Sensor system for independently evaluating the integrity of the data of the sensor system

Patent metadata

Field	Value
Publication number	US-11255676-B2
Application number	US-201214353850-A
Country	US
Kind code	B2
Filing date	Oct 24, 2012
Priority date	Oct 24, 2011
Publication date	Feb 22, 2022
Grant date	Feb 22, 2022

Abstract

A sensor system, having sensor elements for sensing at least to some extent different primary measured variables or use different measurement principles. A signal processing device evaluates the sensor signals from the sensor elements at least to some extent collectively and rates the information quality of the sensor signals. The signal processing device further provides a piece of information about the consistency of at least one datum of a physical variable, wherein this datum of the physical variable is calculated, at least to some extent, on the basis of the sensor signals from sensor elements that sense this physical variable directly or from the sensor signals from which it is possible to calculate this physical variable. The information about the consistency of this datum of this physical variable is calculated at least on the basis of the directly or indirectly redundantly present sensor information.

First claim

The invention claimed is:

1. A sensor system arranged within a vehicle and comprising:
a plurality of sensors including different sensors configured to sense different primary physical variables or use different measurement principles;
wherein the plurality of sensors include at least two of the following different sensors:
an inertial sensor configured to sense a first one of the different primary physical variables in the form of acceleration along a defined axis of the vehicle,
a wheel speed sensor configured to sense a second one of the different primary physical variables in the form of a wheel speed of a wheel in a direction of rotation of the associated wheel of the vehicle,
a steering angle sensor configured to sense a third one of the different primary physical variables in the form of a steering angle of the vehicle, or
a satellite navigation system configured to sense or provide a fourth one of the different primary physical variables in the form of distance data between an associated satellite and the vehicle or a variable that is dependent on the distance data and also in the form of speed information between the associated satellite and the vehicle or a variable that is dependent on the speed information;

a signal processing device comprising a fusion filter which is configured to evaluate sensor output signals from the sensors collectively and rate the information quality of the sensor output signals;
wherein at least one datum of a physical variable is calculated, on the basis of the sensor output signals from the plurality of sensors that sense a selected one physical variable of the different primary physical variables directly or from the sensor output signals from which it is possible to calculate the selected one physical variable;
the signal processing device further configured to provide a confidence information of the at least one datum of the physical variable;
wherein the confidence information of the at least one datum of the physical variable is calculated at least on the basis of the directly or indirectly redundantly present sensor information; and
wherein the signal processing device is configured to provide a first confidence measure as first confidence information, based on a degree of a match between the data or measured values and uncertainties thereof from at least two sensor output signals or data from the plurality of sensors weighted against one another on the basis of which the at least one datum of the physical variable is calculated, as the confidence information for the at least one datum of the physical variable;
wherein the degree of the match is for the same selected one physical variable that is determined from more than one of the different types of sensors.

2. The sensor system as claimed in claim 1 , wherein the signal processing device has a fusion filter that provides a defined fusion data record in the course of the evaluation of at least the sensor signals or signals derived from the sensor elements, wherein the fusion data record includes at least one physical variable, a datum of the physical variable and a confidence information of the datum of the physical variable.

3. The sensor system as claimed in claim 1 , wherein the signal processing device is configured such that the defined fusion data record additionally has at least one status datum of a sensor element which the sensor element provides itself by means of self-diagnosis, wherein the status datum is taken into account during the calculation of the confidence information of at least one datum of a physical variable.

4. The sensor system as claimed in claim 1 , wherein the signal processing device is configured to use a physical value or a piece of measurement information or a value derived from a piece of measurement information and an uncertainty measure for a sensor output signal or data from of sensor of the plurality of sensors, respectively, for the sensor output signals or data from the plurality of sensors in order to calculate the first confidence information.

5. The sensor system as claimed in claim 1 , wherein the signal processing device is configured such that for the at least one datum of a physical variable, defined as x, the associated first confidence information is calculated as the first confidence measure Kr with

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Assignees

• Continental Teves Ag & Co Ohg
• Continental Teves Ag & Co Ogh

Inventors

• Steinhardt Nico
• Winner Hermann

Classifications

• B60R16/02

  electric {constitutive elements} · CPC title

• G01S19/49 Primary

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title

• G06F17/18

  for evaluating statistical data {, e.g. average values, frequency distributions, probability functions, regression analysis (forecasting specially adapted for a specific administrative, business or logistic context G06Q10/04)} · CPC title

• G01D1/00

  Measuring arrangements giving results other than momentary value of variable, of general application (G01D3/00 takes precedence; in tariff metering apparatus G01D4/00; transducers not specially adapted for a specific variable G01D5/00) · CPC title

• G01S19/47

  the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial · CPC title