Device and method for the autonomous control of motor vehicles

• US 9,606,538 B2
• Filed: 03/13/2014
• Issued: 03/28/2017
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: TTTech Auto AG (TTTech Computertechnik AG)
• Original Assignee: FTS Computertechnik GmbH
• Inventors: Kopetz, Hermann
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US14/775,993
• Publication Number:
  US 20160033965A1
• Time in Patent Office: 1,111 Days
• Field of Search: 701/1, 701/23, 701/70
• US Class Current: 1/1
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: G05D 1/0055 with safety arrangements
• CPC Class Codes: H04L 12/40182 by using a plurality of communication lines
• CPC Class Codes: H04L 12/403 with centralised control, e.g. polling
• CPC Class Codes: H04L 2012/40273 the transportation system being a vehicle
• CPC Class Codes: H04L 2012/445 with switching in a hub, e.g. ETHERNET switch

Abstract

The invention relates to a device for controlling the braking and/or steering and/or acceleration in a motor vehicle, wherein the device has a number of different sensor components, two diverse sensor fusion components, a man/machine interface component and a preferably intelligent actuator controller component, wherein each of these components constitutes a fault-containment unit and has a TTEthernet communications interface, and wherein all components are connected to a central TTEthernet message distribution unit, and wherein the components communicate with one another exclusively with use of standardized Ethernet messages, and wherein a diagnosis unit for time-correct monitoring of the exchanged messages can be connected to the TTEthernet message distribution unit.

Claims

1. A device for controlling at least one of braking, steering, or acceleration in a motor vehicle, the device comprising:

a plurality of different sensor components (111, 112, 113);

an interface component (130); and

an actuator controller component (150);

wherein each of these sensor, interface, and actuator controller components constitutes a fault-containment unit and has a TTEthernet communications interface;

wherein the device further comprises two separate and diverse sensor fusion components (121, 122) configured to operate in parallel to construct a model of surroundings using different software to determine a criticality index of a current scenario; and

a monitor component (140) for monitoring a driver of the motor vehicle and configured to determine an engagement index of the driver;

wherein each of the two diverse sensor fusion components (121, 122) likewise constitutes a fault-containment unit and has a TTEthernet communications interface;

wherein all components of the device are connected to a central TTEthernet message distribution unit (100), and wherein the components communicate with one another exclusively with use of standardised Ethernet messages; and

wherein the actuator controller component controls at least one of braking, steering, or acceleration in the motor vehicle based on the criticality index and the engagement index.

2. The device of claim 1, wherein all components (111, 112, 113, 130, 150, 121, 122, 100) are arranged on a circuit board with data lines (101) between the components and the central TTEthernet message distribution unit (100), wherein the data lines (101) are formed as conductive tracks on the printed circuit board.

3. The device of claim 1, wherein all components (130, 150, 121, 122, 100), with the exception of the sensor components, are arranged on a circuit board with data lines (101) between the components, wherein the data lines (101) between the components on the circuit board and the central message distribution unit (100) are formed as conductive tracks.

4. The device of claim 1, wherein the central message distribution unit (100) and all data lines to the central message distribution unit are designed redundantly.

5. The device of claim 1, wherein the interface component (130), the actuator controller component (150), and a data line (151) between the actuator controller component and the actuators are designed redundantly.

6. The device of claim 1, wherein the device has two independent power sources, wherein in each case a first of two redundant components is supplied by the first power source and in each case the second component of the two redundant components is supplied by the second power source.

7. The device of claim 1, wherein the two redundant sensor fusion components (121, 122) are formed in a diverse manner.

8. The device of claim 1, wherein the sensor components (111, 112, 113), the two diverse sensor fusion components (121, 122), the monitor component (140), the interface component (130), and the actuator controller component (150) communicate exclusively by means of standardised TTEthernet messages via a message distribution unit (100), wherein the message distribution unit (100) is designed to copy a subset of these TTEthernet messages and to send them to a diagnosis unit (190), and wherein the diagnosis unit (190) is designed to analyse and to store these copied messages.

9. The device of claim 1, wherein a diagnosis unit (190) for time-correct monitoring of the exchanged messages is connected to the TTEthernet message distribution unit (100).

10. A method for controlling at least one of braking, steering, or acceleration in a motor vehicle comprising using the device of claim 1, wherein the plurality of sensor components (111, 112, 113), the two diverse sensor fusion components (121, 122), the monitor component (140) for monitoring the driver of the motor vehicle, the interface component (130), and the actuator controller component communicate (150) exclusively by means of standardised TTEthernet messages via a message distribution unit (100).

11. The method of claim 10, wherein the message distribution unit (100) copies a subset of these TTEthernet messages and sends them to a diagnosis unit, and wherein the diagnosis unit analyses and stores these copied messages.

12. The method of claim 10, wherein the diagnosis unit produces messages that simulate the behaviour of each sensor component (111, 112, 113), of each of the two diverse sensor fusion components (121, 122), of the monitor component (140) and of the interface component (130) in the value and time domain.