法国专利FR3025035A1 VEHICLE CALCULATOR, SUCH AS AN ASSISTED STEERING CALCULATOR, WITH AN INTEGRATED EVENT RECORDER

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专利摘要:
The invention relates to a motor vehicle computer (1) comprising at least one main control module for managing an onboard system of the power steering system type, which uses a plurality of internal variables (6) representative of the successive life situations of the vehicle. vehicle, said computer comprising, in addition to the main control module, an integrated monitoring module which comprises an extraction and backup unit, under the control of a trigger unit (13), in order to, in the case of detecting a predetermined alert event occurring at a trigger time (tdecl), retrieving from a buffer (12) one or more records (17), which respectively correspond to one or more internal variables (6), and which each cover a time interval (denreg) which extends from a start time (tb) preceding the start time (tecl) to an end time (tfin) following said triggering instant (tdecl), and then storing said at least one record (17) in a nonvolatile memory.
公开号:FR3025035A1
申请号:FR1457935
申请日:2014-08-22
公开日:2016-02-26
发明作者:Jean-Luc Deville；Pierre-Willem Pilaz
申请人:JTEKT Europe SAS；
IPC主号:

专利说明:

[0001] The present invention relates to electronic computers for management of embedded systems on vehicles, and more particularly on motor vehicles. It is known to equip motor vehicles with one or more computers (called "ECU", for "Electronic Command Unit"), intended to manage various embedded systems, including a powertrain control computer, to a control computer of the braking system, a steering control computer, etc. However, the multiplication of computers and the functions performed by such computers also tends to increase the occurrence of faults, which can in certain cases lead to dangerous situations for the vehicle or its occupants. Furthermore, in the event of an incident or an accident, it is generally long and difficult, if not impossible, to identify with certainty the defect which is really the cause of the incident, and all the more so to determine the exact origin of the said defect. The objects assigned to the invention therefore seek to overcome the aforementioned drawbacks and to propose a new type of computer that facilitates fault monitoring and diagnosis of the origins of such defects. The objects assigned to the invention are achieved by means of a motor vehicle computer 20 comprising at least one main control module intended to manage an onboard system of said motor vehicle, such as a steering control module intended to manage the vehicle. vehicle assisted steering system, said main control module using a plurality of internal variables which are representative of the successive life situations of the vehicle and / or the operation of the onboard system, said computer being characterized in that it comprises, in above the main control module, an integrated monitoring module which comprises: an acquisition unit arranged to record in a buffer memory, over a predetermined sliding acquisition period, the values successively taken by one or more internal variables according to of time, a triggering unit, arranged for firstly detect, in part r of one or more predetermined trigger conditions which relate to one or more internal variables, the appearance of an event called "alert event", which corresponds to a predefined life situation of the vehicle or the system 3025035 2 embedded board considered dangerous or abnormal, and secondly to identify the moment, said "moment of tripping", which has arisen said alert event, an extraction unit and backup, placed under the control of 5 trigger unit, and arranged for, in the event of an alert event, extracting one or more records from the buffer memory, which respectively correspond to one or more internal variables, and which each cover a time interval that extends from a start time which precedes the instant of tripping of a duration known as the predetermined "pre-event duration", until an end time which follows said moment of tripping of a e duration known as "predetermined post-event duration", then storing said record or records in a non-volatile memory.
[0002] Advantageously, the direct integration of a monitoring module in the very heart of the computer which manages an embedded system (for example the management of a power steering system), allows said monitoring module to access directly ( "at the source"), and in real time, to all the data internal to the control module, that is to say any internal variable chosen, raw, as it is acquired, processed or generated by said control module, and in particular without having to suffer the delays or loss of information that would induce a filtering and / or transfer of these data to the outside of the computer. The processing of internal variables by the monitoring module, and more particularly the detection of an alert event, is therefore particularly fast and reliable, which optimizes the performance and responsiveness of said monitoring module. In addition, by immediately perceiving a defect (alert event) and immediately triggering the saving of a recording that goes back in the past (on the pre-event duration) compared to the moment of onset that characterizes the appearance (or at least the revelation) of said defect, the monitoring module provides and preserves crucial historical information to identify the origin of the defect, and more particularly to establish the sequence and sequence of events that preceded said defect and which led to this defect.
[0003] Thanks to the invention, it therefore becomes possible to easily perform, a posteriori, an accurate and reliable diagnosis of the origin of a defect.
[0004] 3025035 3 It is thus possible in particular to establish, from the records of a selection of relevant internal variables, which on-board system or what behavior of the driver or of the vehicle has failed, and therefore take, if necessary, the necessary measures to prevent in the future, the occurrence of such a defect, or limit its consequences. In the same way, by keeping a recorded trace of the evolution of these same internal variables, considered relevant, after the appearance of the defect, on the duration post-event, one can know with precision, by a analysis carried out a posteriori, the behavior and the reactions of the onboard system, the vehicle, and / or the driver, which are consecutive to the appearance of the defect, and thus to check whether the onboard system has reacted properly, in accordance with the requirements of its specifications, in the interest in the safety of the vehicle and its occupants. If necessary, it will be possible to determine in this way whether a possible absence of reaction, or an incomplete or inappropriate reaction, of the onboard system results from an intrinsic failure of said on-board system or its control module, or a external cause, linked to the failure of another system or to inappropriate behavior of the driver. By way of example, it will be understood that a power steering management system with automatic steering angle correction function can be prevented from acting while attempting to correct the steering angle. emergency the trajectory of the vehicle, if the voltage of the battery (external system) supposed to supply the power steering assistance engine is insufficient at the moment considered. Ultimately, retrieval and saving of information taken from the buffer memory, on either side of the triggering instant, will make it possible to reconstitute a complete view a posteriori of the causes and consequences of a defect. Advantageously, storage in nonvolatile memory of the recordings of the internal variables monitored by the monitoring module will first of all make it possible to preserve the recordings durably, even after erasure of the buffer memory, and in particular after the contact of the vehicle has been completed. was cut, and then to keep these records available to a diagnostic tool external to the calculator, with which one can download and analyze said records. The exploitation of the data collected by the monitoring module 35 can therefore be done very conveniently, safely, and at any time deemed appropriate.
[0005] Other objects, features and advantages of the invention will appear in more detail on reading the description which follows, and with the aid of the accompanying drawings, provided for purely illustrative and non-limiting purposes, among which: FIG. 1 schematically illustrates the general architecture of a computer according to the invention, comprising an integrated monitoring module. FIG. 2 illustrates, in a schematic diagram, the principle of extracting the recording of a signal representative of the evolutions in time of an internal variable, from the raw recording contained in the buffer memory.
[0006] FIG. 3 illustrates, in a schematic view, the possible interactions between an external user and a computer equipped with a monitoring module according to the invention, including the configuration actions of said monitoring module, and the interrogation actions at distance from said monitoring module. The present invention relates to a computer 1 (on board) of a motor vehicle 2, as shown diagrammatically in FIG. 1, said computer 1 comprising at least one main control module 3 intended to manage an onboard system 4 of said motor vehicle 2. The system 4 may be of any kind, and correspond for example to a powertrain management system (and in particular fuel combustion management), to a brake management system (in particular an ABS system), to a suspension management system, etc., the computer 1 can then be respectively a powertrain management computer, a brake management computer, a suspension management computer, etc.
[0007] According to a particularly preferred embodiment, corresponding to that illustrated in FIG. 1, the computer 1 will constitute a power steering computer, comprising a steering control module 3 intended to manage the power steering system 4 of the vehicle 2. as known per se, such a power steering system 4 will include a steering wheel mounted on a steering column and which allows the driver to change the steering angle of the steering wheels (preferably motor) of the vehicle, by the intermediate of a steering mechanism comprising for example a steering rack slidably mounted in a steering box and which actuates steering rods connected to stub axles carrying said steering wheels.
[0008] The said steering system 4 will also comprise an assistance motor 5, preferably electric, arranged to exert on the steering mechanism, possibly by means of a reduction gear of the gear type with tangential wheel and worm gear. , a maneuvering force, and more particularly a maneuvering torque, which will be determined by the main control module 3 according to predefined assistance laws. Whatever else the on-board system 4 that it controls, the main control module 3 uses a plurality of internal variables 6 which are representative of the successive life situations of the vehicle 2 and / or the operation of said onboard system 4. internal variables 6 may include any data processed internally by the computer 1, and more particularly any data accessed by the main control module 3, acquired by said main control module 3, processed by said main control module 3 or generated by said main control module 3 during its operation, and which will be representative, at the moment considered, of a characteristic parameter of the state of the vehicle (vehicle speed, lateral acceleration, etc.) or more particularly of the state of the on-board system 4 (position of the steering wheel, engine torque delivered by the assistance engine, etc.), or alternatively a characteristic parameter of the vehicle environment (external temperature, etc.). The nature and the number of said internal variables 6 may vary, in particular as a function of the on-board system 4 managed by the control module 3. For example, in FIG. In the case of a power steering system 4, the internal variables 6 may in particular comprise, or be chosen from: the measurement of the angular position of the steering wheel, the rotational speed of the steering wheel, the measurement of the steering wheel torque exercised by the driver on the driving wheel, the measurement of the engine torque supplied by the assistance engine 5 or the measurement of the torque setpoint applied to said assistance engine, the measurement or the estimation of the lateral acceleration or the yaw rate of the vehicle, the supply voltage available at the terminals of the battery supplying the assistance motor, etc. All or part of said internal variables 6 may be provided by sensors 7 belonging to the onboard system, associated with the computer 1 and managed by said computer 1.
[0009] In the case of a power steering system 4, said sensors 7 may in particular comprise a "resolver" type sensor making it possible to determine the position of the steering, and more particularly the position of the steering wheel, from a measurement of the relative angular position of the assistance motor shaft 5, and / or a flywheel magnetic torque sensor which measures the deformation of a torsion bar interposed between the steering wheel and the steering column. . As illustrated in FIG. 2, the internal variables 6 will advantageously take the form of electrical signals, preferably digital, of which one or more characteristics (amplitude, frequency, etc.) will vary over time as a function of the value of the parameter that each of said internal variables 10 represents. The sampling frequency (refresh rate) of said internal variables 6, which may possibly be adjustable, will be defined by the computer 1. As an indication, this sampling frequency will preferably be chosen to be greater than or equal to 1 kHz, of such so that the sampling period (refresh period) Tch of the internal variables 6 will be equal to or even less than 1 ms (one millisecond), as it appears in FIG. 2. According to the invention, and as this is 1, the computer 1 comprises, in addition to the main control module 3, an integrated monitoring module 10. Within the meaning of the invention, the monitoring module 10 is an integral part of the computer 1, which will allow operation of said monitoring module 10 "as close as possible" to the main control module 3, and in particular a particularly rapid acquisition and processing by said monitoring module 10, internal variables 6 which are available within the computer 1 and which are therefore directly accessible to said monitoring module 10, without passing through an external data exchange network of the CAN type ("Controller Area Network "). Materially, the main control module 3 and the monitoring module 10 will be housed in a single computer case 1, where appropriate on the same electronic card, or even within the same microprocessor, which will simplify their implementation. within the vehicle 2. According to the invention, the monitoring module 10 firstly comprises an acquisition unit 11 arranged to record in a buffer memory 12, over a rolling acquisition period of predetermined acquisition, the values 35 successively taken by one or more internal variables 6 as a function of time.
[0010] The internal variable (s) 6 thus monitored and recorded may, of course, be freely chosen according to the needs. As long as the monitoring of an internal variable 6 is activated, the acquisition unit 11 realizes a permanent acquisition of said internal variable 56, by recording chronologically, at a predefined sampling frequency, and preferably adjustable, the succession of instantaneous (raw) values taken by said internal variable 6, each associated with a time stamp information indicating the instant at which said value was observed. It is thus possible temporarily to store in the buffer memory 12 the history of the signal corresponding to the internal variable 6 over the entire acquisition period of acquisition, and thus to know and follow precisely the evolutions of said internal variable 6 over this period. Once the buffer 12 is full, that is, when the stored history extends over a period equal to the full acquisition period, then the buffer entry of a new metric (value of the internal variable 6 and associated timestamp information) is accompanied by the erasure of the oldest measurement, according to a principle of recording (and overwriting) a loop of data of type "first in first" out. As an indication, the acquisition acquisition acquisition period may be substantially between a few hundred microseconds and several tens of seconds. Thus, the acquisition acquisition acquisition period may for example be greater than or equal to 200 lbs at 500 ps, or even greater than or equal to 1 s, 5 s or 10 s. On the other hand, the rolling acquiring acquisition period may, for example, be less than or equal to 300 s, 150 s, 120 s or even 30 s, or 20 s. In any case, the size of the memory space allocated to the buffer memory 12 will then of course be defined accordingly. According to the invention, the monitoring module 10 then comprises a tripping unit 13, arranged to firstly detect, from one or more predetermined tripping conditions which relate to one or more internal variables 6, the occurrence of an event called "alert event", which corresponds to a predefined life situation of the vehicle 2 or the embedded system 4, and here more particularly to a life situation (of the vehicle 2 or the embedded system 4) which is deemed dangerous or abnormal (typically because said life situation corresponds to a malfunction of the onboard system 4, or a vehicle behavior anomaly, which causes or is likely to cause a loss of control of the vehicle and / or endangering the occupants of said vehicle or other road users, and / or possibly damage to the vehicle), and secondly to identify the moment, d it "start time" tdécl, at which said alert event occurred.
[0011] Advantageously, the tripping unit 13 monitors in real time one or more internal variables, called "detection variables", chosen from among the internal variables 6 available within the computer 1, so that, when the evolution of the or said detection variables causes said detection variable, respectively said detection variables, to verify a triggering condition, or a combination of several (cumulative) trigger conditions, then the trigger unit 13 diagnoses a state of alert and sends a trigger signal 14 (or "trigger"). The instant when the triggering condition (s) occur, ie in practice the instant of emission of said trigger signal (14), marks the instant of tripped tripping. For example, a trigger condition may be defined as the crossing of a threshold by the internal variable 6 concerned. Thus, for example, in the case of a power steering system 4, a trip condition may be defined as the exceeding of a critical yaw rate threshold indicative of a loss of vehicle adhesion. The monitoring of the occurrence of such a threshold crossing condition can then be achieved by a simple operation of comparing the instantaneous value of the internal variable 6 concerned with the predefined threshold (said comparison returning, for example, the value TRUE if the threshold is crossed, the value 25 FALSE otherwise). Of course, any particular life situation of the vehicle 2 or the embedded system 4 which will be considered, at one time or another of the life of the vehicle 2, as likely to be of interest, particularly in statistical studies or studies. vehicle occupant safety, 30 can be defined by appropriate triggering conditions, and thus be searched (for detection Of course, the warning event that causes the triggering signal 14 to be transmitted may correspond in practice to a combination (at a simultaneous occurrence) of several "elementary" events, each defined by 3025035 9 one or more trigger conditions that are specific to the elementary event considered. By way of example, it would be possible to envisage defining a particular abnormal life situation (a warning event) of the type "vehicle in understeer with the impossibility of automatically correcting the trajectory due to power failure" which would correspond to at the simultaneous combination on the one hand of a first elementary warning event of the type "loss of grip in understeer", which would be characterized by certain conditions on the internal variables 6 which represent the yaw rate of the vehicle and the angular position of the driving wheel, and secondly a second elementary alert event of "power loss of the assistance motor" which would be characterized by the passage and / or the maintenance of the internal variable measuring the battery voltage below a predetermined low threshold. Preferably, the triggering condition (s) are expressed by one or (respectively) of the Boolean equation (s) (boolean expressions), the binary result of which, when it is switched, forms a trigger signal. marking the start instant tdéci, as shown in Figure 2. More particularly, the value of the trigger signal 14 will preferably be equal to 1 (one) if the trigger condition (s) are met, at 0 (zero) otherwise. The use of a relatively intuitive Boolean language will make it possible to formalize the trigger condition (s) in the form of logical instructions, according to a syntax that is both rigorous and relatively simple to implement.
[0012] Preferably, for the syntax of the Boolean equation (s) defining the trigger condition (s), a reverse Polish notation (according to which the operators are given after the operands) will be used, in order to gain speed of processing and interpretation of said equations. Advantageously, the refreshing of the Boolean equation, and therefore of its result, occurs automatically with each refreshing of one or the other of the internal variables 6 which are taken into consideration in said equation. The triggering unit 13 is therefore particularly reactive. Preferably, the one or more triggering conditions are expressed by one or more equations (Boolean expressions) contained in an editable file 35.
[0013] 3025035 10 It is therefore possible to very freely configure the trigger unit 13, by simply intervening on the content of said modifiable file 15, that is to say by editing, adding, deleting, or selectively activating / deactivating, according to the needs, one or more equations contained in said file 15, without it being necessary to modify intrinsically the general architecture (software and / or hardware) of operation of the triggering unit 13, and more generally the architecture operating the monitoring module 10 and the computer 1, and in particular without it being necessary to reprogram intrinsically the computer 1.
[0014] As such, the triggering unit 13 preferably contains a command interpreter capable of reading the modifiable file 15 in order to interpret and execute the equations contained in said file 15 (like so many command lines which are directly understandable by said interpreter). Said command interpreter will be more particularly capable of interpreting the syntax of a Boolean expression, having a knowledge of the Boolean language, in particular Boolean operators, such as AND, OR, NO, XOR, NOR, NAND, IF. .ALORS, parentheses operator, but also common mathematical operators such as: greater than, less than, addition, subtraction, multiplication, division, power, root, absolute value, etc.
[0015] The definition of the triggering condition or conditions, and more generally the definition of the operating modes of the triggering unit 13, can therefore be achieved by means of a very intuitive language, without the need for compilation, and may be modified. as often as necessary by a simple intervention on the equation (s) contained in the modifiable file 15, which confers on the monitoring module 10 a great flexibility. The intervention on the modifiable file 15 may be performed for example in the workshop through the diagnostic socket of the vehicle. According to one possibility of implementing the invention, it is perfectly possible to provide, by default, in the file 15, at the factory, a set (reserve) of several equations (of several trigger conditions), of which at least some will be left dormant by default, and will be activated, after the vehicle is put into circulation, only in case of need, in certain special circumstances. For example, one could consider the activation of certain equations 35 during a visit to the workshop, following a recall operation that would lead to monitoring certain behaviors of the vehicle with increased vigilance, or else the activation of certain equations initiated by another computer on board the vehicle 2, which would have automatically detected the crossing of a certain degree of aging of the vehicle or abnormalities or risk behaviors of said vehicle that would justify the implementation of measures surveillance 5 (for example to supplement the information of the garage during a next revision of the vehicle). Conversely, in order to lighten the load of the monitoring module 10, we can (re) put to sleep (disable) one or more equations when they are no longer useful.
[0016] According to the invention, the monitoring module 10 finally comprises an extraction and backup unit 16, placed under the control of the trigger unit 13, and arranged for, in case of an alert event (and more particularly in case of perception of a trigger signal 14), extracting from the buffer 12 one or more records 17, which respectively correspond to one or more internal variables 6, and which each cover a time interval denreg which is extends since a start time tbebe preceding the triggering instant tdecl of a duration called pre-event duration dpre-tng predetermined (tdeb = tdecl dpre-tng), up to an end time tfin which follows said time of trigger tdécl of a duration called "duration post-event" dpost-tng predetermined (tfln = tdécl dpost-tng), as it is visible in Figure 2, then store said recordings or 17 in a memory no n volatile 18. Advantageously, the monitoring module 10 according to the invention, said "disturbograph", therefore allows, in case of alert event, to extract the buffer memory 12 and transfer to the non-volatile memory 18 before said buffer 12 is erased, a record 17 which covers a time sub-slot (a window) denreg of the rolling acquisition period dacqu, s, in order to partially retain the data relating to the variable or variables internal 6 monitored, exclusively on a range of denreg time that is just necessary and sufficient to allow the understanding of the causes of the alert event (going back in the past on the pre-event duration dpré_trig compared to the moment triggering tdecl) and possible consequences of said alert event (including in the record the post-event duration dpast-tr; g). Advantageously, the monitoring module 10 can therefore act as a selective "black box", which takes and holds data samples (the records 17) of limited size, corresponding only to periods useful for understanding the defects, each recording. 17 saved beginner 3025035 12 (slightly) before the trigger time tdécl, that is, before the alert event detection equations returned TRUE, and ended (slightly) ) after said delayed triggering time, i.e. after the equations returned the TRUE value (i.e., returned a trigger signal 14 equal to 1) for the alert event considered. Thus, the monitoring module 10 makes it possible to avoid any loss of information that would be caused by a recording that would occur too late in relation to the alert event (and would not make it possible to understand the causes of said event), or else the irreversible loss of information that would be due to a sliding (loop) erasure of the buffer memory 12, while using a small storage space (for both the buffer memory 12 and the non-volatile memory 18), since it is not necessary to proceed to a final and exhaustive storage of all the data concerning the evolution of the internal variables 6, but only to a selective, partial safeguarding of only 15 samples (records 17) that are relevant . As such, it will be noted that, by carrying out the extraction and saving of the recordings 17 selectively, and therefore intermittently, that is to say non-permanent, whenever an alert event occurs but only when an alert event occurs (whereas, on the contrary, the "raw" sliding acquisition of the internal variables 6 by the acquisition unit 11, and therefore the temporary storage of said variables in the buffer memory 12, is permanent, for not to risk losing information that could potentially prove useful later), information (here, a record 17 of internal variables 6) is finally stored in the non-volatile memory 18 only if said information is relevant in because of its link with an alert event. The duration of each recording recorded, and more particularly the pre-event duration dpré_trig and the post-event duration dpost_mg, may be determined and adjusted case by case, for example depending on the nature of the alert event. which is monitored and serves as a trigger for the backup of recordings 17. As an indication, the pre-event duration dpre-trig can be set to a value, preferably adjustable, between 5% and 95% of the duration desired registration record. Of course, the pre-event duration dpre-trig will be greater than the sampling period Tse of the internal variables 6, and for example greater than or equal to three times, five times, to ten times said sampling period Tse ( or even more), so that the record 17 can trace a significant history, by means of a representative sample containing a sufficient series of measurements of the internal variable (s) 6 concerned. As an indication, said pre-event duration dpré-tng may be equal to or greater than 5 ms, 10 ms, 50 ms, 100 ms, and even greater than 1 s, 5 s, 10 s or even 30 sec. Similarly, the post-event duration dpost-tnp preferably adjustable, will be set to a value complementary to the pre-event duration dpre_trig, to achieve the total recording time denreg desired.
[0017] Here again, the post-event duration dpost-tng will be greater than the sampling period Tse of the internal variables 6, and for example greater than or equal to three times, five times, ten times the sampling period (or more). As an indication, the post-event duration dpost-tng may be equal to or greater than 5 ms, 10 ms, 50 ms, 100 ms, and even greater than 1 s, 5 s, 10 s or even 15 ms. 30 sec. The non-volatile memory 18 may be for example a Flash memory or an EEPROM, which stores the data of the records 17 so that said data can be read after the computer 1 has been turned off. Within this non-volatile memory 18, the records 17 For example, they may be archived and indexed into a database structure. Of course, the non-volatile memory 18 may be sized so as to be able to contain multiple recordings 17. This ability to store a plurality of recordings 17 may in particular make it possible to store several repeated recordings of the same nature, that is, say all bearing on the same internal variable or group of internal variables and realized successively at different times, and / or several records of a distinct nature, that is to say which relate to internal variables (or groups of variables internal) which are different from one record to another, and which may also have been made simultaneously or at different times. In particular, the invention may in particular make it possible to carry out several successive recordings 17 (of the same internal variables) corresponding to several occurrences of an alert event of the same nature, that is to say corresponding to several successive successive triggers. of the retrieval and backup unit 16 which rely on the repeated detection of the same triggering condition (i.e. on re-engagement at the TRUE value, repeatedly, of the same equation). If necessary, it will be possible to measure a posteriori the occurrence frequency (repetition frequency) of a particular type of alert event, and to study in different cases, for example for statistical purposes, the causes of this type of event and the reactions of the embedded system 4 to this type of event. Whatever their nature and their volume, the recording data stored in the non-volatile memory 18 will advantageously be searchable by an analysis device external to the computer 1, which may for example be connected to the diagnostic socket of the vehicle 2 or even interrogate the monitoring module 10 by remote transmission. This data can also, if necessary, be exported from the non-volatile memory 18 internal to the computer 1 to an external storage medium (remote), flash memory type or hard disk, which will be connected, temporarily or permanently, to said calculator 1, for example via the CAN on-board network. Of course, it is perfectly conceivable to provide, in addition to the equations intended for the automatic and permanent monitoring of the occurrence of an alert event, a possibility of triggering the retrieval and backup unit 16 by an external trigger signal 14, coming for example from another remote computer on board the vehicle 2 or any other device external to the computer 1. The trigger signal of external origin can then for example be routed to the computer 1 , and more particularly to the monitoring module 10, by the CAN network, or even by radio frequency. According to a particularly preferred possibility of implementation, the main control module 3 and the monitoring module 10 (and more particularly the substructures of said monitoring module 10 constituted by the acquisition unit 11, the buffer memory 12 , the trigger unit 13, the extraction and backup unit 16 and / or the non-volatile memory 18) are virtual modules, obtained by programming the computer 1. In practice, each module 3, 10, respectively each Thus, the unit 11, 13, 16 will preferably be programmed as an instruction set present in an electronic circuit of the computer 1 to perform the tasks assigned to it, such as these tasks have been described in FIG. what precedes.
[0018] Advantageously, such a virtual structure will make the monitoring module 10 particularly easy to implement, possibly retrofit, on any existing computer 1, without additional cost or particular constraints. In addition, such a virtual structure requires few resources, since it is sufficient to allocate memory space in the existing computer 1 for the execution of the tasks specific to the monitoring module 10 and for the recording of data. data related to the monitoring of internal variables 6. Advantageously, the main control module 3 and the monitoring module 10 which is associated with it according to the invention can share a single hardware structure, and in particular a clock and a memory common cache. The integration of a monitoring module 10 according to the invention, which does not require any addition of physical equipment, therefore has no negative influence on the compactness and the lightness of the computer 1, and therefore more generally on the computer. the size and weight of the vehicle system 4 or the vehicle 2. Preferably, the response time of the monitoring module 10, and more particularly the response time of the acquisition unit 11 and the trigger unit 13 of said 10 monitoring module, is equal to or less than one millisecond (1 ms), from the refreshing, within the main control module 3, one or the other internal variables 6 concerned. Thus, the monitoring module 10 is particularly reactive, since, as soon as a change of situation (a change in value of one or more internal variables 6) occurs internally in the computer 1, this change is taken into consideration and processed by monitoring module 10, almost in real time. By comparison, if the internal variables 6 were to pass through the CAN network to reach an external monitoring module, we would immediately observe a delay of the order of 10 ms to 100 ms induced by the only transfer of said internal variables.
[0019] In this case, the very short response time (cycle time), less than one millisecond, is advantageously made possible by the internal integration of the monitoring module 10, and makes it possible to trigger the backup of a recording. immediately upon the occurrence of an alert event, without delay and thus without risk of losing useful information, which makes it possible to have a complete and detailed history and thus to establish an accurate diagnosis of the origins and the consequences of the alert event.
[0020] Due to its very short response time, the sampling frequency 1 / Tch10 at which the internal variables 6 will be read, refreshed and processed by the monitoring module 10 may be particularly high, preferably greater than or equal to several. hundreds of Hz, or even greater than or equal to 1 kHz, and 5 for example be between 100 Hz and 20 kHz, which will collect for each event, as short as it is, and for each of the internal variables 6 monitored, a recording 17 which will include a large amount of data. Whatever the warning event, and especially in the event of both brief and serious event (for example corresponding to a loss of control of the high-speed vehicle causing a departure from the road), the invention will therefore make it possible to describe a posteriori said event completely and accurately. The sampling frequency Tch10 of the monitoring module 10 may advantageously be programmable, in order to adapt the responsiveness of said monitoring module 10 to the circumstances, and in particular to the type of alert event sought and monitored. According to a preferential possibility of implementation, the frequency of refreshing and processing of the internal variables 6 (sampling frequency 1 / Tch1o) at the level of the acquisition unit 11 and the triggering unit 13 is identical to the refresh rate (1 / Tse) of said internal variables 6 within the main control module 3. In other words, the monitoring module 10 can benefit from an excellent temporal resolution, particularly fine, giving it a very high high responsiveness and high accuracy, because it can be clocked at the same clock frequency as the main control module 3, that is to say the internal clock frequency specific to the computer 1. The integration of the monitoring module 10 with the computer 1 thus makes it possible to synchronize said monitoring module 10 at high speed on the main control module 3, and thus to avoid any delay of detection. on and recording alert events.
[0021] Preferably, the bandwidth (useful) of the monitoring module 10 is greater than or equal to 1 Mbit / s, 1.5 Mbit / s or even 2 Mbit / s of useful data for recording and storing internal variables. 6. As an indication, the acquisition unit 11 may be able to record 50 (fifty) internal variables 6 from 2 (two) to 4 (four) bytes each at each refresh cycle of one millisecond, and the extraction and backup unit 16 can be able to restore and save as many.
[0022] 3025035 17 The useful data rate (or "useful bandwidth"), that is to say the rate of the data containing effective information as to the internal variables 6 (value and time of measurement of said internal variables) may therefore in practice be, within the monitoring module 10, higher, and in particular at least five times greater, the user data rate of the CAN vehicle network (said CAN network having an absolute bandwidth of the order of 500 kbps to 1 Mbps, or in practice a useful data rate of the order of 100 kbps to 200 kbps). Thanks to these particularly high internal transfer rates, which are made possible in particular by the fact that the monitoring module 10 can directly access the internal variables 6 of the main control module 3, without it being necessary to transmit said variables. internal by a CAN type network external to the computer 1, the monitoring module 10 will be particularly effective. Furthermore, the retrieval and backup unit 16 preferably includes security features, such as encryption keys, write protections, and / or access restrictions (e.g. alteration or falsification of the records 17 stored in the non-volatile memory 18. The authenticity of the information collected can thus be guaranteed, which makes it possible, if necessary, to operate a posteriori reliable expertise of the event (s). 17. In addition, arrangements will be made to ensure that the monitoring module 10 is not itself a source of defects, and more particularly to ensure that the operation of said monitoring module 10 does not interfere with the normal operation of the main control module 3, and 25 therefore does not threaten the safety of the vehicle, its occupants or other road users. For this purpose, the monitoring module 10 will preferably have only read-only access, and not write access, to the internal variables 6 used by the main control module 3.
[0023] Advantageously, such protection, of the "Memory Protection Unit" type, will ensure that the monitoring module 10 does not interfere with the control module 3, and more particularly that the operation and the recording of the internal variables 6 by the The monitoring module 10 does not alter the reliability of said internal variables, on the basis of which the main control module 3 bases its decisions and decides on the reactions of the vehicle 2.
[0024] For similar reasons, the computer 1 may include a verification module (not shown) arranged to control the execution speed of the main control module 3 to ensure that said main control module 3 is not connected. slowed by the monitoring module 10.
[0025] Such checks, of the "Process Flow Control" type, may notably include the timing of the passage of the control module 3 by certain pre-defined checkpoints, which consist, for example, in the restitution of certain data (internal variables 6) or the execution of certain periodic operations by said control module 3, so as to verify the absence of delay or drift in the speed of execution of the algorithms implemented by said control module 3. FIG. 3 illustrates several types of communication and possible interactions between an external user and the computer 1, and more particularly the surveillance module ("disturbograph") 10.
[0026] The first type of communication (referenced 1 in FIG. 3) relates to the configuration operations of the surveillance module 10, in the factory or in the workshop, by means of an external device. In particular, it will thus be possible to provide, if necessary via appropriate menus, several configuration parameters, such as, with reference to FIG. 3: the list of internal variables 6 (signals) to be monitored (by the acquisition unit 11) and internal variables 6 to be recorded (by the extraction and backup unit 16), as represented by item 1.1; the triggers, that is the triggering equations of the recording, and if appropriate, the re-engagement equations making it possible to control the generation and storage of several recordings consecutive, as represented by item 1.2; the pre-event dpr-tng and post-event dpost-tng durations which make it possible to set the duration of the recordings 17, as well as the size of each record 17 (whether it is the elementary size, in bytes, of the coding of each datum , and / or the overall size of the maximum memory space allocated to each record) and / or the maximum number of records 17 allowed in non-volatile memory 18, as represented by item 1.3.
[0027] The second type of communication (referenced 2. in FIG. 3) concerns the interrogation and analysis of the recording data collected by the recorder 10. As such, as illustrated in FIG. data of the 5 records 17 may be: downloaded, for example by a recording device connected to the computer 1 or the CAN network (item 2.1); visualized, for example as temporal graphs, in a human-machine interface ("HMI", item 2.2); 10 exported in various formats for use in computational tools or numerical simulation, like ExcelTM or MatLab TM (item 2.3). Of course, the invention also as such relates to the use, within an on-board computer 1, and more specifically within a power steering computer 1, of a monitoring module 10 according to FIG. one or the other of the characteristics described in the foregoing, in order to record (and save), during the occurrence of one or more predetermined warning events, the evolution of one or more internal variables 6 to calculator 1 before and after the instant of occurrence of said event (that is to say before and after the instant of tripping) - Thus, the invention will relate to integration, within a same computer box 1 (provided with connection connectors adapted to the embedded system 4 and to the CAN network), a main control module 3 and a monitoring module 10, so as to optimize the joint operation (to a high rate, preferably a common one) of these two moduli es. One example, among others, of application of the invention to a power steering system 4 could consist of monitoring on the one hand dynamic parameters of the vehicle, such as linear speed and yaw rate, on the other hand. the power steering parameters, such as the angular position and the rotational speed of the steering wheel, as well as the engine torque setpoint applied to the assistance engine, and finally the battery voltage available for supplying said engine with power. 'assistance. It would then be possible to set as triggering condition the appearance of a situation of loss of adhesion of the vehicle, characterized, for example, by a yaw rate which is too low (understeer) or, on the contrary, too high (oversteer) with regard to the flying angle and the linear speed of the vehicle.
[0028] The recording 17 could then include the dynamic parameters of linear velocity and yaw rate, steering wheel position and speed, engine torque setpoint, and battery voltage. Thus, if the steering system 4 comprises an automated trajectory correction function, it will be possible to verify, with regard to the evolution of these parameters, whether said function has correctly performed the mechanically possible maneuvers of catching the vehicle. In the event of failure, it will be possible in particular to check whether the loss of control of the vehicle has resulted from an intrinsic malfunction of the trajectory correction function (for example of a calculation error or a delay in the application of the engine setpoint), or else a failure external to the system 4, for example a fall in the battery voltage which would have prevented the assistance engine 5 from developing a sufficient torque to reach the set target. Of course, the invention is in no way limited to the only embodiments described hereinabove, the person skilled in the art being able to isolate or combine freely between them one or the other of the characteristics mentioned above, or to substitute equivalents for them. In particular, as mentioned above, the invention can find application in any type of computer 1 on board any vehicle 20, in particular a vehicle intended for the transport of goods and / or persons. Furthermore, the invention of course relates as such to a vehicle monitoring method 2, the method of which the characteristics, steps and functions advantageously implemented by the computer 1, the modules 3, 10 and the units 11. , 13, 16, may be deduced mutatis mutandis from the description of said computer 1, said modules 3, 10 and said units 11, 13, 16. In particular, said monitoring method will thus comprise a step (a) of acquisition during from which is stored in a buffer memory 12, on a sliding acquisition period cl, q, predetermined, the values successively taken as a function of time by one or more internal variables 6 used by a main control module 3 intended to manage an on-board system 4 of the vehicle 2, a step (b) of analysis and triggering during which one or more predetermined trigger conditions are analyzed which relate to a u several internal variables 6 so as to detect the occurrence of an event called "alert event", which corresponds to a predefined life situation of the vehicle 2 or the embedded system 4 considered dangerous or abnormal, and, if a event 3025035 21 alert is detected, it identifies the instant, said "time of trigger" tdécl, which occurred said alert event, then a step - conditional - (c) extraction and backup, that l if (and only if) an alert event is actually detected during the analysis and triggering step (b), and during which one or more records are extracted from the buffer memory , which respectively correspond to one or more internal variables 6, and which each cover a time interval denreg which extends from a start time tbebe preceding the start time tded of a duration called "pre-event duration" Predetermined dre_mg, up to an end time tfin following said triggered instant of a so-called "post-event duration" dpo, predetermined t_ trig, and then storing said record or records 17 in a memory non-volatile 18. 15

权利要求:
Claims (11)
[0001]
REVENDICATIONS1. Computer (1) for a motor vehicle (2) comprising at least one main control module (3) for managing an onboard system (4) of said motor vehicle, such as a steering control module for managing the control system. assisted steering of the vehicle, said main control module (3) using a plurality of internal variables (6) which are representative of the successive life situations of the vehicle (2) and / or the operation of the onboard system (4), said computer ( 1) being characterized in that it comprises, in addition to the main control module (3), an integrated monitoring module (10) which comprises: an acquisition unit (11) arranged to record in a buffer memory ( 12), over a predetermined sliding acquisition period (dacquis), the values successively taken by one or more internal variables (6) as a function of time, a triggering unit (13), arranged to detect, on the one hand, from one or more predetermined trigger conditions which relate to one or more internal variables (6), the occurrence of an event called "alert event", which corresponds to a predefined vehicle life situation (2). ) or the onboard system (4) considered dangerous or abnormal, and secondly 20 to identify the moment, called "instant of tripping" (tdeci), which has occurred said alert event, a unit of extraction and backup device (16), under the control of the triggering unit (13), and arranged for, in the event of an alert event, extracting one or more recordings (17) from the buffer memory (12), which respectively correspond to one or more internal variables (6), and which each cover a time interval (denreg) which extends from a start time (tb) which precedes the start time (tdec) of a duration so-called pre-event duration (pre-tng) terminated (tbn) following said initiation time (tdeci) of a predetermined duration called "post-event duration" (dpost-tng), and then storing said one or more records (17) in non-volatile memory (18). 3025035 23
[0002]
2. Calculator according to claim 1 characterized in that the response time of the monitoring module (10), and more particularly of the acquisition unit (11) and the trigger unit (13) of said monitoring module , is equal to or less than one millisecond, from the refresh, within the main control module (3), of one or the other of the internal variables (6) concerned.
[0003]
3. Calculator according to claim 1 or 2 characterized in that the frequency of refresh and processing of the internal variables (6) at the acquisition unit (11) and the trigger unit (13) is identical at the refresh rate of said internal variables (6) within the main control module (3).
[0004]
4. Calculator according to one of the preceding claims characterized in that the bandwidth of the monitoring module (10) is greater than or equal to 1 Mbit / s, 1.5 Mbit / s or 2 Mbit / s in useful data recording and storage of internal variables (6).
[0005]
5. Calculator according to one of the preceding claims characterized in that the one or more trigger conditions are expressed by one or more equations (s) Boolean (s) whose result, binary form, when switching, a signal of tripping (14) marking the instant of tripping (tdéd) -
[0006]
6. Calculator according to claim 5 characterized in that one uses, for the syntax of the Boolean equation (s) defining the trigger condition (s), an inverse Polish notation.
[0007]
7. Calculator according to one of the preceding claims characterized in that the one or more triggering conditions are expressed by one or more equations contained in an editable file (15), and in that the trigger unit (13) contains a A command interpreter capable of reading said file (15) to interpret and execute said equations.
[0008]
8. Calculator according to one of the preceding claims characterized in that the extraction and backup unit (16) comprises security, such as encryption keys, write protections and / or access restrictions, preventing the tampering or falsification of the records (17) stored in the non-volatile memory (18). 3025035 24
[0009]
9. Calculator according to one of the preceding claims characterized in that the monitoring module (10) has only read-only access, and not in writing, internal variables (6) used by the main control module (3).
[0010]
10. Calculator according to one of the preceding claims, characterized in that it comprises a verification module arranged to control the speed of execution of the main control module (3) to ensure that said main control module ( 3) is not slowed down by the monitoring module (10).
[0011]
11. Calculator according to one of the preceding claims characterized in that the main control module (3) and the monitoring module (10) are virtual modules, obtained by programming the computer (1).

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同族专利:

公开号 | 公开日

CN106575119B|2020-02-14|

JP6683683B2|2020-04-22|

FR3025035B1|2016-09-09|

US10282926B2|2019-05-07|

BR112017003551A2|2017-12-05|

WO2016027022A1|2016-02-25|

PL3183621T3|2019-03-29|

CN106575119A|2017-04-19|

EP3183621A1|2017-06-28|

JP2017526075A|2017-09-07|

EP3183621B1|2018-09-05|

US20170243412A1|2017-08-24|

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法律状态:
2015-06-19| PLFP| Fee payment|Year of fee payment: 2 |

2016-02-26| PLSC| Search report ready|Effective date: 20160226 |

2016-06-23| PLFP| Fee payment|Year of fee payment: 3 |

2017-06-29| PLFP| Fee payment|Year of fee payment: 4 |

2018-06-22| PLFP| Fee payment|Year of fee payment: 5 |

2019-06-28| PLFP| Fee payment|Year of fee payment: 6 |

2021-05-07| ST| Notification of lapse|Effective date: 20210405 |

优先权:

申请号 | 申请日 | 专利标题

FR1457935A|FR3025035B1|2014-08-22|2014-08-22|VEHICLE CALCULATOR, SUCH AS AN ASSISTED STEERING CALCULATOR, WITH AN INTEGRATED EVENT RECORDER|FR1457935A| FR3025035B1|2014-08-22|2014-08-22|VEHICLE CALCULATOR, SUCH AS AN ASSISTED STEERING CALCULATOR, WITH AN INTEGRATED EVENT RECORDER|

CN201580045218.1A| CN106575119B|2014-08-22|2015-08-04|Computer for a vehicle, such as a power steering computer, equipped with an integrated event recorder|

PCT/FR2015/052149| WO2016027022A1|2014-08-22|2015-08-04|Computer for a vehicle, such as a power steering computer, provided with an integrated event recorder|

US15/502,737| US10282926B2|2014-08-22|2015-08-04|Calculator for a vehicle, such as a power steering calculator, provided with an integrated event recorder|

EP15759883.0A| EP3183621B1|2014-08-22|2015-08-04|Computer for a vehicle, such as a power steering computer, provided with an integrated event recorder|

BR112017003551A| BR112017003551A2|2014-08-22|2015-08-04|motor vehicle calculator|

PL15759883T| PL3183621T3|2014-08-22|2015-08-04|Computer for a vehicle, such as a power steering computer, provided with an integrated event recorder|

JP2017510362A| JP6683683B2|2014-08-22|2015-08-04|Car calculator|

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