Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Vehicle diagnosis or maintenance indication
Reexamination Certificate
1999-12-08
2001-06-26
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Vehicle diagnosis or maintenance indication
C701S074000, C303S146000, C303S147000
Reexamination Certificate
active
06253130
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 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 described in the related art in a variety of versions.
German Patent Application No. P 196 36 443 describes a method and a device for monitoring sensors in a vehicle. With this method and device, sensors, each of which represent different physical parameters, are monitored. The device contains means with which identically defined comparison variables are determined for at least two sensors on the basis of at least the signals they generate. This device also contains other means with which one reference variable is determined as a function of at least the determined comparison variables. On the basis of this reference variable, a sensor reference variable is determined for each of the individual sensors. This patent application describes, among other things, monitoring of a yaw rate sensor. Monitoring of yaw rate sensors is composed of several plausibility queries. For example, a query is performed for the yaw rate sensor, with the value of the signal generated with the help of the yaw rate sensor and the sensor reference variable generated entering into this query. To do so, a difference between the value of the signal generated with the help of the yaw rate sensor and the respective sensor reference variable is formed and compared with a respective threshold value. The following variables enter into the formation of this threshold value:
The value of the signal generated with the help of the yaw rate sensor, the identically defined comparison variable for a steering angle sensor, the value of the signal generated with the help of the steering angle sensor, a variable describing longitudinal velocity of the vehicle and a variable for the yaw rate, which takes into account the effects of transversely slanting road surfaces.
Systems for regulating the driving dynamics of a vehicle are known, for example, from the article “FDR-die Fahrdynamik-Regelung von Bosch” (Regulating Drive Mechanics—the Bosch Method) published in the automotive engineering journal
Automobiltechnische Zeitschrift
(ATZ), volume 16, number 11 (1994) pages 674 through 689.
SUMMARY OF THE INVENTION
An object of the present invention is to improve upon the monitoring of sensors used in a vehicle.
The present invention permits monitoring of sensors that generate signals representing different physical variables. 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. Monitoring is performed for at least one sensor, with the monitoring preferably being performed in accordance with a sensor reference variable determined for the sensor, the signal generated with the sensor and a respective threshold value.
The advantage of the present invention in comparison with conventional devices is that with the device and the method according to the present invention for monitoring sensors used in a vehicle, a variable that is taken into account in performing the monitoring of the at least one sensor is determined at least on the basis of at least two of the identically defined comparison variables.
Furthermore, it is advantageous that a predefined variable, which is independent of the identically defined comparison variables, enters into formation of the threshold value. The threshold value here is advantageously obtained as a sum of the variable formed at least on the basis of at least two of the identically defined comparison variables and the predefined variable which is independent of the identically defined comparison variables.
The variable taken into account in forming the threshold value advantageously describes the difference between the at least two identically defined comparison variables. In forming this variable, the identically defined comparison variable of the sensor monitored with the help of this device is preferably disregarded. To form the variable describing the difference between the at least two identically defined comparison variables, it is advantageous to determine, on the basis of each of the at least two identically defined comparison variables, a variable describing the difference between this identically defined comparison variable and the others of the at least two identically defined comparison variables.
Forming the threshold value in the manner described above yields the following advantage:
Due to the fact that a variable determined at least on the basis of at least two of the identically defined comparison variables enters into formation of the threshold value, the scattering in the identically defined comparison variables also enters into forming the threshold value. If the identically defined comparison variables yield a good match, then the at least one sensor can be monitored for a low threshold value, i.e., for very narrow tolerances. This monitoring is independent of the driving situation. However, if there are great fluctuations between the identically defined comparison variables that are attributable to model inaccuracies depending on the driving situation or to sensor signals subject to a tolerance, then this requires a corresponding increase in the threshold value or a corresponding broadening of the monitoring tolerances.
Another advantage is derived due to the fact that the variable taken into account in forming the threshold value is filtered.
The sensor reference variable needed to perform the monitoring of the at least one sensor is advantageously formed at least on the basis of the identically defined comparison variables. Furthermore, it is advantageous that the signal generated with the sensor is offset-corrected for monitoring the at least one sensor. The absolute value of the difference between the offset-corrected signal and the sensor reference variable is compared with the respective threshold value.
It has proven advantageous for a variable to be implemented in the form of a counter for monitoring the at least one sensor. The variable is incremented when the absolute value of the difference formed from the offset-corrected signal and the sensor reference variable is greater than the threshold value. The variable is decremented when said absolute value of the difference is less than the threshold value. The at least one sensor is defective when this variable is greater than a second threshold value.
The identically defined comparison variables advantageously represent a physical variable which preferably corresponds to a variable, in particular a yaw rate, detected with one of the sensors present in the vehicle.
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“Normalized Measurement Comparison Means for Automotive Powertrain(PT)/Chassis Systems' Angular Speed Sensor and/or PT Mechanical Slip Diagnostics,” Research Disclosure, No. 352, Aug. 1, 1993, p. 504.*
Zanten Van A. et al., “FDR -Die Fahrdynamik-Regelung von Bosch”, ATZ Automobiltechnische Zeitschrift, vol. 96, No. 11, Nov. 1, 1994, pp. 674-678, 683-689.
Mergenthaler Rolf-Hermann
Urban Werner
Arthur Gertrude
Cuchlinski Jr. William A.
Kenyon & Kenyon
Robert & Bosch GmbH
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