Control system for a vehicle
The present disclosure relates to a control system for selectively controlling a vehicle, ensuring high integrity of decisions taken by the control system when controlling the vehicle. The present disclosure also relates to a corresponding computer implemented method and to a computer program product.
1 . A control system for selectively controlling operation of a vehicle, wherein the control system comprises:
an electronic control unit (ECU) comprising:
a first control module configured to control the vehicle within a first operational range,
a second control module configured to control the vehicle within a second operational range, the second control module redundant to, separate from, and executed in parallel to the first control module the first operational range being a subset of the second operational range, and
a monitoring module configured to select between the first control module and the second control module by:
comparing operation of the vehicle with the first operational range,
selecting the first control module at the exclusion of the second control module to control the vehicle if the vehicle is operated within the first operational range, and
selecting the second control module at the exclusion of the first control module to control the vehicle if the vehicle is operated outside of the first operational range.
2 . The control system of claim 1 , wherein the second control module is only selected if the vehicle is operated inside of the second operational range.
3 . The control system of claim 1 , wherein the first and the second control modules are adapted to generate corresponding first and second operational parameters for controlling the vehicle based on a desired operation of the vehicle.
4 . The control system of claim 3 , wherein the monitoring module selects the first or the second operational parameter for controlling the vehicle based on the selected control module.
5 . The control system of claim 1 , wherein the first and the second operational ranges define at least one of a distance range, a velocity range, an acceleration range, a heading, and/or a yaw rate.
6 . The control system of claim 1 , wherein:
the first control module is further configured to receive data from a first sensor located with the vehicle for controlling the vehicle,
the second control module is further configured to receive data from a second sensor located with the vehicle for controlling the vehicle, and
the first and the second sensors are communicably connected to the ECU.
7 . The control system of claim 6 , wherein the first and the second sensors are the same sensor.
8 . The control system of claim 6 , wherein the first sensor is different from the second sensor.
9 . The control system of claim 6 , further comprising at least one of the first and the second sensor.
10 . The control system of claim 6 , wherein at least one of the first and the second sensors are one of a radar, a LiDAR sensor, an ultrasonic sensor, or a camera.
11 . A vehicle comprising the control system of claim 1 .
12 . The vehicle of claim 11 , wherein the vehicle is a truck, a bus, a car, or a working machine.
13 . The vehicle of claim 11 , wherein at least one of a first and a second sensor is located with the vehicle.
14 . A computer implemented method for selectively controlling operation of a vehicle using a control system, wherein the control system comprises:
an electronic control unit (ECU) comprising:
a first control module configured to control the vehicle within a first operational range,
a second control module configured to control the vehicle within a second operational range, the second control module redundant to, separate from, and executed in parallel to the first control module, the first operational range being a subset of the second operational range and
a monitoring module adapted to monitor the operation of the vehicle and select between the first control module and the second control module for controlling the vehicle,
the method comprises:
comparing, using the monitoring module, the operation of the vehicle with the first operational range,
selecting, using the monitoring module, the first control module over the second control module to control the vehicle if the vehicle is operated within the first operational range, and
selecting, using the monitoring module, the second control module over the first control module to control the vehicle if the vehicle is operated outside of the first operational range.
15 . The method of claim 14 , wherein the second control module is only selected if the vehicle is operated inside of the second operational range.
16 . The method of claim 14 , wherein the first and the second control modules are adapted to generate corresponding first and second operational parameters, and the method further comprises the step of:
controlling the vehicle using the first or the second operational parameters based on the selected control module.
17 . The method of claim 14 , wherein the first and the second operational ranges define at least one of a distance range, a velocity range, an acceleration range, a heading, or a yaw rate.