Device and method to monitor sensors in vehicles

• US 6,122,577 A
• Filed: 08/05/1998
• Issued: 09/19/2000
• Est. Priority Date: 09/07/1996
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Urban, Werner, Mergenthaler, Rolf-Hermann, Volkart, Asmus
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US09/051,569
• Time in Patent Office: 776 Days
• Field of Search: 701/34, 701/38, 701/41, 701/70, 180/197, 180/233, 180/248, 180/249, 180/252
• US Class Current: 701/34
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 2270/411 Offset failure
• CPC Class Codes: B60T 2270/413 Plausibility monitoring, cross check, redundancy
• CPC Class Codes: B60T 2270/415 Short-circuit, open circuit failure
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/885 using electrical circuitry
• CPC Class Codes: G01D 3/08 with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
• CPC Class Codes: G01P 21/02 of speedometers
• CPC Class Codes: G01R 31/2829 Testing of circuits in sensor or actuator systems testing of apparatus for measuring electric or magnetic variables G01R35/00; testing of indicating or recording apparatus G01D; in airbag systems B60R21/0173; checking gas analysers G01N33/007; monitoring or fail-safe circuits for electromagnets H01F7/1844

Abstract

The apparatus is used for monitoring sensors in a vehicle which generate signals each representing different physical variables. The apparatus contains a first arrangement with which, for at least two sensors and on the basis at least of the signals generated by them, comparison variables defined identically for the sensors are determined. The apparatus also includes a second arrangement with which, as a function of at least the determined comparison variables, a reference variable is determined. On the basis of at least the determined reference variable, a monitoring operation for at least one sensor is performed in a third arrangement. In addition to the third arrangement, the apparatus further includes a fourth arrangement with which, for at least one sensor, a correction of the signal generated by the fourth arrangement is performed, at least as a function of the reference variable.

Claims

1. An apparatus for monitoring sensors in a vehicle, the sensors generating signals representing different physical variables, the apparatus comprising:

a first arrangement determining at least a first comparison variable for a first unit of the sensors and a second comparison variable for a second unit of the sensors, the first and second comparison variables being identically defined and being determined as a function of the signals generated by the first and second units;

a second arrangement determining a reference variable as a function of the first and second comparison variables; and

a third arrangement performing the following functions;

monitoring at least one of the sensors as a function of the reference variable, and

correcting the signal generated by at least one of the sensors as a function of the reference variable.

2. The apparatus according to claim 1, wherein the second arrangement determines the reference variable by comparing the comparison variables.

3. The apparatus according to claim 2, wherein the second arrangement determines the reference variable by at least one of:

determining a further variable, the further variable being one of the comparison variables that has a greatest distance from a most recently determined reference variable,

determining distances between the comparison variables without analyzing the further variable, and

generating the reference variable as a function of the comparison variables and as a function of the distances without analyzing the further variable, the reference variable being generated by forming a weighted average.

4. The apparatus according to claim 1, wherein the third arrangement includes a fourth arrangement monitoring at least one unit of the sensors as a function of the reference variable, and a fifth arrangement correcting the signal generated by at least one unit of the sensors as a function of the reference variable to generate a further signal, the signal of the at least one unit of the sensors being corrected as a function of the further signal.

5. The apparatus according to claim 4, wherein the further signal represents an offset of the signal generated by the at least one unit before a correction.

6. The apparatus according to claim 5, wherein the fifth arrangement generates a corrected signal as a function of the further signal and as a function of the signal generated by the sensor before the correction, and wherein at least one of the comparison variables corresponding to a particular sensor of the sensors is determined as a function of the corrected signal of the particular sensor.

7. The apparatus according to claim 5, wherein the further signal is generated by a filtration method based on at least one of the signals from at least one of the sensors.

8. The apparatus according to claim 4, wherein the fourth arrangement includes a sixth arrangement determining a sensor reference variable corresponding to a respective one of the at least one unit of the sensors, the sensor reference variable being determined as a function of the reference variable and being provided to the fifth arrangement.

9. The apparatus according to claim 8, wherein the sensor reference variable is further determined using an inverse mathematical model.

10. The apparatus according to claim 8, wherein the further signal represents an offset of the signal generated by the at least one unit before a correction, and wherein the fourth arrangement includes at least one of:

a first fault analysis arrangement determining a first sensor fault for a respective one of the at least one unit of the sensors, the first sensor fault being determined as a function of the further signal, and

a second fault analysis arrangement determining a second sensor fault for a respective one of the at least one unit of the sensors, the second sensor fault being determined as a function of the signal generated by the respective one of the at least one unit, the sensor reference variable, and at least one signal representing a permissible sensor-specific deviation.

11. The apparatus according to claim 1, wherein the comparison variables represent a physical variable.

12. The apparatus according to claim 11, wherein the physical variable corresponds to a further variable being detected by one of the sensors provided in a vehicle.

13. The apparatus according to claim 12, wherein the further variable corresponds to a yaw velocity of the vehicle.

14. The apparatus according to claim 1, wherein the first arrangement receives a first signal, a second signal, a third signal and fourth signals, and wherein:

the first signal is generated by a first sensor, the first signal representing a yaw velocity of a vehicle,

the second signal is generated by a second sensor, the second signal representing a transverse acceleration of the vehicle,

the third signal is generated by a third sensor, the third signal representing a steering angle, and

the fourth signals are generated by fourth sensors, the fourth signals representing respective wheel rotation speeds associated with wheels of the vehicle.

15. The apparatus according to claim 1, wherein the reference variable represents a physical variable.

16. The apparatus according to claim 15, wherein the physical variable corresponds to a further variable detected by one of the sensors provided in a vehicle.

17. The apparatus according to claim 16, wherein the further variable corresponds to a yaw velocity of the vehicle.

18. The apparatus according to claim 1, wherein the comparison variables are determined by mathematical models.

19. The apparatus according to claim 18, wherein the mathematical models are verified by a testing arrangement.

20. The apparatus according to claim 19, wherein at least one of the mathematical models is valid for at least one of the following conditions:

a rate of change of at least one of the signals is about the same as a first defined threshold within a time period;

a difference between at least two of the signals is no greater than a second defined threshold; and

a ratio of change of at least one corrected signal is about the same as a third defined threshold within another time period.

21. The apparatus according to claim 19, wherein the testing arrangement determines if at least one corrected signal is plausible.

22. The apparatus according to claim 19, wherein if the testing arrangement determines that at least one of the mathematical models is not valid, then the reference variable is used until the testing arrangement determines that the at least one mathematical model is valid.

23. The apparatus according to claim 19, wherein the testing arrangement determines if at least one corrected signal is plausible, and if the testing arrangement determines that at least one of the mathematical models is not valid, then the reference variable is used until the testing arrangement determines that the at least one mathematical model is valid, and the at least one of the mathematical models is valid for at least one of the following conditions:

a rate of change of at least one of the signals is about the same as a first defined threshold within a time period;

a difference between at least two of the signals is no greater than a second defined threshold; and

a ratio of change of at least one corrected signal is about the same as a third defined threshold within another time period.

24. A method for monitoring sensors in a vehicle, the sensors generating signals, each of the signals representing a different physical variable, the method comprising the steps of:

determining at least a first comparison variable for a first unit of the sensors and a second comparison variable for a second unit of the sensors, the comparison variables being identically defined and being determined as a function of the signals generated by the first and second units;

determining a reference variable as a function of the first and second comparison variables; and

performing the following steps;

monitoring the signal generated by at least one of the sensors as a function of the reference variable, and

correcting the signal generated by the at least one of the sensors.

25. An apparatus for monitoring sensors, the sensors being arranged in a vehicle and generating signals, the sensors including a rotation rate sensor generating a first signal, a steering angle sensor generating a second signal, a transverse acceleration sensor generating a third signal, and wheel rotation speed sensors generating fourth signals, each of the wheel rotation speed sensors being associated with a respective one of the wheels of the vehicle, the apparatus comprising:

an arrangement performing the functions of monitoring the sensors and compensating the signals generated by the sensors as a function of the first, second, third and fourth signals.

26. The apparatus according to claim 25, wherein the rotation rate sensor is a yaw rate sensor.

27. An apparatus for monitoring sensors in a vehicle, the sensors generating signals representing different physical variables, the apparatus comprising:

means for determining at least a first comparison variable for a first unit of the sensors and a second comparison variable for a second unit of the sensors, the first and second comparison variables being identically defined and being determined based on the signals generated by the first and second units;

means for determining a reference variable based on the first and second comparison variables; and

means for performing the functions of monitoring at least one of the sensors based on the reference variable and correcting at least one of the signals generated by at least one of the sensors based on the reference variable.

28. An apparatus for monitoring sensors, the sensors being arranged in a vehicle and generating signals, the sensors including a rotation rate sensor generating a first signal, a steering angle sensor generating a second signal, a transverse acceleration sensor generating a third signal, and wheel rotation speed sensors generating fourth signals each of the wheel rotation speed sensors being associated with a respective one of wheels of the vehicle, the apparatus comprising:

means for monitoring the sensors and for compensating the signals generated by the sensors based on the first, second, third and fourth signals.

29. An apparatus for monitoring sensors in a vehicle, the sensors generating signals representing different physical variables, the apparatus comprising:

a first arrangement determining at least a first comparison variable for a first unit of the sensors and a second comparison variable for a second unit of the sensors, the first and second comparison variables being identically defined and being determined as a function of the signals generated by the first and second units;

a second arrangement determining a reference variable as a function of the first and second comparison variables; and

a third arrangement for correcting the signal generated by at least one of the sensors as a function of the reference variable.