초록 ▼

A circuit for controlling an acceleration, braking and steering system of a vehicle having at least two separate motors for actuating the acceleration and braking system, at least two separate motors for actuating the steering system and at least one electronic control unit for controlling the motor

A circuit for controlling an acceleration, braking and steering system of a vehicle having at least two separate motors for actuating the acceleration and braking system, at least two separate motors for actuating the steering system and at least one electronic control unit for controlling the motors. The control unit comprises three identical CPUs and one programmable logic component. Each of the CPUs generates control signals for the motors depending on input control signals and sensor signals of the motors and forwards these control signals to the programmable logic component. The programmable logic component, depending on its programming, forwards the control signals of one of the CPUs to the motors.

대표청구항 ▼

1. A circuit for controlling acceleration, braking and steering of a vehicle having at least two separate motors for actuating an acceleration and braking system, at least two separate motors for actuating the steering system and at least one electronic control unit for controlling the at least two

1. A circuit for controlling acceleration, braking and steering of a vehicle having at least two separate motors for actuating an acceleration and braking system, at least two separate motors for actuating the steering system and at least one electronic control unit for controlling the at least two separate motors for actuating the acceleration and braking system and the at least two separate motors for actuating the steering system, the at least one control unit comprising three identical CPUs; anda programmable logic component;wherein each of the three identical computer processing units (CPUs) generates control signals for the at least two separate acceleration and braking system motors and at least two steering system motors depending on input control signals and on sensor signals of the at least two separate acceleration and braking system motors and the at least two steering system motors, forwards the generated control signals to each other of the three identical CPUs, compares the generated control signals received from the each other of the three identical CPUs with the generated control signals and, forwards the generated control signals and the CPU compare results to the programmable logic component; andwherein the programmable logic component is programmed to process the generated control signals and the CPU compare results generated by the three identical CPUs, select one of the three identical CPUs determined to be most trustworthy based on the processing and forwards the control signals of the selected CPU to the at least two separate acceleration and braking system motors and the at least two steering system motors thereby ensuring secured control of the acceleration and braking and the steering system. 2. The circuit according to claim 1, wherein the programmable logic component is a complex programmable logic device (CPLD). 3. The circuit according to claim 1, wherein the input control signals are generated by control elements of the acceleration and braking system and the steering system and by the position sensors of the at least two separate acceleration and braking system motors and the at least two steering system motors. 4. The circuit according to claim 3, wherein the control elements are one or more of joysticks, steering wheels, and pedals. 5. The circuit according to claim 1, wherein the sensor signals are generated by current measuring devices, temperature sensors on each of the at least two separate acceleration and braking system motors and the at least two steering system motors. 6. The circuit according to claim 1, wherein H-bridge circuits of the at least two separate acceleration and braking system motors and the at least two steering system motors are controlled by control signals forwarded by the logic component. 7. The circuit according to claim 1, wherein the at least two separate motors of the acceleration and braking system and the at least two separate motors of the steering system drive a common shaft, respectively. 8. A method for controlling an acceleration and braking system and, a steering system of a vehicle having at least two separate motors for actuating the acceleration and braking system, at least two separate motors for actuating the steering system, and at least one electronic control unit having three computer processing units (CPUs) and one programmable logic component, the method comprising the steps of: receiving, in the at least one electronic control unit, input signals from control elements in or on the vehicle for the acceleration and braking system and from position sensors on the at least two separate acceleration and braking system motors and on the at least two steering system motors;evaluating input control signals by each the three CPUs,generating by each of the three CPUs generated control signals for the at least two separate acceleration and braking system motors and the at least two steering system motors on the basis of the input control signals and sensor signals of the motors;each of the three CPUs forwarding the generated control signals to each other of the three CPUs and comparing the generated control signals received by the each other of the three CPUs with the generated control signals of the each of the three CPUs to generate CPU compare results; andthe logic component processing the generated control signals and the CPU compare results of the three CPUs to one another and, depending on the logic component programming, determining one of the three CPUs to be most trustworthy and forwarding the generated control signals of the one of the three CPUs determined to be most trustworthy to the at least two separate acceleration and braking system motors and the at least two steering system motors thereby ensuring secured control of the acceleration and braking system and the steering system. 9. The method according to claim 8, wherein the logic component forwards the generated control signals of the one of the three CPUs because the logic component has determined that the one of the three CPUs, in the comparison of the generated control signals by the one of the CPUs with the control signals generated by the other of the three CPUs is most trustworthy.