Calculator for a vehicle, such as a power steering calculator, provided with an integrated event recorder

• US 10,282,926 B2
• Filed: 08/04/2015
• Issued: 05/07/2019
• Est. Priority Date: 08/22/2014
• Status: Active Grant

• Current Assignee: Jtekt Europe (Toyota Motor Corporation)
• Original Assignee: Jtekt Europe (Toyota Motor Corporation)
• Inventors: Deville, Jean-Luc, Pilaz, Pierre-Willem
• Primary Examiner(s): Smith, Isaac G
• Application Number:
  US15/502,737
• Publication Number:
  US 20170243412A1
• Time in Patent Office: 1,372 Days
• Field of Search: 701 336, 701 322
• CPC Class Codes: G05B 23/0264 Control of logging system, e.g. decision on which data to store; time-stamping measurements
• CPC Class Codes: G06F 11/3013 where the computing system is an embedded system, i.e. a combination of hardware and software dedicated to perform a certain function in mobile devices, printers, automotive or aircraft systems testing or monitoring of control systems or parts thereof G05B23/02
• CPC Class Codes: G06F 11/3055 Monitoring arrangements for monitoring the status of the computing system or of the computing system component, e.g. monitoring if the computing system is on, off, available, not available error or fault processing without redundancy G06F11/0703; error detection or correction by redundancy in data representation G06F11/08; error detection or correction by redundancy in operation G06F11/14; error detection or correction by redundancy in hardware G06F11/16
• CPC Class Codes: G06F 11/3476 Data logging G06F11/14, G06F11/2205 take precedence
• CPC Class Codes: G07C 5/0816 Indicating performance data, e.g. occurrence of a malfunction
• CPC Class Codes: G07C 5/085 using electronic data carriers

Abstract

A computer for a motor vehicle including at least one main control module intended to manage an onboard system such as a power steering system, which uses a plurality of internal variables representative of the successive life situations of the vehicle, the computer including, in addition to the main control module, an integrated monitoring module that includes an extraction and recording unit, placed under the dependency of a trigger unit in order to extract, from a buffer memory, in case of a detection of a predefined alarm event occurring at a triggering time, one or more recordings, that correspond respectively to one or more internal variables, and that each cover a time interval that extends from a start time that precedes the triggering time to an end time that follows the triggering time, and then to store the recording or recordings in a non-volatile memory.

Claims

1. A calculator for a motor vehicle, the calculator comprising:

at least one main control module executed by a processor configured to manage a power steering system of the motor vehicle and configured to use a plurality of internal variables that are representative of at least one of successive life situations of the vehicle and operation of the power steering system, the internal variables representative of the operation of the power steering system being provided by sensors of the power steering system; and

an integrated monitoring module executed by a processor configured to;

record in a buffer memory, over a predetermined sliding acquisition period, values taken successively by one or several of the internal variables as a function of time, an oldest one of the values being erased from the buffer memory and replaced by a newest one of the values when a duration covered by the recorded values equals the predetermined sliding acquisition period,

detect, from one or several predetermined trigger conditions that relate to one or several of the internal variables, an event called an “

alert event”

, which corresponds to a predefined one of the life situations of the vehicle or of the power steering system considered to be dangerous or abnormal,

identify the time, called “

trigger time,”

at which the alert event occurred,

in case of detection of the alert event, extract from the buffer memory one or several recordings, which correspond respectively to one or several of the internal variables and each cover a time interval extending from (i) a start time that precedes the trigger time by a predetermined duration called “

pre-event duration”

to (ii) an end time that follows the trigger time by a predetermined duration called “

post-event duration”

, and

then store the one or several recordings in a non-volatile memory.

2. The calculator according to claim 1, wherein a response time of the integrated monitoring module is equal to or smaller than one millisecond from a refresh time of any one of the plurality of internal variables used by the at least one main control module.

3. The calculator according to claim 1, wherein a refreshing and a processing frequency of the internal variables at the integrated monitoring module is identical to a refreshing frequency of the internal variables within the at least one main control module.

4. The calculator according to claim 1, wherein bandwidth of the integrated monitoring module is greater than or equal to 1 Mbit/s.

5. The calculator according to claim 1, wherein the one or several predetermined trigger conditions are expressed by one or more Boolean equations whose binary result forms, when a binary result switches, a trigger signal marking the trigger time.

6. The calculator according to claim 5, wherein a reverse Polish notation is used for the syntax of the one or more Boolean equations defining the one or several trigger conditions.

7. The calculator according to claim 1, wherein the one or several trigger conditions are expressed by one or several equations contained in a editable file, and the processor of the integrated monitoring module contains a command interpreter capable of reading the file in order to interpret and execute the equations.

8. The calculator according to claim 1, wherein the processor of the integrated monitoring module comprises safety devices that prevent the recordings stored in the non-volatile memory from being altered or falsified.

9. The calculator according to claim 1, wherein the integrated monitoring module has only read-only access, and not write access, to the internal variables used by the at least one main control module.

10. The calculator according to claim 1, wherein the at least one main control module and the monitoring module are virtual modules, obtained by programming the respective processors.

11. The calculator according to claim 1, wherein the processors of the at least one main control module and the monitoring module are the same.

12. The calculator according to claim 1, wherein the internal variables representative of the operation of the power steering system comprise at least one of:

(i) measurement of angular position of a steering wheel of the power steering system;

(ii) rotation speed of the steering wheel;

(iii) measurement of torque exerted by a driver of the motor vehicle on the steering wheel;

(iv) measurement of torque provided by an assist motor of the power steering system;

(v) measurement of a torque setpoint applied to the assist motor;

(vi) measurement or estimation of lateral acceleration of yaw speed of the vehicle; and

(vii) supply voltage available at terminals of a battery that supplies the assist motor.

13. A system for a motor vehicle, comprising:

a power steering system comprising;

a steering mechanism that, by way of a steering wheel, allows a driver of the vehicle to change a steering angle of wheels of the vehicle, and

an assist motor configured to exert force on the steering mechanism; and

a calculator for the motor vehicle, the calculator comprising;

at least one main control module executed by a processor configured to manage the power steering system of the motor vehicle and configured to use a plurality of internal variables that are representative of at least one of successive life situations of the vehicle and operation of the power steering system, the internal variables representative of the operation of the power steering system being provided by sensors of the power steering system, and

an integrated monitoring module executed by a processor configured to;

record in a buffer memory, over a predetermined sliding acquisition period, values taken successively by one or several of the internal variables as a function of time, an oldest one of the values being erased from the buffer memory and replaced by a newest one of the values when a duration covered by the recorded values equals the predetermined sliding acquisition period,

detect, from one or several predetermined trigger conditions that relate to one or several of the internal variables, an event called an “

alert event”

, which corresponds to a predefined one of the life situations of the vehicle or of the power steering system considered to be dangerous or abnormal,

identify the time, called “

trigger time,”

at which the alert event occurred,

in case of detection of the alert event, extract from the buffer memory one or several recordings, which correspond respectively to one or several of the internal variables and each cover a time interval extending from (i) a start time that precedes the trigger time by a predetermined duration called “

pre-event duration”

to (ii) an end time that follows the trigger time by a predetermined duration called “

post-event duration”

, and

then store the one or several recordings in a non-volatile memory,

wherein the sensors of the power steering system from which the at least one main control module obtains the internal variables representative of the operation of the power steering system comprise at least one of (i) a revolver type sensor configured to determine a position of the power steering system by way of measurement of an angular position of a shaft of the assist motor and (ii) a magnetic steering wheel torque sensor.