• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method for detecting faults in a vehicle control system comprising functional units having an associated unique prime number label is provided. The method comprises calling each of the functional units, the call comprising a readable and updateable integer traversal value, and in case the functional unit is operating correctly, updating the traversal value to be the product of the value in the call and the label of the currently called functional unit, and in the case of a fault, not updating the traversal value. Further, the method comprises determining from the traversal value if any functional units are faulty by a comparison with an expected traversal value, and, in the case that the traversal value is not equivalent to the expected traversal value, determining which functional units are faulty by a unique prime factorization algorithm.To be published with Fig. 1
    公开号:SE1550231A1
    申请号:SE1550231
    申请日:2015-02-27
    公开日:2016-08-28
    发明作者:Palander Michael
    申请人:China-Euro Vehicle Tech Ab；
    IPC主号:
    专利说明:

    150227 I:PatrawinTEMPAJ~P129470002*application.2015022701331114755.docxMETHODS AND SYSTEMS FOR DETECTING FAULTS IN VEHICLE CONTROLSYSTEMSTechnical fieldThe invention relates to vehicle control systems, in particular methods andsystems for detecting faults in vehicle control systems.
    BackgroundModem vehicle control systems are comprised of a network of systems,subsystems and controllers interacting to control the various components of the vehicle.For example a vehicle control system could comprise subsystems associated With adomain of features of the vehicle such as vehicle dynamics. Each of these subsystemsmay comprise one or more electronic control units (ECUs) Which are associated With afeature of the domain, for example the vehicle dynamics subsystem may comprise anECU relating to braking. The subsystems also comprise functional units that are relatedto that domain subsystem. A functional unit could for example be a brake actuationsensor. The functional units are often interconnected Which makes detecting andlocating faults rapidly a challenge.
    With such vehicle control systems comprising numerous subsystemscommunicating and controlling various aspects of the vehicle, testing and validation oflarge electronic control systems is of significant importance. Furthermore, theincreasing numbers of features in vehicle control systems has in tum increased theproportion of vehicle production costs associated With control systems. A fault detectionmethod and system for vehicle control system being able to detect faults efficiently andeffectively during production and development Would thus decrease production costsand increase vehicle reliability.
    Summary of the inventionAccordingly, the present invention preferably seeks to mitigate or eliminateone or more of the above-identified deficiencies in the art singly or in any combinationand solves at least the above mentioned problems by providing a solution in accordanceWith the independent claims set forth beloW.
    According to a first aspect, a method for detecting faults in a vehicle controlsystem comprising functional units having an associated unique prime number label s150227 I:PatrawinTEMPAJ~Pl29470002*application.20l502270l33lll4755.docxprovided. The method comprises calling each of the functional units, the callcomprising a readable and updateable integer traversal value, and in case the functionalunit is operating correctly, updating the traversal value to be the product of the value inthe call and the label of the currently called functional unit, and in the case of a fault,not updating the traversal value; and deterrnining from the traversal value if anyfunctional units are faulty by a comparison With an expected traversal value, and, in thecase that the traversal value is not equivalent to the expected traversal value,deterrnining Which functional units are faulty by a unique prime factorization algorithm.
    In an embodiment, the vehicle control system comprises two or morefunctional units.
    The unique prime label may be associated according to the ascending sequenceof prime numbers starting at the number 2.
    In an embodiment, faulty units are detected by comparing the traversal valueWith an expected traversal value, if the stored value is not equal to the expected valuethen the missing prime factor(s) are deterrnined through a unique prime factorizationalgorithm.
    The method may further comprise accessing a list, the list associating adescriptor of a functional unit to a unique prime number label, to determine thedescriptor of any faulty functional units.
    In an embodiment, the vehicle control system further comprises subsystemsbeing associated With vehicle hardware, Wherein the subsystems comprise the functionalunits, the method further comprising associating the functional units With thecomprising subsystem.
    In an embodiment a functional unit subset may be selected from the functionalunits comprised in the vehicle control system, such that only a subset of related orassociated functional units are tested.
    According to a second aspect a controller for detecting faults in a vehiclecontrol system comprising functional units is provided. Each of the functional units ofthe vehicle control system are assigned a unique prime number from the ascendingsequence of prime numbers starting at 2. The controller for detecting faults comprises ameans of calling the functional units Wherein the call to the functional unit comprises, areadable and updateable integer traversal value, a means of, in case the functional unit isoperating correctly, updating the traversal value to be the product of the value in the calland the label of the currently called functional unit, and in the case of a fault, not150227 I:PatrawinTEMPAJ~P129470002*application.2015022701331114755.docxupdating the traversal Value; and a processing unit programmed to determine which ifany of the functional units are faulty by a unique prime factorization algorithm.
    In an embodiment the processing unit is programmed to detect any faultyfunctional units by comparing the product stored in the detection signal with anexpected traversal value, if the stored value is not equal to the expected traversal Valuethen the missing prime factor(s) are deterrnined through a unique prime factorizationalgorithm.
    According to a third aspect a method for providing at least one implementedunit is provided. The method comprises assigning a unique prime label to a functionalunit, and wherein the unique prime label is assigned from the ascending sequence ofprime numbers starting at the number 2.
    According to a fourth aspect a system is provided comprising a hardwarecomponent of a vehicle being associated with one or more functional units and acontroller according to the third aspect.
    Brief description of drawingsFurther objects, features and advantages will appear from the followingdetailed description, with reference being made to the accompanying drawings, inwhich:Fig. 1 is a schematic view of a method according to an embodiment;Fig. 2 is a schematic view of a method according to another embodiment;Fig. 3 is a blocksheet diagram of the method according to an embodiment;Fig. 4 is a blocksheet diagram of the method according to example 1;Fig. 5 is a blocksheet diagram of the method according to example 2; andFig. 6 is a blocksheet diagram of the method according to example 3.
    Detailed descriptionThe following description of the invention concems methods, controllers andsystems for detecting faults in vehicle control systems comprising functional unitshaving an associated unique prime number label. The functional units may be associatedwith specific components of a vehicle. For instance, the functional units may beassociated with those directly related to the movement of the vehicle, such as a breakactuation sensor. The functional units may also be associated with components relatedto ancillary aspects of the vehicle such as a seat warrning controller. Through the150227 I:PatrawinTEMPAJ~P129470002*application.2015022701331114755.docxdescribed methods, controllers and systems faults in one or more individual functionalunits can be detected and located efficiently and effectively. The vehicles controlsystem can comprise one or more functional units, such as two or more. Functionalunits may be software implemented.
    Functional units are assigned a unique prime number label to enableidentification. Such method 20 is generally depicted in Fig. 2. The unique prime numberlabel can be assigned 24 to the functional unit during or prior to run-time, andpreferably after accessing the functional unit 22. The unique prime number label acts asan identifier of the functional unit throughout the fault detection method. An idealmethod of assigning the unique prime number labels is to assign labels from theascending sequence of prime numbers starting from the prime number 2. That is, theunique prime number label of the first functional unit is assigned the number 2, theunique prime number label of the second functional unit is assigned the number 3, theunique prime number label of the third functional unit 5 and so on. The prime number 1is preferably not used as a unique prime number label of a functional unit.
    Each functional unit can be called during the fault detection method. The faultdetection method 10 is schematically shown in Fig. 1. The call 12 to the functional unitcomprises a traversal value. The traversal value is an integer value which can be bothread and updated by the respective receiving functional unit. The traversal value whichis provided 14 to the first functional unit during fault detection is the value 1.
    On receiving the call, in the case that the receiving functional unit is operatingcorrectly, the receiving functional unit can update 16 the traversal value to be equal tothe product of the traversal value comprised in the call and the unique prime label of thecurrently called functional unit. The multiplication results in an integer product which isthe product of the receiving functional unit°s unique prime label and the product of allfunctional units previously called that were without error. The traversal value is thenupdated to be equal to the product.
    A faulty functional unit which is an error state will not update the traversalvalue. The traversal value will thus be unchanged by a functional unit which is faulty.
    The traversal value is then passed in a call to the next functional unit. The nextfunctional unit repeats the multiplication process described above with its own uniqueprime number label.
    To determine if any of the functional units are faulty the traversal value can becompared to an expected traversal value. To determine 18 which functional units are inerror a unique prime factorisation algorithm is used.150227 I:PatrawinTEMPAJ~P129470002*application.2015022701331114755.docxAfter being passed to one or more functional units the traversal value iscompared to an expected traversal value. The expected traversal value may be theproduct of all of the unique prime number labels of functional units in the system inwhich faults are to be detected. For example, if the system comprised functional unitswith unique prime number labels 2, 3, 5, 7 then the expected value would be 2x3x5x7 =2 1 0.
    If the traversal value is equal to the expected traversal value then no faults havebeen detected in the system.
    If the traversal value is not equal to the expected traversal value then one ormore faulty functional units have been detected.
    To determine which functional unit is faulty a unique prime factorisationalgorithm is used.
    One unique prime factorisation algorithm is described hereafter. The traversalvalue is first divided by the lowest prime factor of the traversal value. If the quotient isnot a prime number then the quotient is subsequently divided by the next lowest prime.This process is repeated for the subsequent prime factors until the quotient is a primenumber.
    If, at any point, the quotient is a prime number then the process is stopped andthe set of prime divisors is compared to the expected set of unique prime labels. Theunique prime labels which are missing from the set of prime divisors are the uniqueprime labels of functional units which are faulty.
    With this method it is possible to detect a fault in a single functional unit asdescribed in Example 2. It is also possible to detect faults in multiple functional units.
    Detecting faults in multiple functional units is described in Example 3.
    The vehicle control system may also comprise subsystems being associatedwith vehicle hardware. In such a case the subsystems comprise the functional units. Forexample, a drivetrain subsystem could comprise multiple functional units associatedwith of the combined pieces of hardware associated with the vehicle°s drivetrain.
    If the functional units are comprised in subsystems then the method ofdetecting faults may further comprise associating the functional units with thecomprising subsystem.
    The method of detecting faults in a vehicle control system may also comprise astep for deterrnining which hardware component is associated with a functional unit.
    The method can comprise accessing a list associating a hardware descriptor to a150227 I:PatrawinTEMPAJ~P129470002*application.2015022701331114755.docxfunctional unit. The list may comprise a sequence of unique prime number labels, beingthe unique prime number labels of the function units. The list may also comprise a textbased or other descriptor of which vehicular hardware component is related to eachunique prime number label. The descriptor could be any machine or human readabledescriptor or ID of a vehicular hardware component.
    Also disclosed herein is a controller for detecting faults in a vehicle controlsystem comprising functional units. For identification each of the functional units of thevehicle control system can be assigned a unique prime number label from the ascendingsequence of prime numbers starting at 2.
    The controller for detecting faults further comprises a means of calling thefunctional units wherein the call to the functional unit comprises, a readable andupdateable traversal value for enabling identification of which functional units arefaulty. The controller comprises a means of, in case the functional unit is operatingcorrectly, updating the traversal value to be the product of the traversal Value comprisedin the call and the unique prime label of the currently called functional unit, and in thecase of a fault, not updating the traversal value.
    The controller further detects whether the functional units are faulty as it isprovided with means of comparing the traversal value with an expected traversal value,and a means of deterrnining which functional units are faulty. In case the traversal valueis equal to the expected traversal value then no faults have been detected in the vehiclecontrol system. In the case that the traversal value is not equal to the expected traversalvalue the controller one or more faults are present in the vehicle control system. Thecontroller can determine which functional units are faulty by a unique primefactorisation algorithm.
    A vehicle may comprise a system comprising at least one hardware componentof a vehicle associated with one or more functional units and a controller according tothe description above. For example a system could comprise a hardware componentsuch as a brake actuation sensor, a controller as described above, and at least onefunctional unit. The system may further comprise a list associating a hardwarecomponent descriptor to a functional unit.
    A blocksheet representation 30 of the method and the controller according toan embodiment is presented in Figure 3. The unique prime number label 31 identifies afunctional unit 32. A multiplier 33 may be present which multiplies the product of thetraversal value and the unique prime number label 31. A memory unit 34 may store theproduct of the traversal value and the unique prime number label. A plurality of150227 I:PatrawinTEMPAJ~P129470002*application.2015022701331114755.docxfunctional units 35, 36 may be present . A fault comparator and unique primefactorisation unit 37 can determine if any functional units are faulty and if so, whichunits are faulty.
    The functional units may be connected in series. The functional units may alsobe connected in parallel. The functional units may also be connected in a combinationof series and parallel.
    In an embodiment the functional units may be a subgroup selected from thefunctional units comprised in the vehicle control system. In such an embodiment thefunctional unit sub group may be associated with a specific function of the vehicle. Thefunctional unit sub group may in an embodiment be associated with multiple relatedfunctions of the vehicle. The expected traversal value of the functional unit subgroup isthe product of the unique prime number label of each of the functional units comprisedin the functional unit subgroup.
    A processing unit is responsible for the overall operation and control of themethod. The processing unit may be implemented in any known controller technology,including but not limited to a processor (PLC, CPU, DSP), FPGA, ASIC or any othersuitable digital and/or analogue circuitry capable of performing the intendedfunctionality. The processing unit constitutes an implementation of the methoddescribed herein.
    Finally, the system and controller may have a memory which is operativelyconnected to the processing unit. The memory may be implemented by any knownmemory technology, including but not limited to E(E)PROM, S(D)RAM and flashmemory, and it may also include secondary storage such as a magnetic or optical disc.Physically, the memory may consist of one unit or a plurality of units which togetherconstitute the memory on a logical level. In addition to storing various programinstructions and data for the various functions and applications which are typicallyavailable, the memory also comprises program instructions and work data for a controlsoftware application executed in the controller, system or processing unit.
    EXAMPLESExample 1 - No faults presentA vehicle control system comprises 4 functional units F1_4, the functional unitsare assigned the following unique prime labels according to the sequence of uniqueprimes starting at the number 2.150227 I:PatrawinTEMPAJ~P129470002*application.2015022701331114755.docxFunctional UniqueUnit prime labelF 1 2F 2 3F 3 5F 4 7The first functional unit, F 1, is called With an initial traVersal Value of 1. Thefirst functional unit, F 1, is not in error and updates the traVersal Value to be equal to 1 x2 = 2. The second functional unit in series, F 2, is then called With a traVersal Value of 2.The second functional unit, F 2, is not in error and updates the traVersal Value to be equalto 2 x 3 = 6. The third functional unit, F 3, is then called With a traVersal Value of 6. Thethird functional unit, F 3, is not in error and updates the traVersal Value to be equal to 6 x5 = 30. The fourth functional unit, F 4, is then called With a traVersal Value of 30. Thefourth functional unit, F 4, is not in error and updates the traVersal Value to be equal to 30x 7 = 210.The traVersal Value is then compared With the expected traVersal Value. In thiscase the expected traVersal Value is 2 x 3 x 5 x 7 = 210. The values are equal and henceno faults Were detected in the system.
    This example is presented as a blocksheet in Figure 4.150227 I:PatrawinTEMPAJ~P129470002*application.2015022701331114755.docxExample 2 - One fault detectedA vehicle control systern cornprises 4 functional units F1_4, the functional unitsare assigned the following unique prime labels according to the sequence of uniqueprirnes starting at the number 2.
    Functional UniqueUnit prirne labelF 1 2F 2 3F 3 5F 4 7The first functional unit, F 1, is called With an initial traversal value of 1. Thefirst functional unit, F 1, is in error and does therefore not update the traversal value. Thesecond functional unit, F 2, is then called With a traversal value of 1, the non-updatedtraversal value. The second functional unit, F 2, is not in error and updates the traversalvalue to be equal to 1 x 3 = 3. The third functional unit, F 3, is then called With atraversal value of 3. The third functional unit, F 3, is not in error and updates thetraversal value to be equal to 3 x 5 = 15. The fourth functional unit, F4, is then calledWith a traversal value of 15. The fourth functional unit, F 4, is not in error and updatesthe traversal value to be equal to 15 x 7 = 105.
    The real traversal value is then cornpared With the expected traversal value. Inthis case the expected traversal value is 2 x 3 x 5 x 7 = 210. The values are not equaland thus fault is present in the vehicle°s control systern.
    The functional unit Which Was in error can be deterrnined through a prirnefactorization algorithrn as described above.
    The real traversal value is divided by the loWest prirne factor. The loWest prirnefactor of 105 is 3. Accordingly105 is divided by 3, resulting in a quotient of 35. Thefactor 3 is added to a set of real traversal value factors. The previous quotient 35 is thendivided by the next loWest prirne factor, 5, resulting in a quotient of 7. The factor 5 isadded to the set of real traversal value factors. The previous quotient 7 is then dividedby the next loWest prirne factor, 7, resulting in a quotient of 1. The factor 7 is added tothe set of real traversal value factors. As the previous quotient is 1, a prirne nurnber, thealgorithrn is stopped.150227 I:PatrawinTEMPAJ~Pl29470002*application.20l502270l33lll4755.docxlOThe set of real traversal Value factors is then compared to the expected set ofunique prime labels.
    Real traversal value factors = {3,5,7}Expected set of unique prime labels = {2,3,5,7}In this example, the missing factor is 2. Thus the functional unit with the label2 is faulty.
    The functional unit with the label 2 can thereafter be compared to a listassociating functional units with subsystems and specific hardware components of thevehicle. For instance, the functional unit with the unique prime label 2 may becomprised within a subsystem relating to vehicle dynamics and associated with thebrake actuation sensor.
    This example is presented as a blocksheet in Figure 5.
    Example 3 - Two faults detectedA vehicle control system comprises 4 functional units F1_4, the functional unitsare assigned the following unique prime labels according to the sequence of uniqueprimes starting at the number 2.
    Functional UniqueUnit prime labelF 1 2F 2 3F 3 5F 4 7The first functional unit, F 1, is called with an initial traversal value of l. Thefirst functional unit, F1, is in error and does therefore not update the traversal value. Thesecond functional unit, F 2, is then called with a traversal value of l, the non-updatedtraversal value. The second functional unit, F 2, is not in error and updates the traversalvalue to be equal to l x 3 = 3. The third functional unit, F 3, is then called with atraversal value of 3. The third functional unit, F 3, is in error and does therefore notupdate the traversal value. The fourth functional unit, F 4, is then called with a traversalvalue of 3. The fourth functional unit, F 4, is not in error and updates the traversal valueto be equal to 3 x 7 = 2l.150227 I:PatrawinTEMPAJ~P129470002*application.2015022701331114755.docxllThe real traversal value is then compared With the expected traversal value. Inthis case the expected traversal value is 2 x 3 x 5 x 7 = 210. The real traversal value is21. The values are not equal and thus fault is present in the vehicle°s control system.
    The functional unit Which Was in error can be deterrnined through a primefactorization algorithm as described above.
    The real traversal value is divided by the loWest prime factor. The loWest primefactor of 21 is 3. Accordingly 21 is divided by 3, resulting in a quotient of 7. The factor3 is added to a set of real traversal value factors. As the previous quotient is 7, a primenumber, the algorithm is stopped.
    The set of real traversal value factors is then compared to the expected set ofunique prime labels.
    Real traversal value factors = {3,7}Expected set of unique prime labels = {2,3,5,7}In this example, there are tWo missing factors, 2 and 5. Thus the functionalunits With the labels 2 and 5 are faulty.
    The functional unit With the labels 2 and 5 can thereafter be compared to a listassociating functional units With subsystems and specific hardware components of thevehicle as above.
    This example is presented as a blocksheet in Figure 6.
    权利要求:
    Claims (11)
    [1] 1. A method for detecting faults in a vehicle control system comprising functional units having an associated unique prime number label, the method comprising: calling each of the functional units, the call comprising a readable andupdateable integer traversal value, and in case the functional unit is operatingcorrectly, updating the traversal value to be the product of the value in the calland the label of the currently called functional unit, and in the case of a fault,not updating the traversal value; deterrnining from the traversal value if any functional units are faulty bya comparison With an expected traversal value, and, in the case that thetraversal value is not equivalent to the expected traversal value, deterrnining Which functional units are faulty by a unique prime factorization algorithm.
    [2] . The method according to claim 1 Wherein the vehicle control system comprises tWo or more functional units.
    [3] . The method according to claim 1 or 2 Wherein the unique prime label is associated according to the ascending sequence of prime numbers starting at the number 2.
    [4] . The method according to any of the preceding claims Wherein faulty units are detected by comparing the traversal value With an expected traversal value, ifthe stored value is not equal to the expected value then the missing prime factor(s) are deterrnined through a unique prime factorization algorithm.
    [5] . The method according to any of the proceeding claims Wherein the method further comprises accessing a list, the list associating a descriptor of afunctional unit to a unique prime number label, to determine the descriptor of any faulty functional units.
    [6] . The method according to any of the proceeding claims Wherein the vehicle control system further comprises subsystems being associated With vehiclehardware, Wherein the subsystems comprise the functional units, the method 150227 I:PatrawinTEMPAJ~P129470002*application.2015022701331114755.docx 13 further comprising associating the functional units With the comprising subsystem.
    [7] 7. The method according to any of the preceding claims Wherein a functional unitsubset is selected from the functional units comprised in the vehicle controlsystem, and Wherein the expected traversal value of the functional unit subsetis the product of the unique prime number label of each of the functional units comprised in the functional unit subset.
    [8] 8. A controller for detecting faults in a vehicle control system comprisingfunctional units, Wherein each of the functional units of the vehicle controlsystem are assigned a unique prime number from the ascending sequence ofprime numbers starting at 2;the controller for detecting faults comprising: a means of calling the functional units Wherein the call to the functionalunit comprises, a readable and updateable integer traversal value, a means of, in case the functional unit is operating correctly, updating thetraversal value to be the product of the value in the call and the label of thecurrently called functional unit, and in the case of a fault, not updating thetraversal value; a processing unit programmed to determine Which if any of the functional units are faulty by a unique prime factorization algorithm
    [9] 9. The controller according to claim 7 Wherein the processing unit is programmedto detect any faulty functional units by comparing the traversal value stored inthe detection signal With an expected traversal value, if the stored traversalvalue is not equal to the expected traversal value then the missing prime factor(s) are deterrnined through a unique prime factorization algorithm.
    [10] 10. A method for providing at least one functional unit, Wherein the methodcomprises assigning a unique prime label to a functional unit, and Wherein theunique prime label is assigned from the ascending sequence of prime numbers starting at the number 2. 150227 I:PatrawinTEMPAJ~Pl29470002*application.20l502270l33lll4755.docx 14
    [11] ll. A system coniprising a hardware component of a vehicle being associated With one or more functional units and a controller according to claini 7 to 8.
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
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