Good checking for vehicle yaw rate sensor

• US 8,494,708 B2
• Filed: 08/20/2010
• Issued: 07/23/2013
• Est. Priority Date: 08/24/2009
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Bechtler, Henrik, Bhadange, Ravi, Patil, Nachiket, Tokonaga, Takeshi, Mallmann, Stefan, Schwab, Michael, Stapel, Dietmar, Klier, Willy, Eesmann, Joerg
• Primary Examiner(s): Zeender, Ryan
• Assistant Examiner(s): CHEIN, ALLEN C
• Application Number:
  US12/860,418
• Publication Number:
  US 20110066321A1
• Time in Patent Office: 1,068 Days
• Field of Search: 73/13.7, 701 297- 317, 701 334- 344
• US Class Current: 701/30.3
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 2250/062 loosing zero-point calibration of yaw rate sensors when travelling on banked roads or in case of temperature variations
• CPC Class Codes: B60T 2270/406 Test-mode; Self-diagnosis
• CPC Class Codes: B60T 2270/411 Offset failure
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60T 8/885 using electrical circuitry
• CPC Class Codes: B60W 50/02 Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures

Abstract

A controller for determining whether a previously-detected vehicle malfunction still exists. If the malfunction is no longer detected in the sensor signals, a vehicle control system operates in a first operational state or normal operational state with respect to the previously-malfunctioning sensor (e.g., signals from the sensor are used to control the vehicle). If the malfunction continues to be detected, the vehicle control system operates in a second operational state or malfunction state with respect to the malfunctioning sensor in which the signals from the sensor are not used to control the vehicle.

Claims

1. A controller for determining whether a previously-detected, vehicle-sensor malfunction still exists, the controller comprising:

an electronic, non-volatile memory; and

an electronic processing unit connected to the electronic, non-volatile memory, the electronic processing unit including,

a malfunction monitoring module configured to monitor operation of a yaw rate sensor using a first criteria and generate a first fault signal if the yaw rate sensor malfunctions, the first fault signal containing first fault information and causing at least one of an indicator to be activated or a vehicle control system to modify its operation from a first operating state to a second operating state,

a failure handling module configured to cause the first fault information to be stored in the electronic, non-volatile memory, and

a signal checking module configured to retrieve the first fault information from the electronic, non-volatile memory and perform a first signal check on information from the yaw rate sensor, the first signal check using a second criteria to determine the yaw rate sensor is functioning properly, the second criteria having smaller tolerances for deviations and fewer conditions on the driving situation to perform the evaluation than the first criteria; and

wherein the first and second criteria include one or more of an sensor offset, a sensor integral, a vehicle speed, a cornering threshold, a sensor signal rate, a straight driving yaw rate, sensor statistical information, sensor counter information, an implausible value, and a duration.

2. The controller of claim 1, wherein the vehicle control system does not use a signal from the yaw rate sensor to control a vehicle when in the second operating state.

3. The controller of claim 1, wherein the signal checking module sets a flag to indicate to the failure handling module that the yaw rate sensor is no longer malfunctioning.

4. The controller of claim 1, wherein the malfunction monitoring module generates the first fault signal when a yaw rate sensor offset variable exceeds a first predetermined yaw rate sensor offset threshold value.

5. The controller of claim 1, wherein the signal checking module determines whether a signal from the yaw rate sensor has an incorrect sign.

6. The controller of claim 1, wherein the signal checking module determines whether the yaw rate sensor is sending a plurality of signals at a rate different than a predetermined signal transmission rate.

7. The controller of claim 1, wherein a signal from the yaw rate sensor is compared to a signal from a steering angle sensor.

8. The controller of claim 1, wherein the vehicle control system modifies its operation from the second operating state back to the first operating state if the yaw rate sensor passes the first signal check.

9. A method, executed by a controller including an electronic processing unit and an electronic, non-volatile memory, for determining whether a previously-detected, vehicle-sensor malfunction still exists, the method comprising the steps of:

monitoring operation of at least one yaw rate sensor with a malfunction monitoring module;

generating, using the malfunction monitoring module, a fault signal containing fault information when the at least one yaw rate sensor malfunctions based on a criteria;

causing at least one of a warning indicator to be activated or a vehicle control system to modify its operation from a first operating state to a second operating state;

storing, using a failure handling module, the fault information in the electronic, non-volatile memory;

retrieving the fault information from the electronic, non-volatile memory;

executing, in a signal checking module, a signal check function using information from the at least one yaw rate sensor, and using a second criteria to determine the yaw rate sensor is functioning properly, the second criteria having smaller tolerances for deviations and fewer conditions on the driving situation to perform the evaluation than the first criteria; and

generating a reset signal that causes at least one of the warning indictor to be deactivated or the vehicle control system to resume operation in the first operating state if the at least one yaw rate sensor passes the signal check function; and

wherein the first and second criteria include one or more of an sensor offset, a sensor integral, a vehicle speed, a cornering threshold, a sensor signal rate, a straight driving yaw rate, sensor statistical information, sensor counter information, an implausible value, and a duration.

10. The method of claim 9, wherein the vehicle control system does not use a signal from the yaw rate sensor to control a vehicle when in the second operating state.

11. The method of claim 9, further comprising setting a flag to indicate to the failure handling module that the yaw rate sensor is no longer malfunctioning.

12. The method of claim 9, wherein the malfunction monitoring module generates the fault signal when a yaw rate sensor offset variable exceeds a first predetermined yaw rate sensor offset threshold value.

13. The method of claim 9, further comprising determining whether a signal from the yaw rate sensor has an incorrect sign.

14. The method of claim 9, further comprising determining whether the yaw rate sensor is sending signals at a rate different than a predetermined signal transmission rate.

15. The method of claim 9, further comprising comparing a signal from the yaw rate sensor to a signal from a steering angle sensor.

16. The method of claim 9, wherein the fault information includes an indication of a type of yaw rate sensor malfunction.

17. A vehicle including a plurality of vehicle sensors providing a plurality of sensor signals to a vehicle control system, the vehicle control system controlling the vehicle based at least in part on the plurality of sensor signals, and switching from a first operating state to a second operating state when a malfunction in one or more of the vehicle sensors is detected, the vehicle including:

at least one controller connected to the vehicle control system, the controller including an electronic memory; and

an electronic processing unit connected to the electronic memory, the electronic processing unit including,

a malfunction monitoring module that activates at least one indicator when a yaw rate sensor malfunction is detected using a first criteria,

a failure handling module that stores a first set of fault information in the electronic memory when the yaw rate sensor malfunction is detected, and

a signal checking module that retrieves the first set of fault information from the electronic memory and executes a first malfunction checking function to determine if the yaw rate sensor malfunction is persistent, the first malfunction checking function using a second criteria to determine the yaw rate sensor is functioning properly, the second criteria having smaller tolerances for deviations and fewer conditions on the driving situation to perform the evaluation than the first criteria;

wherein the vehicle control system modifies its operation from the second operating state to the first operating state when the yaw rate sensor malfunction is not persistent, the vehicle control system using signals from a yaw rate sensor to control the vehicle when operating in the first operating state, and the vehicle control system not using the plurality of sensor signals from the yaw rate sensor to control the vehicle when operating in the second operating state; and

wherein the first and second criteria can include one or more of an sensor offset, a sensor integral, a vehicle speed, a cornering threshold, a sensor signal rate, a straight driving yaw rate, and a duration.

18. The vehicle of claim 17, wherein the vehicle control system is an electronic stability control system.

19. The vehicle of claim 17, wherein the first set of fault information includes an indication of a type of yaw rate sensor malfunction.

20. The vehicle of claim 17, wherein the electronic memory is an electronic, non-volatile memory.