CONTROL SYSTEM FOR A MOTOR VEHICLE, MOTOR VEHICLE, METHOD FOR CONTROLLING A MOTOR VEHICLE, COMPUTER PROGRAM PRODUCT AND COMPUTER-READABLE MEDIUM

Abstract

A control system for a motor vehicle, including a first control unit for controlling a first function of the motor vehicle, a second control unit for controlling a second function of the motor vehicle and a backup control unit. To ensure the proper execution of functions controlled of a motor vehicle controlled with the aid of control units even in the case of a defective control unit with preferably little additional effort, the backup control unit is configurable depending on the input of an error signal of the first or second control unit such that an actuator corresponding to the defective control unit is controllable with the aid of the backup control unit. A first backup power electronic module is assigned to the first actuator, and a second backup power electronic module is assigned to the second actuator.

Claims

1. A control system for a motor vehicle, the control system comprising: a first control unit to control a first function of the motor vehicle; a second control unit to control a second function of the motor vehicle; and a backup control unit, the first control unit being connected in a signal-transmitting and power-transmitting manner to a first actuator for controlling the first function, and the second control unit being connected in a signal-transmitting and power-transmitting manner to a second actuator for controlling the second function, at least the first or the second control unit being connected in a signal-transmitting manner to the backup control unit, wherein, during a normal operation of the control system, the first actuator is powered via a first power electronic module connected in a signal-transmitting matter to the first control unit, and wherein the second actuator is powered via a second power electronic module connected in a signal-transmitting manner to the second control unit, wherein the backup control unit is connected in a signal-transmitting manner to the first and the second control unit and is configurable depending on an input of an error signal of the first or the second control unit such that the actuator corresponding to the defective control unit is controllable via the backup control unit, wherein a first backup power electronic module is assigned to the first actuator, and a second backup power electronic module is assigned to the second actuator, and wherein the backup control unit is connectable in a signal-transmitting manner to the backup power electronic module corresponding to the defective control unit.

2. The control system according to claim 1, wherein the first and/or the second backup power electronic module(s) are disposed spatially separated from the backup control unit.

3. The control system according to claim 2, wherein the first backup power electronic module is disposed in an immediate spatial vicinity of the first actuator, and/or the second reserve power electronic module is disposed in an immediate spatial vicinity of the second actuator.

4. The control system according to claim 1, wherein the first backup power electronic module is current-conductively connectable to the first actuator via a disconnector, and/or the second backup power electronic module is current-conductively connectable to the second actuator via a disconnector.

5. The control system according to claim 1, wherein the backup control unit is designed as a third control unit for controlling a third function of the motor vehicle, and the first or second actuator of the motor vehicle corresponding to the defective first or second control unit is controllable via the backup control unit, depending on the input of the error signal, in addition to the or instead of the third function of the motor vehicle.

6. The control system according to claim 1, wherein the control system has an operating interface and is transferred from a deactivation state to an activation state, depending on the presence of an activation signal at the operating interface, the backup control unit not controlling the actuator of the motor vehicle corresponding to the defective control unit in the deactivation state of the control system, independently of the input of the error signal, and controlling the actuator of the motor vehicle corresponding to the defective control unit in the activation state of the control system, depending on the input of the error signal.

7. A motor vehicle comprising a control system, comprising: a first control unit to control a first function of the motor vehicle; a second control unit to control a second function of the motor vehicle; and a backup control unit, the first and the second control units each being connected to at least one actuator, and at least the first or the second control unit being connected in a signal-transmitting manner to the backup control unit, wherein the control system is designed according to claim 1.

8. A method for controlling a motor vehicle, the method comprising: providing a control system of the motor vehicle including a first control unit for controlling a first function of the motor vehicle, a second control unit for controlling a second function of the motor vehicle and a backup control unit; connecting the first control unit in a signal-transmitting and power-transmitting manner to a first actuator for controlling the first function; connecting the second control unit in a signal-transmitting and power-transmitting manner to a second actuator for controlling the second function; connecting at least the first or the second control unit in a signal-transmitting manner to the backup control unit; powering, during a normal operation of the control system, the first actuator with the aid of a first power electronic module connected in a signal-transmitting matter to the first control unit; powering the second actuator with the aid of a second power electronic module connected in a signal-transmitting manner to the second control unit; connecting the backup control unit in a signal-transmitting manner to the first and the second control units, the backup control unit being configured depending on the input of an error signal of the first or the second control unit such that the actuator corresponding to the defective control unit is controlled with the aid of the backup control unit; assigning a first backup power electronic module to the first actuator; assigning a second backup power electronic module to the second actuator; and connecting the backup control unit connected in a signal-transmitting manner to the backup power electronic module corresponding to the defective control unit.

9. The method according to claim 8, wherein the backup control unit is designed as a third control unit for controlling a third function of the motor vehicle controls and the first or second actuator of the motor vehicle corresponding to the defective first or second control unit, depending on the input of the error signal, in addition to or instead of the third function of the motor vehicle.

10. The method according to claim 8, wherein the control system has an operating interface and is transferred from a deactivation state into an activation state depending on the presence of an activation signal at the operating interface, the backup control unit not controlling the function of the motor vehicle corresponding to the defective control unit in the deactivation state of the control system, independently of the input of the error signal, and controlling the function of the motor vehicle corresponding to the defective control unit in the activation state of the control system, depending on the input of the error signal.

11. A computer program product, comprising commands which cause a control system to carry out the method steps of the method according to claim 8.

12. A computer-readable medium, on which the computer program product according to claim 11 is stored.

Description

BRIEF DESCRIPTION OF THE DRAWING

[0023] The present invention will become more fully understood from the detailed description given hereinbelow and the accompanying drawing which is given by way of illustration only, and thus, is not limitive of the present invention, and wherein the sole FIGURE shows an exemplary embodiment of a control system according to the invention for a motor vehicle.

DETAILED DESCRIPTION

[0024] An exemplary embodiment of a control system according to the invention for a motor vehicle is shown by way of example in the figure. The control system includes a first control unit 2 for a first function and a second control unit 4 for a second function of a motor vehicle, which is not illustrated in greater detail. The motor vehicle is designed as an autonomous motor vehicle, in which the functions of the motor vehicle are essentially automatically selected and carried out by the motor vehicle.

[0025] The first function is designed as a braking function and the second function is designed as a steering function of the motor vehicle. Correspondingly, first control unit 2 controls the braking function of the motor vehicle, and second control unit 4 controls the steering function of the motor vehicle. The control system includes a first actuator 6 designed as a brake for carrying out the braking function and a second actuator 8 designed as a steering system for carrying out the steering function. Control unit 2 for controlling the braking function of the motor vehicle is in signal-transmitting connection to a first power electronic module 6.1 of first actuator 6 of the motor vehicle designed as a brake, and second control unit 4 is in signal-transmitting connection to a second power electronic module 8.1 of second actuator 8 of the motor vehicle designed as a steering system. Even though a first actuator 6 designed as a brake is referred to in the present exemplary embodiment, it may, of course, according to the invention, also be a plurality of brakes.

[0026] To enable the braking function and the steering function of the motor vehicle to be properly and thus safely carried out even if one of control units 2 and 4 malfunctions, the control system for the motor vehicle includes not only the two control units 2 and 4 but also a backup control unit 10.

[0027] First power electronic module 6.1 is disposed spatially separated from first control unit 2, second control unit 4 and backup control unit 10 and forms a structural unit with first actuator 6 designed as a brake. Correspondingly, first power electronic module 6.1 is disposed in the immediate spatial vicinity of first actuator 6. First power electronic module 6.1 is current-conductively connectable to first actuator 6 with the aid of a disconnector 6.2. First power electronic module 6.1 may thus be disconnected safely, namely galvanically, from first actuator 6 in an emergency with the aid of disconnector 6.2. The same applies to a first backup power electronic module 6.3, which is connectable in a signal-transmitting manner to backup control unit 10. Backup power electronic module 6.3 is also part of the aforementioned structural unit, so that this structural unit comprises brake 6, first power electronic module 6.1 and first backup power electronic module 6.3. Accordingly, first backup power electronic module 6.3 is also disposed spatially separated from backup control unit 10 and in the immediate spatial vicinity of first actuator 6, namely brake 6. First backup power electronic module 6.3 is also current-conductively connectable to first actuator 6 with the aid of a disconnector 6.4. First backup power electronic module 6.3 may thus be disconnected safely, namely galvanically, from first actuator 6 in an emergency with the aid of disconnector 6.4.

[0028] This applies similarly to second power electronic module 8.1. Second power electronic module 8.1 is also disposed spatially separated from first control unit 2, second control unit 4 and backup control unit 10 and forms a structural unit with second actuator 8 designed as a steering system. Correspondingly, second power electronic module 8.1 is disposed in the immediate spatial vicinity of second actuator 8 Second power electronic module 8.1 is current-conductively connectable to second actuator 8 with the aid of a disconnector 8.2. Second power electronic module 8.1 may thus be disconnected safely, namely galvanically, from second actuator 8 in an emergency with the aid of disconnector 8.2. The same applies to a second backup power electronic module 8.3, which is connectable in a signal-transmitting manner to backup control unit 10. Second backup power electronic module 8.3 is also part of the aforementioned structural unit, so that this structural unit comprises steering system 8, second power electronic module 8.1 and second backup power electronic module 8.3. Accordingly, second backup power electronic module 8.3 is also disposed spatially separated from backup control unit 10 and in the immediate spatial vicinity of second actuator 8, namely steering system 8. Second backup power electronic module 8.3 is also current-conductively connectable to second actuator 8 with the aid of a disconnector 8.4. Second backup power electronic module 8.3 may thus be disconnected safely, namely galvanically, from second actuator 8 in an emergency with the aid of disconnector 8.4.

[0029] In other applications, the braking function and/or the steering function may involve a different number of actuators. Those skilled in the art will choose and define the corresponding selection and number of actuators for the particular function of the motor vehicle, depending on the individual case.

[0030] The particular signal-transmitting connection between first control unit 2 and first power electronic module 6.1 of brake 6 and between second control unit 4 and second power electronic module 8.1 of steering system 8 is symbolized in the figure on the basis of solid arrows 2.1 and 4.1. Backup control unit 10 is in signal-transmitting connection to first and second control units 2 and 4, which is symbolized in the figure by solid double arrows 10.1 and 10.2. At the same time, backup control unit 10 is also in signal-transmitting connection to first backup power electronic module 6.3 of brake 6 and second backup power electronic module 8.3 of steering system 8. This is symbolized by dashed arrows 10.3 and 10.4.

[0031] Brake 6 and steering system 8 of the motor vehicle are safety-relevant and thus very important functions of the motor vehicle. This is all the more true for the selected exemplary embodiment, which, after all, involves an autonomous motor vehicle.

[0032] The method according to the invention is explained in greater detail below, based on the figure.

[0033] During normal operation of the control system according to the invention for the autonomous motor vehicle, brake 6 is controlled for the braking function of the motor vehicle with the aid of first control unit 2, and steering system 8 is controlled for the steering function of the motor vehicle with the aid of second control unit 4. The need for a braking intervention by first control unit 2 or for a steering intervention by second control unit 4 is decided in first control unit 2 or in second control unit 4 or in a control unit superordinate to particular control unit 2, 4 in the manner known to those skilled in the art, based on input signals from sensors of the motor vehicle present at the corresponding control unit. A possible higher-level control unit as well as the sensors of the motor vehicle are not illustrated in the figure.

[0034] During the normal operation of the control system according to the invention described above, according to the present exemplary embodiment, backup control unit 10 does not engage with the braking function and not with the steering function of the motor vehicle. Backup control unit 10 monitors the proper function of first control unit 2 and second control unit 4 with the aid of signal-transmitting connections 10.1 and 10.2 existing between first control unit 2 and backup control unit 10 as well as between the latter and second control unit 4. In the case of a malfunction of the two control units 2 and 4, a corresponding error signal from defective control unit 2 or 4 is present as an input signal at backup control unit 10.

[0035] For example, if first control unit 2 is malfunctioning in such a way that brake 6 controlled thereby is no longer properly controlled, and the braking function of the motor vehicle is this no longer safely carried out, this error is reported to backup control unit 10 with the aid of signal-transmitting connection 10.1, whereupon backup control unit 10 is configured in such a way that it controls the braking function of the motor vehicle, i.e. it controls the function of the motor vehicle corresponding to defective first control unit 2. For this purpose, backup control unit 10 exchanges signals with first backup power electronic module 6.3 of brake 6 of the motor vehicle with the aid of signal-transmitting connection 10.3. In the case of a malfunction of first control device 2, brake 6 is thus no longer controlled by first control unit 2 but instead by backup control unit 10. The same applies to a defect in first power electronic module 6.1 of brake 6, which is driven, i.e. controlled, by first control unit 2 during normal operation.

[0036] This applies similarly if second control unit 4 malfunctions. In this case, backup control unit 10 receives a corresponding error message with respect to second control unit 4 with the aid of signal-transmitting connection 10.2, whereupon backup control unit 10 is configured in such a way that it controls the steering function of the motor vehicle. Steering system 8 is thus no longer controlled by defective second control unit 4 but rather by backup control unit 10 with the aid of signal-transmitting connection 10.4 and second backup power electronic module 8.3, which is assigned to steering system 8. The same applies to a defect in second power electronic module 8.1 of steering system 8, which is driven, i.e. controlled, by second control unit 4 during normal operation.

[0037] The invention is not limited to present exemplary embodiment. For example, it is conceivable that the control system according to the invention for a motor vehicle is present in a motor vehicle and is deactivated and may be activated for a future used by repair shop personnel or the like with the aid of an operating intervention of a vehicle driver. Correspondingly, in other specific embodiments of the control system according to the invention, it may be provided that the control system has an operating interface and may be transferred from a deactivation state to an activation state depending on the presence of an activation signal at the operating interface, the backup control unit not controlling the actuator of the motor vehicle corresponding to the defective control unit in the deactivation state of the control system, independently of the input of the error signal, and controlling the actuator of the motor vehicle corresponding to the defective control unit in the activation state of the control system, depending on the input of the error signal.

[0038] This applies similarly to the method according to the invention for controlling a motor vehicle, whereby, in another specific embodiment of the method according to the invention, the control system has an operating interface and is transferred from a deactivation state into an activation state, depending on the presence of an activation signal at the operating interface, the backup control unit not controlling the function of the motor vehicle corresponding to the defective control unit in the deactivation state of the control system, independently of the input of the error signal, and controlling the function of the motor vehicle corresponding to the defective control unit in the activation state of the control system, depending on the input of the error signal.

[0039] For example, it may be possible that autonomous motor vehicles are not yet approved by law in some countries. Upon a later change in the legal framework, the motor vehicle prepared according to the invention may be converted to autonomous driving mode with little effort and thus to the use of a control system according to the invention as well as to the use of a method according to the invention for controlling the motor vehicle in its activation state.

[0040] It would furthermore be possible that, during normal operation of the control system according to the invention, in contrast to the exemplary embodiment, the backup control unit is simultaneously designed as a third control unit for controlling a third function of the motor vehicle, and the first or second function of the motor vehicle corresponding to the defective first or second control unit is controlled with the aid of the backup control unit, depending on the input of the error signal, in addition to the or instead of the third function of the motor vehicle.

[0041] For example, it would be conceivable that, as the third control unit, the backup control unit controls a subordinate function of the motor vehicle during normal operation of the motor vehicle. Should a case of a malfunction of the first or the second control unit then occur, the backup control unit could be configured in such a way that, instead of the subordinate function, it controls a function relatively superordinate thereto in the case of a malfunction, namely one of the functions of the motor vehicle controlled by the first or the second control unit. As in the exemplary embodiment, this could be the braking function or the steering function of the motor vehicle. In other embodiments of the invention, for example in the case of equal-ranking functions of the motor vehicle, it would also be conceivable, however, that the backup control unit controls the function corresponding to the defective control unit in addition to the function corresponding to the backup control unit in the normal operation thereof.

[0042] The invention is not limited to the braking function and the steering function of a motor vehicle. The invention may also be advantageously used for other functions of a motor vehicle.

[0043] The invention also relates to a motor vehicle, comprising a control system according to the invention, a computer program product, comprising commands which cause the control system according to the invention, for example according to the present exemplary embodiment, to carry out the method steps of the method according to the invention, for example according to the present exemplary embodiment, as well as a computer-readable medium, on which the computer program product according to the invention is stored.

[0044] The invention being thus described, it will be obvious that the same may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the invention, and all such modifications as would be obvious to one skilled in the art are to be included within the scope of the following claims.