
- the sensor system has two or more, in particular different, measuring paths for providing this measured variable, each measuring path comprises at least one sensor element and at least one Signalverar ⁇ processing function.
- Each of these measurement paths is particular ⁇ DERS preferably associated with a measurement accuracy, which is defined on modeling and / or test measurements, and / or a specification.
- measurement accuracy is a Messonia ⁇ cision and (relatively low) Deviation and measurement error is advantageously understood.
- the information about the reliability is preferably understood as an attribute assigned by the information quality evaluation function to a first or a defined further measured variable, wherein this first measured variable is at least partially redundant.
- the sensor system comprises for two or more, in particular different measuring paths to provide this measured variable, wherein each ⁇ the measurement path comprises at least one sensor element and at least one signal processing function.
- the current measured values of these measurement paths are checked for plausibility and compared with each other and, in particular, an information is represent ⁇ generated certainty with which the first measurement variable may be currently provided in a function or un ⁇ ter consideration of the absolute and / or relative deviation of the current Measured values of different measuring paths the first measurand.
- At the first measurement variable is especially preferred recognition and understanding in how to use thegnacsein ⁇ directions readings provided far enough or what security requirements the current value of the ser ⁇ first measurement variable.
- the comparison or Plausi ⁇ bilmaschine of the measured values of the different measuring paths is carried out, for example, reference to a table of defined size measuring intervals.
- the information about the availability is preferably understood as an attribute assigned to the information quality evaluation function to a first or a defined further measured variable, this first measured variable being present at least partially redundantly.
- the sensor system comprises for two or more, in particular different measuring paths to provide this measured variable, wherein each ⁇ the measurement path comprises at least one sensor element and at least one signal processing function.
- the availability is expediently information about how long a signal or a measured variable is still available, ie a time information.
- the Informations nowadayssbeêts- function of each measured variable in particular each measurement value of a measurement parameter, one or more or all of the following infor ⁇ mation, in particular as defined variable or parame ⁇ ter, assigning: an accuracy information and / or reliability information and / or an availability information .
- this at least one additional information or this at least one additional parameter with the measured variable or each measured value of a measured variable is transmitted to at least one of the functional devices.
- the signal processing means is configured such that it additionally comprises a calibration ⁇ function, which enables the calibration of a sensor ⁇ elements and / or performed the signal processing, or is started or affected, or can be.
- the signal processing means preferably comprises one or more programs, which of at least one Mikrop ⁇ ROCESSOR or to work on at least a microprocessor system from ⁇ .
- the interface device is designed as a bus and / or interface program that provides the functional devices in a defined manner with Informa ⁇ functions and more particularly to a bidirectional In ⁇ enables exchange of information in defined form.
- the interface device is particularly preferably designed as a transport layer of a communication protocol, very particularly preferably according to the OSI layer model "open system interconnection reference model".
- the signal processing means is formed from ⁇ that they may already at least a derived measured variable so ⁇ as information about the reliability and / or Ge ⁇ accuracy and / or availability of the derived measuring ⁇ size provides each function device or tellen ⁇ .
- the sensor system has at least one yaw rate sensor, at least one acceleration sensor, ei ⁇ nen steering angle sensor and at least one, in particular four, wheel speed sensors as sensor elements and in particular ⁇ special additionally at least one chassis level sensor and / or at least one environment sensor and / or at least a position sensor in the form of a Sa ⁇ tellitennavigationssystems and / or at least one optical rule ⁇ speed sensor "speed over ground sensor", which optically detects the road and determines a driving ⁇ imaging speed.
- additionally or alternatively preferably comprises the sensor system sensing elements which detect environmental data or order ⁇ field information of a motor vehicle, as in ⁇ play distances to other objects, vehicles
- the sensor elements are designed such that they detect, for example, temperature, external humidity or rain and / or magnitudes of the engine management or the drive and the driving force transmission.
- the signal processing device is designed so that it detects a faulty or unavailable primary measured variable or derived measured variable, a redundant primary measure or toleite ⁇ te measured quantity as a substitute signal and / or replacement information for at least one functional device provides.
- the sensor elements and the signal processing means and in particular in addition the interface means are preferably so constructed and connected that at least the primary measurements and the derived measurement values in defined time intervals and / or with defi ⁇ ned minimum response times be ⁇ be made available to the functional devices.
- at least more preferably comprises the Signalver ⁇ processing device a echtzeitfähi ⁇ ges microprocessor system with a real-time operation ⁇ system or a real-time program structure.
- At least two sensor elements of a sensor element group are directly connected to each other and only a first of these sensor elements with the Signalverarbei ⁇ processing device is connected, wherein the first Sensorele ⁇ ment as a master sensor element in communication with the at least one further sensor element, as a slave - Sensor element, this sensor element group is formed.
- the sensor element group is particularly so downloadedbil ⁇ det, particularly preferably the master sensor element that be ⁇ already at least one primary measured variable with at least a derived measured variable of the same type is compared and / or redundant primary measured variables are vergli ⁇ surfaces to each other, these measures are provided in total of a plurality of sensor elements, wherein the result of this at least one measured variable comparison and / or at least one ⁇ plausibilised in this way primary measured variable and / or derived measured variable of the signal processing device are made available.
- the sensor elements each have their own signal processing circuit, and these sensor elements are connected together to form a sensor element network, wherein the sensor elements of this network to exchange at least measured values and / or derived measured values at least partly with each other and that these sensor elements are formed to be at least plausible at least measured variables and / or tilllei ⁇ ended measurements, wherein the sensor element network is connected to the signal processing means and wherein the measured variables and the derived measured values of the sensor elements of the sensor element network will ⁇ least partially transmitted to the signal processing means, more preferably as at least one information resulting from a plausibility check.
- the signal processing means expediently comprises only a single microprocessor or microprocessor core and the signal processing functions are toarbei ⁇ tet only a single microprocessor or microprocessor core. This is particularly advantageous and possible if at least one sensor element group, and / or at least one sensor element network is already performing at least one Plausibili ⁇ tion of measured variables and / or derived measurements itself, which also ensures a redundant plausibility check with only one microprocessor or microprocessor core in the signal processing device can be .
- the sensor system or the signal processing device is preferably also referred to as a sensor node or vehicle sensor node.
- a derived measurement variable or the measuring signal is before ⁇ Trains t called observables.
- a primary measure or from ⁇ led measured variable is taken to mean an observable, so an observable may in particular be either a derived measured variable as well as a primary measure.
- a derived measured variable is preferably understood to mean a measured variable which is determined by calculation and / or
- a measured variable expediently comprises a plurality of measured values.
- the sensor elements of a sensor element group measured before ⁇ Trains t the same physical quantities.
- the master sensor element now compares its measured value with the measured value of ⁇ at least one slave sensor element.
- the sensor elements of a Sen ⁇ sorelement measure different physical quantities.
- the master sensor element now compares its measured value with the at least one measured value of the at least one slave sensor element by deriving its own measured value by means of models from these measured values.
- the following versions are preferred for monitoring within ei ⁇ ner element set:
- the interface device and / or the sensor elements of a sensor element group or a sensor element network preferably have at least one low-pass filter and / or at least one median filter and / or at least one frequency transformation device for filtering.
- the sensor system of the invention at least one ⁇ , or depending on the proposed training several or all of the following advantages:
- the invention additionally relates to a method for sensor ⁇ signal processing means of the inventive Sensorsys ⁇ system as well as the use of the sensor system in Kraftfahrzeu ⁇ gen.
- the invention relates to a computer program product comprising the programs of the sensor system.
- Fig. 1 shows an embodiment of a sensor system according to the invention, as well
- Fig. 2 shows an exemplary sensor system according to the prior
- Fig. 1 shows an exemplary sensor system.
- the sensor elements or sensors 4 are tied bundled with respect to their signal processing and interfaces and integrated into the sensor system.
- sensor elements 4 "sensor hardware 1 to n"
- the sensor system for example, egg yen rotation rate sensor, an acceleration sensor, a steering angle sensor, four wheel speed sensors, a chassis level sensor and a position sensor of a Satel ⁇ lite navigation system (global navigation satellite sys ⁇ tems) on .
- Satel ⁇ lite navigation system global navigation satellite sys ⁇ tems
- the sensing elements 4 are connected by means of a DEFINE ⁇ th interface "transport layer sensor nodes" with the interface device 1, which DEFINE ⁇ te interfaces of the information transmission is made common "transport layer sensor nodes” at ⁇ game according to at least with respect to or shared section adjusting end ⁇ conferenceen the sensing elements 4 may be sufficient, and the physical design of this interface for each sensor element 4 or for groups of sensor elements individually or as part of a network designed. themselves are, for example, in a motor vehicle to distributing ⁇ ordered, but within the sensor system selected so that they provide information for at least one defined group of functional devices, such as driving dynamics control function devices.
- Interface device 1 comprises a plurality of signal processing functions embodied as programs by way of example: an error handling "failsafe” 5, an error handling with respect to a plurality of sensor elements 4 or a group of sensor elements 4 - “multi-sensor failsafe” 9, a filtering "filter” 6 of sensor signals or sensor information , a calibration function "calibration” 8, with which the calibration of a sensor element and / or its Signalver ⁇ processing can take place and a calculation and / or Provision ⁇ one or more derived measures "Observablen calculation” 7, these derived measures or observables can be generated for example from different sensor signals or by means of a defined model building or by means of defined calculations.
- the rotational speed about the vertical axis of the vehicle consider ⁇ passes are also made of d em yaw rate sensor.
- the sensor nodes or the Signalverarbei ⁇ processing device qualifies the accuracy of the observable and provides the observable together with a Wegig ⁇ keitsangabe via an interface device 2, wherein ⁇ game as the transport layer / the bus of the vehicle different than sensor information function devices 3 for Timediaap bearingen available, such as function devices 3 for acti ⁇ ve and passive safety, comfort systems and Mul ⁇ .
- vehicle ⁇ architectures are sensors or sensor elements primarily assigned radio ⁇ functions, but sensor signals can also be used by seconding ⁇ dary functions by being passed either via gateways, which primary especially for safety-relevant Functions is the case, or by being directly accessible.
- gateways which primary especially for safety-relevant Functions is the case, or by being directly accessible.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020127023673A KR20130007566A (ko) | 2010-02-11 | 2011-01-20 | 차량 센서 노드 |
US13/576,197 US8855867B2 (en) | 2010-02-11 | 2011-01-20 | Vehicle sensor node |
MX2012009236A MX2012009236A (es) | 2010-02-11 | 2011-01-20 | Nodo de detectores para vehiculo. |
RU2012138284/08A RU2012138284A (ru) | 2010-02-11 | 2011-01-20 | Сенсорный узел транспортного средства |
EP11702948.8A EP2534011B1 (de) | 2010-02-11 | 2011-01-20 | Fahrzeug-sensor-knoten |
JP2012552327A JP5959442B2 (ja) | 2010-02-11 | 2011-01-20 | 車両センサノード |
CN201180009367.4A CN102753395B (zh) | 2010-02-11 | 2011-01-20 | 车辆传感器节点 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010001827.9 | 2010-02-11 | ||
DE102010001827 | 2010-02-11 | ||
DE102010063984.2 | 2010-12-22 | ||
DE102010063984A DE102010063984A1 (de) | 2010-02-11 | 2010-12-22 | Fahrzeug-Sensor-Knoten |
Publications (1)
Publication Number | Publication Date |
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WO2011098333A1 true WO2011098333A1 (de) | 2011-08-18 |
Family
ID=44316783
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2011/050774 WO2011098333A1 (de) | 2010-02-11 | 2011-01-20 | Fahrzeug-sensor-knoten |
Country Status (9)
Country | Link |
---|---|
US (1) | US8855867B2 (de) |
EP (1) | EP2534011B1 (de) |
JP (1) | JP5959442B2 (de) |
KR (1) | KR20130007566A (de) |
CN (1) | CN102753395B (de) |
DE (1) | DE102010063984A1 (de) |
MX (1) | MX2012009236A (de) |
RU (1) | RU2012138284A (de) |
WO (1) | WO2011098333A1 (de) |
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DE102012216211A1 (de) | 2011-09-12 | 2013-03-14 | Continental Teves Ag & Co. Ohg | Verfahren zum Auswählen eines Satelliten |
DE102012216207A1 (de) | 2011-09-12 | 2013-03-14 | Continental Teves Ag & Co. Ohg | Verfahren zum Bestimmen von Lagedaten eines Fahrzeuges |
DE102012216213A1 (de) | 2011-09-12 | 2013-03-14 | Continental Teves Ag & Co. Ohg | Verfahren zum Schätzen von Reifenparametern für ein Fahrzeug |
DE102012216205A1 (de) | 2011-09-12 | 2013-03-14 | Continental Teves Ag & Co. Ohg | Fusion von Chassissensordaten mit Fahrdynamikdaten |
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DE102012224109A1 (de) | 2012-12-20 | 2014-06-26 | Continental Teves Ag & Co. Ohg | Vorrichtung zum Orten eines Fahrzeuges |
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Also Published As
Publication number | Publication date |
---|---|
DE102010063984A1 (de) | 2011-08-11 |
JP5959442B2 (ja) | 2016-08-02 |
JP2013519558A (ja) | 2013-05-30 |
US8855867B2 (en) | 2014-10-07 |
CN102753395B (zh) | 2015-12-02 |
EP2534011A1 (de) | 2012-12-19 |
MX2012009236A (es) | 2012-09-07 |
KR20130007566A (ko) | 2013-01-18 |
US20120303221A1 (en) | 2012-11-29 |
CN102753395A (zh) | 2012-10-24 |
RU2012138284A (ru) | 2014-03-20 |
EP2534011B1 (de) | 2014-05-14 |
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