Method and device for monitoring sensors in a vehicle

Details Method and device for monitoring sensors in a vehicle Method and device for monitoring sensors in a vehicle

1999-05-26

2001-04-24

Cuchlinski, Jr., William A. (Department: 3661)

Data processing: vehicles, navigation, and relative location

Vehicle control, guidance, operation, or indication

Vehicle diagnosis or maintenance indication

C701S041000, C701S074000, C701S075000, C701S080000, C303S146000, C303S147000

Reexamination Certificate

active

06223107

ABSTRACT:

FIELD OF THE INVENTION
The present invention relates to a device and a method for monitoring sensors used in a motor vehicle. In particular, the device and the method are intended for monitoring sensors used in a system for regulating the driving dynamics of a motor vehicle.
BACKGROUND INFORMATION
Devices and methods for monitoring sensors used in a vehicle are known from the related art in a variety of versions.
The patent application filed with the German Patent Office German Patent Application No. 196 36 443 describes a method and a device for monitoring sensors used in a vehicle. With this method and device, sensors each representing different physical parameters are monitored. The device contains means with which identically defined comparison variables are determined for at least two sensors, starting from at least the signals generated by them. The device also contains other means with which one reference variable is determined as a function of at least the determined comparison variables. A sensor reference variable is determined for each of the individual sensors on the basis of this reference variable. Taking into account the sensor reference variables, monitoring and/or correction is performed for each sensor. The above-mentioned patent application describes the following procedure for determining the reference variable.
On the basis of the identically defined comparison variables, a reference variable is determined by comparison of these comparison variables. To determine the reference variable, first the comparison variable having the greatest difference from the reference variable determined last is determined. Since this comparison variable has the greatest difference from the reference variable determined last, it can be concluded that under some circumstances the respective sensor might be defective. Consequently, this comparison variable is not taken into account in determining the instantaneous reference variable. The new reference variable is determined by forming a weighted average. First, the remaining comparison variables and second, the differences between the remaining comparison variables enter into the formation of the weighted average.
Systems for regulating the driving dynamics of a vehicle are described, for example, in the article “FDR—die Fahrdynamik-Regulung von Bosch (Regulating Drive Mechanics—the Bosch Method) published in the automotive engineering journal
Automobiltechnische Zeitschrift
(ATZ), volume 16, number 11 (1994) pages 674-689.
SUMMARY OF THE INVENTION
The object of the present invention is to improve upon the monitoring by sensors used in a vehicle.
This object is achieved by the features of claim
1
and by those of claim
7
.
SUMMARY OF THE INVENTION
The present invention permits monitoring of sensors that generate signals, each representing a different physical variable. For at least two sensors, identically defined comparison variables are advantageously determined for the sensors on the basis of at least the signals they generate. A reference variable is advantageously determined on the basis of at least two of the identically defined comparison variables and is taken into account in monitoring at least one sensor.
To form the reference variable, a variable describing the difference between the identically defined comparison variable and the other identically defined comparison variables of the at least two identically defined comparison variables is advantageously determined for each of the at least two identically defined comparison variables. The identically defined comparison variable is evaluated using this variable.
It is of particular interest when the identically defined comparison variables determined represent a physical variable, preferably corresponding to a variable detected with one of the sensors installed in the vehicle, in particular a yaw rate.
A variable representing the vehicle speed is advantageously determined on the basis of some of the signals generated with the help of the sensors, each representing different physical variables. On the basis of the reference variable and this variable representing the vehicle speed, a sensor reference variable is determined for at least one sensor and is taken into account in monitoring the at least one sensor.
It is especially advantageous if the signal generated by at least one sensor is corrected for that sensor at least on the basis of its sensor reference variable and the signal generated by it.
For a vehicle having wheel rpm sensors, a rotational rate sensor or a yaw rate sensor, a transverse acceleration sensor and a steering angle sensor, the reference variable is advantageously determined as follows:
for the wheel rpm sensors, an identically defined comparison variable omeganij is determined at least on the basis of the variable representing the vehicle speed and the signals generated by it;
for the rotational rate sensor or yaw rate sensor, an identically defined comparison variable omegakorr is determined at least on the basis of the signal generated by it and its sensor reference variable;
for the transverse acceleration sensor, an identically defined comparison variable omegaay is determined at least on the basis of the signal generated by it, the variable representing the vehicle speed and its sensor reference variable;
for the steering angle sensor, an identically defined comparison variable omegadelta is determined at least on the basis of the signal generated by it, the variable representing the vehicle speed and its sensor reference variable, and the reference variable is determined according to the equation:
&AutoLeftMatch;
omegaref
=
omegakorr
D12
·
D13
·
D14
+
omegadelta
D12
·
D23
·
D24
+
omeganij
D13
·
D23
·
D34
+
omegaay
D14
·
D24
·
D34
1
D12
·
D13
·
D14
+
1
D12
·
D23
·
D24
+
1
D13
·
D23
·
D34
+
1
D14
·
D24
·
D34
where the terms:
D12=|omegakorr−omegadelta|, D13=|omegakoor=omeganij|, D14=|omegakoor−omegaay|, D23=|omegadelta−omeganij|, D24=|omegadelta−omegaay| and D34=|omeganij−omegaay|
describe the differences between two identically defined comparison variables.
Another advantage of the method invention and the device according to the present is the sturdiness of the reference variable. Furthermore, the sensor reference variable does not exhibit any sudden changes.
Other advantageous embodiments of the present invention can be derived from the subclaims and the drawing.


REFERENCES:
patent: 5790970 (1998-08-01), Brachert et al.
patent: 5809444 (1998-09-01), Hadeler et al.
patent: 5832402 (1998-11-01), Brachert et al.
patent: 5842143 (1998-11-01), Lohrenz et al.
patent: 5987364 (1999-11-01), Le Gusquet et al.
patent: 196 36 443 (1998-03-01), None
patent: 0 751 888 (1997-01-01), None

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