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WO2023094448A1 - Vehicle system and vehicle, in particular for generating operating parameters - Google Patents

Vehicle system and vehicle, in particular for generating operating parameters Download PDF

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Publication number
WO2023094448A1
WO2023094448A1 PCT/EP2022/082979 EP2022082979W WO2023094448A1 WO 2023094448 A1 WO2023094448 A1 WO 2023094448A1 EP 2022082979 W EP2022082979 W EP 2022082979W WO 2023094448 A1 WO2023094448 A1 WO 2023094448A1
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WO
WIPO (PCT)
Prior art keywords
time
vehicle
control unit
critical
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2022/082979
Other languages
German (de)
French (fr)
Inventor
Mohammad Alsharif
Istvan Hegedüs-Bite
Hubert Bichelmeier
Bastian Hubracht
Gowtham Perumalsamy
Ilker Bagci
Timm Muntel
Shruthi Reddy Morsu
Venkateswarlu Nadendla
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of WO2023094448A1 publication Critical patent/WO2023094448A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/46—Interconnection of networks
    • H04L12/4604—LAN interconnection over a backbone network, e.g. Internet, Frame Relay
    • H04L12/462—LAN interconnection over a bridge based backbone
    • H04L12/4625—Single bridge functionality, e.g. connection of two networks over a single bridge
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B3/00—Line transmission systems
    • H04B3/54—Systems for transmission via power distribution lines
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle

Definitions

  • Vehicle vstem and vehicle in particular for generating operating parameters
  • the invention relates to a vehicle system, in particular for generating operating parameters for a vehicle.
  • the invention also relates to a vehicle.
  • Processing the sensor signals directly in the control units has disadvantages, especially with regard to a complex wiring harness and redundant processing in the control units and the associated computing times.
  • high computing power is required, which also leads to higher costs due to the larger number of processors.
  • the complexity also increases due to the necessary interface layers and the increased need for cables.
  • the wiring harness models for the entire system become very unwieldy and inefficient when implementing such architectures.
  • the complex wiring system directly leads to problems such as high cost, installation difficulty, difficulty in troubleshooting, and wasted energy due to added weight.
  • DE 102012211041A1 discloses a driver assistance system of a vehicle in which at least one control unit processes various sensor data and generates driving aids for a driver, with at least one mobile device being connected to the extended driver assistance system via an interface of the extended driver assistance system, with one or more sensors of the mobile device being integrated into the mobile device via the interface and the sensors of these sensors of the device being connected to the control unit is transmitted and processed by the control unit and/or sensor data is transmitted from the control unit to the mobile device for processing by the mobile device.
  • a vehicle system with multiple onboard sensors for generating onboard sensor signals and multiple onboard actuators, wherein the multiple sensors are divided into time-critical sensors and time-non-critical sensors and the actuators are divided into time-critical actuators and time-non-critical actuators, further with at least one sensor control unit and at least one sensor domain, wherein the sensor control unit and the at least one sensor domain are adapted to receive and the on-board sensor signals to generate sensor data by evaluating and processing the vehicle's internal sensor signals, and wherein the time-critical sensors are connected directly to the at least one sensor control unit and to the at least one sensor domain for determining time-critical sensor data, wherein at least one vehicle control unit and at least one vehicle domain are also provided, and wherein the at least one vehicle control unit and the at least one vehicle domain are designed to generate operating parameters for controlling time-critical actuators by evaluating and processing at least sensor data, and wherein at least one non-time-critical control unit is provided, which is directly connected to the non-time-critical sensors and non-time-critical
  • Vehicle-internal sensor signals are signals that on the one hand detect signals in the vehicle or on the vehicle itself, for example unusual squeaking noises, abrasion noises, etc., but also signals that affect the environment, such as the environment as environmental data for object detection, obstacle detection, lane detection, etc.
  • the at least one time-sensitive control unit is a control unit intended for non-time-critical host functionalities and is connected to all appropriate sensors and actuators required to fulfill these functionalities. These functionalities are not sensitive to time delays or latencies and are not safety-related functions or safety-related sensors. Foot sensors for the trunk opening, rain sensors, window regulator sensors, tire pressure sensors, oil level sensors, radio sensors, etc .
  • the detection of rain via the rain sensor with 0.1 outputs and the automatic switching on of the windscreen wipers is a time-critical function that has no safety-critical effect due to small time delays and latencies.
  • Time-critical sensors include, for example, sensors for triggering the airbags, CA sensors, especially front cameras, steering sensors and the actuators for adjusting the steering wheel.
  • the time-critical sensors and functionalities or actuators are coupled to and managed by the time-critical control unit.
  • Dependent The time-critical control unit can decide on the forwarding of time-critical sensor signals based on the utilization of the sensor module(s) and, if applicable, the vehicle module(s).
  • the PLC conversion allows time-uncritical data to be simulated as a data signal on the power line and thus transmitted bidirectionally to and from the control unit, e.g. for evaluation or for delayed forwarding.
  • This transmission saves complex cable harnesses and thus reduces weight and costs.
  • critical SENS data can only be evaluated in the sensor control unit (sensor domain) and then simultaneously to the sensor control unit (sensor control unit) or via only one load of the high-speed data transmission connection to the sensor control unit (sensor control unit).
  • time-critical sensor data is required to generate operating parameters for time-critical actuators, these can be transmitted from the distributor gateway to the vehicle control unit and/or simultaneously to the vehicle domain if necessary.
  • the distribution of the high-speed data and, if applicable, the non-critical data is taken over by the distribution gateway quick control by the elements controlled by the vehicle control unit and the vehicle domain, such as a brake.
  • the common distribution gateway efficient management of large volumes such as those generated by the sensor control unit/sensor domain and possibly the time-critical control unit and possibly the vehicle control unit and vehicle domain, such as those that occur in the autonomous driving vehicle, is possible.
  • Such a common distribution gateway ensures that the data transmitted and used is up-to-date.
  • Such a common distribution gateway can also be protected against hacker attacks with special algorithms and hardware.
  • the at least one time-critical control unit is designed to carry out a controlled delayed transmission of at least the time-uncritical sensor data and/or time-critical actuator data generated by the time-critical sensors and/or time-uncritical actuators to the distributor gateway as high-speed data, with the controlled delayed continuation of at least one current workload depending on the receipt of the data, the at least one sensor control unit and/or the at least one sensor control unit and/or the at least one vehicle control unit and/or the at least one vehicle domain.
  • This constellation ensures that security-critical data is processed first.
  • the at least one time-uncritical control unit is designed to transmit the time-uncritical sensor data for corresponding time-uncritical actuators to evaluate and generate non-time-critical operating parameters based on the minimum evaluated sensor data and to specify the time-critical operating parameters for the corresponding non-time-critical actuators via the PLC interface for processing.
  • non-time-critical sensor data are transmitted via the corresponding PLC interfaces to the time-critical control unit and its evaluation/control command to the corresponding actuators. This relieves the high-speed data transmission network.
  • the electrical power lines can be designed as DC power supply lines.
  • the DC-DC bus In contrast to traditional AC communication, the DC-DC bus has predictable noise and impedance characteristics that enable high bandwidth.
  • simple and inexpensive logging is possible using PLC.
  • the at least one time-uncritical control unit can be designed to evaluate the time-uncritical sensor data and to transform the evaluation as high-speed data and, if necessary, to the distributor gateway as high-speed data for use for at least one vehicle domain and/or for at least one vehicle control unit and/or for at least one sensor domain and/or for at least one sensor control unit, or for evaluation upon request by the at least one vehicle domain and/or by at least one vehicle control unit and/or by the at least one sensor control unit and/or by the at least one sensor domain and data for use in at least one vehicle domain and/or at least one vehicle control unit and/or at least one sensor domain and/or at least one sensor control unit.
  • the sensor control unit or the sensor domain can be relieved of an evaluation.
  • the at least one vehicle domain may be subordinate to the at least one vehicle controller and the at least one sensor domain may be subordinate to the at least one sensor controller.
  • the vehicle control system preferably dominates and coordinates the multiple vehicle domains as a higher-level system. These vehicle domains can also be referred to as functional zone control units. Such vehicle domains are subordinate to the vehicle control system ADAS -Functional systems (driver assistance systems).
  • the vehicle domains can set one or more functions or one or more actuators.
  • the vehicle control system is designed as a master.
  • the vehicle control system can generate operating parameters for controlling the vehicle, e.g.
  • the at least one sensor control unit is designed as a higher-level system designed to dominate and coordinate the sensor domains.
  • the at least one vehicle domain may be configured for bi-directional communication with the at least one vehicle control unit via the distribution gateway via the at least one high-speed data transmission link and the at least one sensor control unit for bi-directional communication with the at least one sensor domain via the distribution gateway via the at least one high-speed data connection.
  • the existing high-speed data transmission connection is also used for communication between the sensor-related modules and the vehicle-related modules.
  • one or more high-speed data transmission links can be provided for transmitting the time-critical sensor signals to the at least one sensor control unit and/or the at least one sensor domain.
  • the at least one high-speed data transmission connection is designed as a bus connection. This enables fast data transmission.
  • the at least one high-speed data transmission connection can preferably be designed as an Ethernet bus, CAN bus, A/C link or FlexRay bus. These are particularly suitable in vehicles with limited space.
  • the Panel Display Link (FPD Link) bus can be particularly suitable for the transmission of sensor images.
  • multiple high-speed data transmission links can be provided between the distribution gateway and the at least one vehicle domain and the at least one vehicle control unit and the at least one sensor domain and the at least one sensor control unit and the at least one time-related control unit.
  • the distribution gateway can preferably be designed as a control unit. This can have rules and algorithms for the targeted distribution of the data.
  • the distribution gateway can have multiple rules or algorithms for distributing the high-speed data to the at least one vehicle domain and/or the at least one vehicle control unit and/or the at least one sensor domain and/or the at least one sensor control unit and/or the at least one time-non-critical control unit.
  • the distribution gateway can have rules for when this data is to be transmitted to the at least one time-non-critical control unit.
  • the distributor gateway can have emergency data for transmission to the at least one vehicle domain and/or the at least one vehicle control unit Controls of the critical actuators are sent to the vehicle control unit. This increases operational safety, especially in the case of an autonomously driving vehicle.
  • the at least one vehicle control unit and the at least one vehicle domain can be designed to generate operating parameters for controlling critical actuators on the basis of the transmitted time-critical and possibly time-uncritical sensor data, and the at least one vehicle control unit and the at least one vehicle domain to transmit operating parameters connected directly to the time-critical actuators, and where one or more high-speed data transmission links are provided for transmitting the operating parameters to the corresponding critical actuators.
  • the fast, high-speed data transmission link enables fast transmission and control.
  • the task is solved by a vehicle with a vehicle system as described above, wherein the vehicle is designed as an autonomously driving vehicle.
  • the system is particularly suitable for an autonomously driving vehicle, since many sensors have to be installed here.
  • the vehicle can be an electric vehicle.
  • FIG 1 A control unit according to the prior art
  • FIG 2 a first embodiment of a vehicle system according to the invention
  • FIG 3 a second embodiment of a vehicle system according to the invention.
  • the vehicle system 100 has a control unit (ECU) 101.
  • the vehicle system 100 also has a number of sensors 102a, 102b, 102c.
  • the sensors 102a, 102b, 102c generate sensor signals, for example from vehicle-internal components or as an image of the surroundings, for example by a camera by recording an image of the surroundings.
  • the sensor signals are recorded and transmitted to the control units 101, 101a.
  • the respective control unit 101, 101a combines the sensor signals and processes them separately in order to generate operating parameters.
  • control unit 101, 101a If there are several control units 101, 101a, the relevant sensor signals are combined and evaluated in each control unit 101, 101a.
  • FIG.2 shows a vehicle system 1 according to the invention.
  • the vehicle system 1 has a number of sensors for generating sensor signals.
  • the sensors measure and record a large variety of measured variables and convert the measurement results into electrical signals.
  • the sensors are in time-critical sensors 2a,...,2n, such as wheel speed sensors for detecting the wheel speeds, pressure sensors for detecting the brake pressure, Temperature sensors for detecting the cooling water temperature, camshaft sensors, brake wear sensors.
  • Time-critical sensors 3a,...3n are sensors that are sensitive to a time-delayed detection or evaluation, or sensors that are not required for a time-critical system ,Rain sensors,window sensors,tire pressure sensors,oil level sensors,etc.
  • At least one sensor control unit 4 and at least one sensor error 13 are provided.
  • the time-critical sensors 2a,..., 2n are directly connected to the at least one sensor control unit 4 and the at least one sensor domain 13 via one or more high-speed data transmission connections in order to transmit the time-critical sensor signals directly to the sensor control unit 4 and/or the sensor control unit 13.
  • a high-speed data transmission connection can be a bus system, for example a CAN bus system oran Ethernet bus system.
  • sensor control unit 4 can be designed to control and dominate one or more sensor domains 13.
  • the time-critical sensor control unit 4 and the sensor domain 13 are designed to convert the time-critical sensor signals into time-critical conditioned sensor data that are required for controlling the vehicle.
  • a distribution gateway 10 is also present
  • the distribution gateway 10 is designed for distributing the incoming data have a controller/algorithms or an evaluation unit, but does not need to have a control unit etc.
  • the sensor data processed by the time-critical sensor control unit 4 is transmitted directly from the time-critical sensor control unit 4 to the transmission gateway 10 via the bidirectional high-speed data transmission link.
  • the sensors processed by the time-sensitive sensor domain 13 are transmitted directly from the sensor domain 13 to the distribution gateway 10 via the bi-directional high-speed data transmission link.
  • a time-critical vehicle control unit 5 and at least one vehicle domain 15 are provided for forming operating parameters for controlling individual vehicle components and their vehicle functions.
  • the time-critical vehicle control unit 5 and the at least one time-critical vehicle domain 15 are connected bidirectionally via one or more high-speed data transmission connections directly to the distribution gateway 10, for example for directly receiving the data distributed by the distribution gateway 10, such as the time-critical sensor data requirements or, for example, the time-critical sensor data.
  • the data transmission connection can be a bus system, for example a CAN bus system or an Ethernet bus system.
  • time-critical vehicle control unit 5 and the at least one vehicle domain 15 are connected to various time-critical actuators 6a,...,6n and time-critical subsystems 7a,...,7n via a high-speed data transmission link for direct and rapid transmission of currently critical operating standard counters and control parameters, 6a, etc. tied together.
  • Multiple vehicle domains 15 can also be provided, with the time-critical vehicle control unit 5 being designed to control and dominate the one or more vehicle domains 15.
  • the vehicle system 1 has at least one non-time-critical control unit 8, which is also connected to the distribution gateway 10 via a high-speed data link.
  • time-critical control unit 8 has a PLC (PowerLine Communication) interface 12 for bidirectional data transmission via PLC, i.e. for transmitting data via electrical lines.
  • PLC PowerLine Communication
  • the electrical power lines are preferably designed as DC lines.
  • the DC-DC bus has predictable noise and impedance properties that enable a high bandwidth.
  • time-critical sensors 3a,...3n are provided, which generate time-critical sensor signals and each have a PLC interface and are bidirectionally connected to the time-critical control unit 8 via the PLC (PowerLine Communication) interface 12 via the PLC data transmission connection.
  • PLC PowerLine Communication
  • time-critical actuators 9a,...,9n and time-critical subsystems 11a,...,11n are provided, which also each have a PLC interface and are also connected to the time-critical control unit 8 via the PLC data transmission connection via the PLC (power-line communicationj interface 12.
  • time-critical control unit 8 is for recording time-critical
  • Sensors 3a,...3n and their non-time-critical sensor signals designed, for example, for the time-critical actuators 9a,...,9n and time-critical Subsystems 11a, ..., 11n are intended to time-critical operating parameters or to evaluate and generate time-critical sensor data and to generate this as PLC data via the PCL connection to the non-time-critical actuators 9a,...,9n and time-critical subsystems 11a,...,11.
  • time-uncritical control unit 8 has a
  • High-speed data interface 14 which is designed to transmit specific PLC data that is transmitted, for example, by the time-uncritical sensors 3a,...
  • the transmission takes place depending on the utilization of the high-speed data transmission connection and/or depending on the recipient, such as the sensor control unit 4 and/or vehicle control unit 5 and/or vehicle domain 15 and/or sensor domain 13, or depending on the flexibility or even the urgency of the gateway 10.
  • the queue for time-sensitive data which is designed as a time-sensitive control unit 8, can relieve the entire communication in the entire vehicle system 1.
  • this architecture facilitates the addition of time-critical sensors to an already existing vehicle system 1, where currently critical (non-time-critical) sensor is only connected to the time-critical control unit 8.
  • the time-critical control unit 8 Through the independent evaluation of the non-time-critical sensor signals of the time-critical sensors 3a,...,3n by the time-critical control unit 8 as operating parameters for the time-critical actuators 9a,...,9n/time-non-critical subsystems 11a,...,11n and the transmission as high-speed transmission load data that Furthermore, the entire wiring harness required can be reduced, as the time-critical and time-critical data do not have to be transmitted synchronously/in parallel, but only as PLC data, for example depending on the load or during transmission between time-critical sensors 3a,...3n and time-critical actuators 9a,...,9n.
  • non-time-critical sensor signals i.e. the non-time-critical sensor data
  • the non-time-critical sensor data can be transformed into high-speed data and transmitted to the distribution gateway 10 as high-speed data.
  • This time-critical sensor data is transmitted from the time-critical sensor control unit 4 or the time-critical sensor domain 13 to the distributor gateway 10 and from there, for example, to the time-critical vehicle control unit 5 or the vehicle domain 15 as high-speed data.
  • the time-critical vehicle control unit 5 or the vehicle domain 15 generates time-critical operating parameters from the received time-critical sensors and transmits these directly to the time-critical actuators 6a,...,6n and the time-critical subsystems 7a,...,7n. Furthermore, the distribution gateway 10 can transmit the time-critical sensor data and the time-related operating parameters to the time-critical control unit 8 if required.
  • the time-critical sensor control unit 4/SENS 13 and the time-critical vehicle control unit 5/vehicle domain 15 become
  • Requests/information queries regarding the time-critical sensors 3a,...3n/time-uncritical actuators 9a,...,9n are sent via the distribution gateway 10 as a distributor to the time-critical control unit 8.
  • the communication or control of the sensor control unit 4/sensor domain 13 with each other and the time-critical vehicle control unit 5/vehicle domain 15 with each other also takes place as a data distributor via the
  • FIG. 3 shows a further embodiment of the vehicle system 1a according to the invention.
  • the vehicle system 1a has the time-critical sensors 2a,...,2n, and the time-related sensors 3a,...,3n.
  • the vehicle system 1a has the sensor control unit 4 and the at least one sensor domain 13, which is directly connected to the time-critical sensors 2a,...,2n for data transmission via a high-speed data transmission connection. There can also be several sensor domains.
  • the vehicle system 1a also has the time-critical vehicle control unit 5 and at least one vehicle domain 15. Furthermore, the vehicle system 1a has the distribution gateway 10 .
  • the sensor control unit 4, the sensor domain 13, the time-critical vehicle control unit 5 and the at least one vehicle domain 15 are connected to the distribution gateway 10 via, for example, two high-speed buses for rapid redundant or separate transmission of data (signals, evaluations, etc.).
  • time-critical control unit 8 is provided, which is also connected to the distribution gateway 10 for bidirectional data transmission via, for example, two high-speed buses, here the Ethernet bus 17b and the CAN bus 16b.
  • the dispatch gateway 10 can have several rules or algorithms for increasing the high-speed data to the at least one vehicle domain 15 and/or the at least one vehicle control unit 5 and/or the at least one sensor control unit 13 and/or the at least one sensor control unit 4 and the at least one time-critical control unit 8.
  • the distributor gateway 10 can have emergency data for transmitting this emergency data to the at least one vehicle domain 15 and/or to the at least one vehicle control unit 5 in the event of a disrupted high-speed connection with the at least one sensor domain 13 and/or the at least one sensor control unit 4. This increases operational safety, particularly in the case of an autonomously driving vehicle.
  • Vehicle control unit a For example, a,6n Time-critical actuators a,...,7n Time-critical subsystems Time-critical control unita,...,9n Time-critical actuators 0 Distribution gateway 1a,...,11n Time-critical subsystems 2 PLC(PowerLine CommunicationJ interface3 Sensor domain 4 High-speed data interface5 Vehicle domain 6,16a, 16b CAN bus, 17a, 17b Ethernet bus

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)

Abstract

The invention relates to a vehicle system comprising at least one vehicle control unit (5), at least one vehicle domain (15), at least one sensor domain (13), at least one sensor control unit (4), a time-critical control unit (8) and a high-speed data transmission connection as well as distributor data for the distribution gateway (10). The invention also relates to a vehicle.

Description

Fahrzeugsvstem und Fahrzeug,insbesonderezurErzeugungvon Betriebsparametern Vehicle vstem and vehicle, in particular for generating operating parameters

Die Erfindung betriffteinFahrzeugsystem,insbesonderezurErzeugungvon Betriebsparameternfürein Fahrzeug.Fernerbetrifftdie Erfindungein Fahrzeug. The invention relates to a vehicle system, in particular for generating operating parameters for a vehicle. The invention also relates to a vehicle.

InderheutigenWeltsindalle Sensordatenverarbeitungenund -funktioneneiner einzigenSteuereinheitodermehrerenSteuereinheitenzugeordnet.DieVerarbeitung derSensordaten istmitFunktionalitätenverknüpftund befindetsichinder Steuereinheit,die eng voneinanderabhängigsind.Die Sensorsignalewerdendaher direktdurchdie Steuereinheitverarbeitet. In today's world, all sensor data processing and functions are assigned to a single control unit or multiple control units. The processing of the sensor data is linked to functionalities and is located in the control unit, which are closely dependent on each other.

DieVerarbeitungderSensorsignaledirektindenSteuereinheiten bringtNachteile mit sich,vorallem im HinblickaufeinenaufwändigenKabelbaum sowie redundante Verarbeitung indenSteuereinheiten unddie damiteinhergehenden Rechenzeiten. Außerdem isteine hohe Rechenleistung erforderlich,dieaufgrund dergrößeren Anzahlvon Prozessorenauchzu höheren Kostenführt.Fernersteigtdie Komplexität durchdie notwendigenSchnittstellenschichtenunddenerhöhten Bedarfan Kabeln. Processing the sensor signals directly in the control units has disadvantages, especially with regard to a complex wiring harness and redundant processing in the control units and the associated computing times. In addition, high computing power is required, which also leads to higher costs due to the larger number of processors. The complexity also increases due to the necessary interface layers and the increased need for cables.

Die Kabelbaummodellefürdasgesamte System werdenbeiderImplementierung solcherArchitekturensehrunhandlich und ineffizient.Daskomplexe Verkabelungssystem führtunmittelbarzu Problemenwie hohen Kosten, Installationsschwierigkeiten,SchwierigkeitenbeiderFehlersuche und EnergieverschwendungdurchzusätzlichesGewicht. The wiring harness models for the entire system become very unwieldy and inefficient when implementing such architectures. The complex wiring system directly leads to problems such as high cost, installation difficulty, difficulty in troubleshooting, and wasted energy due to added weight.

Insbesondere beielektrisch betriebenen und/oderautonom fahrenden Fahrzeugen sind dieAnforderungenaneinzuverlässigesKommunikationssystem ineiner Fahrzeugumgebung hoch,vorallem im HinblickaufdenDatenaustausch,derfürdie kritischerenSystemewie die SteuerungderelektrischenAktuatorenerforderlichist. DE 102012211041A1offenbart ein Fahrerassistenzsystem einesFahrzeugs,bei dem mitmindestenseinerSteuereinheitverschiedeneSensordatenverarbeitetund Fahrhilfenfüreinen Fahrererzeugtwerden,wobeimindestenseine Mobilvorrichtung übereine Schnittstelle deserweitertenFahrerassistenzsystemsmitdem erweiterten Fahrerassistenzsystem verbundenist,wobeieinodermehrereSensorender Mobilvorrichtung überdie Schnittstelle indasFahrerassistenzsystem eingebunden sind unddie SensorendieserSensorenderMobilvorrichtungandieSteuereinheit übertragenund durchdie Steuereinheitverarbeitetwerdenund/oderSensordaten ausderSteuereinheitandie Mobilvorrichtungzum Verarbeitendurchdie Mobilvorrichtung übertragenwerden. In the case of electrically operated and/or autonomously driving vehicles in particular, the requirements for a reliable communication system in a vehicle environment are high, especially with regard to the data exchange that is required for the more critical systems such as the control of the electrical actuators. DE 102012211041A1 discloses a driver assistance system of a vehicle in which at least one control unit processes various sensor data and generates driving aids for a driver, with at least one mobile device being connected to the extended driver assistance system via an interface of the extended driver assistance system, with one or more sensors of the mobile device being integrated into the mobile device via the interface and the sensors of these sensors of the device being connected to the control unit is transmitted and processed by the control unit and/or sensor data is transmitted from the control unit to the mobile device for processing by the mobile device.

Es istdahereinZielderErfindung,einverbessertesFahrzeugsystem und ein verbessertesFahrzeug,insbesonderezum Erzeugenvon Betriebsparameternfürein Fahrzeug,bereitzustellen. It is therefore an object of the invention to provide an improved vehicle system and vehicle, particularly for generating operating parameters for a vehicle.

DieseAufgabewirddurchein Fahrzeugsystem mitden MerkmalendesAnspruchs 1 undeinem Fahrzeug mitden MerkmalendesAnspruchs 15gelöst.Inden Unteransprüchensindweiterevorteilhafte Maßnahmenaufgeführt,die ingeeigneter Weise miteinanderkombiniertwerden können,um weitereVorteilezuerzielen. This object is achieved by a vehicle system having the features of claim 1 and a vehicle having the features of claim 15. Further advantageous measures are listed in the subclaims, which can be combined with one another in a suitable manner in order to achieve further advantages.

DieAufgabewird durchein Fahrzeugsystem mitmehreren bordseitigenSensoren zum ErzeugenvonfahrzeuginternenSensorsignalenund mehrerenbordseitigen Aktuatorengelöst,wobeidie mehrerenSensoreninzeitkritische Sensorenund zeitunkritischeSensorenunddieAktuatoreninzeitkritischeAktuatoren und zeitunkritischeAktuatorenunterteiltsind,fernermitmindestenseiner Sensorsteuereinheitund mindestenseinerSensordomäne,wobeidie Sensorsteuereinheitunddie mindestenseine Sensordomänedazuausgelegtsind, diefahrzeuginternenSensorsignale zuempfangenund durchAuswertenund VerarbeitenderfahrzeuginternenSensorsignale Sensordatenzuerzeugen,und wobeidiezeitkritischenSensorendirektandie mindestenseineSensorsteuereinheit undan die mindestenseine Sensordomänezum Bestimmenzeitkritischer Sensordatenangebundensind,wobeiaußerdem mindestenseine Fahrzeugsteuereinheitund mindestenseine Fahrzeugdomänevorgesehensind,und wobeidie mindestenseine Fahrzeugsteuereinheitunddie mindestenseine Fahrzeugdomänedazuausgelegtsind,durchAuswertenundVerarbeiten mindestensvon Sensordaten Betriebsparameterzum Steuernzeitkritischer Aktuatorenzuerzeugen,undwobeimindestenseine zeitunkritische Steuereinheit vorgesehenist,die direktmitdenzeitunkritischenSensoren und zeitunkritischen Aktuatorenfüreine bidirektionale Datenübertragung verbunden ist,undwobeidie zeitunkritischenSensoren undzeitkritischenAktuatorensowiedie mindestenseine zeitunkritische Steuereinheitjeweilseine PLC(PowerLine Communication)- Schnittstelle aufweisenundfüreine bidirektionale DatenübertragungalsPLC- Datenübertragung überdie PLC(PowerLine Communication)-Schnittstelle ausgelegt sind,wobeieinVerteilergatewayvorgesehen ist,daszurbidirektionalen DatenübertragungsowohlmitdermindestenseinenzeitkritischenSteuereinheitals auchmitdermindestenseinenSensorsteuereinheitund dermindestenseinen Sensordomäne und mitdermindestenseinen Fahrzeugsteuereinheitund mitdem mindestenseinenFahrzeugübertragungsanschlussverbundenist,diejeweilsals Hochgeschwindigkeitsdatenübertragungsverbindungausgelegtsind,undwobeidie mindestenseinezeitkritische Steuereinheiteine Hochgeschwindigkeitsdatenschnitstelleaufweist,undwobeidie mindestenseine zeitunkritische Steuereinheitdazuausgelegtist,diedurchdiezeitunkritischen Sensoren undzeitkritischenAktuatorenübertragenenPLC-Daten beiBedarfmittels HochgeschwindigkeitstransformationderDatenschnittstelle als HochgeschwindigkeitsdatenzuverarbeitenundalsHochgeschwindigkeitsdatenan dasVerteilergatewayzuübertragen,wobeidasVerteilergatewaydazuausgelegtist, DatenalsHochgeschwindigkeitsdatenzwischendermindestenseinen SensorsteuereinheitunddermindestenseinenSensordomäne unddermindestens einenFahrzeugsteuereinheitzum ErzeugenderBetriebsparameterzum Steuernder zeitkritischenAktuatorenunddermindestenseinen Fahrzeugdomänezum Erzeugen von Betriebsparameternzum SteuernderzeitkritischenAktuatoren undzum Steuern derzeitunkritischenAktuatorenzu übertragen. Die Sensoren könnenalsSensoren basierendaufunterschiedlichen Messprinzipien oderalsmehrereSensorenderselbenArt,die im oderam Fahrzeug angeordnetsind, ausgelegtsein. The object is achieved by a vehicle system with multiple onboard sensors for generating onboard sensor signals and multiple onboard actuators, wherein the multiple sensors are divided into time-critical sensors and time-non-critical sensors and the actuators are divided into time-critical actuators and time-non-critical actuators, further with at least one sensor control unit and at least one sensor domain, wherein the sensor control unit and the at least one sensor domain are adapted to receive and the on-board sensor signals to generate sensor data by evaluating and processing the vehicle's internal sensor signals, and wherein the time-critical sensors are connected directly to the at least one sensor control unit and to the at least one sensor domain for determining time-critical sensor data, wherein at least one vehicle control unit and at least one vehicle domain are also provided, and wherein the at least one vehicle control unit and the at least one vehicle domain are designed to generate operating parameters for controlling time-critical actuators by evaluating and processing at least sensor data, and wherein at least one non-time-critical control unit is provided, which is directly connected to the non-time-critical sensors and non-time-critical actuators for bidirectional data transmission, and wherein the non-time-critical sensors and time-critical actuators and the at least one non-time-critical control unit are each one Have a PLC (PowerLine Communication) interface and for bidirectional data transmission as PLC data transmission via the PLC (PowerLine communication) interface, wherein a distributor gateway is provided which is connected for bidirectional data transmission both to the at least one time-critical control unit and to the at least one sensor control unit and the at least one sensor domain and to the at least one vehicle control unit and to the at least one vehicle transmission port, each of which is designed as a high-speed data transmission connection, and wherein the at least one time-critical control unit has a high-speed data interface, and wherein the at least one time-uncritical control unit is designed to process the PLC data transmitted by the time-uncritical sensors and time-critical actuators as high-speed data if necessary by means of high-speed transformation of the data interface and to transmit them as high-speed data to the distributor gateway, wherein the distributor gateway is designed to transmit data as high-speed data between the at least one sensor control unit and the at least one sensor domain and the at least one a vehicle control unit for generating the operating parameters for controlling the time-critical actuators and the at least one vehicle domain for generating operating parameters for controlling the time-critical actuators and for controlling currently non-critical actuators. The sensors can be designed as sensors based on different measurement principles or as several sensors of the same type arranged in or on the vehicle.

Fahrzeuginterne Sensorsignalesind Signale,dieeinerseitsSignale im Fahrzeugoder am Fahrzeug selbsterfassen,beispielsweise ungewöhnlicheQuietschgeräusche, Abriebgeräuscheusw.,aberauchSignale,dieaufdie Umgebung einwirken,wie beispielsweisedie Umgebung alsUmgebungsdatenzurObjekterkennung, Hinderniserkennung,Spurerkennung usw. Vehicle-internal sensor signals are signals that on the one hand detect signals in the vehicle or on the vehicle itself, for example unusual squeaking noises, abrasion noises, etc., but also signals that affect the environment, such as the environment as environmental data for object detection, obstacle detection, lane detection, etc.

Die mindestenseinezeitkritische SteuereinheitisteineSteuereinheit,diefür zeitunkritische Host-Funktionalitätenvorgesehenistund mitallenentsprechenden Sensoren undAktuatorenverbundenist,diezum ErfüllendieserFunktionalitäten erforderlichsind.Diese Funktionalitätensind unempfindlichgegenüber ZeitverzögerungenoderLatenzen undsind keine sicherheitsrelevanten Funktionen odersicherheitsrelevantenSensoren.Beispielefürdiese zeitkritischenSensorensind Umgebungslichtsensoren,SensorenzurErkennung desKofferraumzustands (geöffnetodergeschlossen),Fußsensorenfürdie Kofferraumöffnung, Regensensoren,Fensterhebersensoren,Reifendrucksensoren,Ölstandssensoren, Radiosensoren usw. The at least one time-sensitive control unit is a control unit intended for non-time-critical host functionalities and is connected to all appropriate sensors and actuators required to fulfill these functionalities. These functionalities are not sensitive to time delays or latencies and are not safety-related functions or safety-related sensors. Foot sensors for the trunk opening, rain sensors, window regulator sensors, tire pressure sensors, oil level sensors, radio sensors, etc .

So istdie Erkennungvon Regen überden Regensensormit0,1Ausgängenund das automatische EinschaltenderScheibenwischereinezeitkritische Funktion,die aufgrund kleinerZeitverzögerungenund Latenzen keine sicherheitskritischeWirkung hat. The detection of rain via the rain sensor with 0.1 outputs and the automatic switching on of the windscreen wipers is a time-critical function that has no safety-critical effect due to small time delays and latencies.

Zeitkritische Sensorensind beispielsweise Sensorenzum AuslösenderAirbags,CA- Sensoren,insbesondere Frontkameras,Lenksensorensowiebeispielsweisedie AktuatorenzurLenkradeinstellung.FernersindalleSensorendesBremssystems sicherheits-und damitzeitkritisch,ebensowiedieentsprechendenAktuatorendes Bremssystems. Time-critical sensors include, for example, sensors for triggering the airbags, CA sensors, especially front cameras, steering sensors and the actuators for adjusting the steering wheel.

DiezeitkritischenSensorenund FunktionalitätenoderAktuatorensind mitder zeitkritischenSteuereinheitgekoppeltundwerdendurchdieseverwaltet.Abhängig vonderAuslastungdes/derSensormoduls/e und ggf.des/derFahrzeugmoduls/e kanndiezeitkritische SteuereinheitüberdasWeiterleitenderzeitkritischen Sensorsignale entscheiden.Dadurchkanneine Entkopplung und Entlastung zwischenSensor-und Fahrzeugseitesowie eine Priorisierungvon sicherheitskritischen Funktionenerreichtwerden. The time-critical sensors and functionalities or actuators are coupled to and managed by the time-critical control unit. Dependent The time-critical control unit can decide on the forwarding of time-critical sensor signals based on the utilization of the sensor module(s) and, if applicable, the vehicle module(s).

Durchdie PLC-Konvertierung könnenzeitunkritische DatenalsDatensignalaufder Stromleitung nachgebildetwerdenundsomitbidirektionalausderund andie Steuereinheitübertragenwerden,beispielsweisezurAuswertungoderzur verzögertenWeiterleitung.Dasbedeutet,dassdie unkritischenDaten keine Hochgeschwindigkeitsdatenübertragungsverbindung belasten,da diese beispielsweise ausderSteuereinheitandie unkritischenAktuatorenweitergeleitet werden können. The PLC conversion allows time-uncritical data to be simulated as a data signal on the power line and thus transmitted bidirectionally to and from the control unit, e.g. for evaluation or for delayed forwarding.

Diese Übertragung spartaufwändige Kabelbäume und reduziertdamitGewichtund Kosten. This transmission saves complex cable harnesses and thus reduces weight and costs.

DurchausschließlichesÜbertragenderkritischen Daten überdasVerteilergateway unddie Hochgeschwindigkeitsdatenübertragungsverbindung könnenkritische SENS- Datenbeispielsweise nurinderSensorsteuereinheit(Sensordomäne)unddann gleichzeitigandie Sensorsteuereinheit(Sensorsteuereinheit)oderübernureine Last derHochgeschwindigkeitsdatenübertragungsverbindungandie Sensorsteuereinheit (Sensorsteuereinheit)ausgewertetwerden. By exclusively transmitting critical data via the distribution gateway and the high-speed data transmission connection, critical SENS data can only be evaluated in the sensor control unit (sensor domain) and then simultaneously to the sensor control unit (sensor control unit) or via only one load of the high-speed data transmission connection to the sensor control unit (sensor control unit).

DiesspartÜbertragungskapazitäten.FerneristeineeinzigeAuswertung möglich; gleicheSensordaten müssen nichtparallelausgewertetwerden. This saves transmission capacities. A single evaluation is also possible; the same sensor data do not have to be evaluated in parallel.

Werdenzeitkritische Sensordatenzum ErzeugenvonBetriebsparametern zeitkritischerAktuatorenbenötigt,könnendiese ausdem Verteilergatewayandie Fahrzeugsteuereinheitund/odernötigenfallsgleichzeitig andie Fahrzeugdomäne übertragenwerden. If time-critical sensor data is required to generate operating parameters for time-critical actuators, these can be transmitted from the distributor gateway to the vehicle control unit and/or simultaneously to the vehicle domain if necessary.

DieVerteilung derHochgeschwindigkeitsdatensowieggf.derunkritischen Daten wirdvom Verteilungsgatewayübernommen.Diesermöglichtbeispielsweise eine schnelle Steuerungdurchdie durchdie Fahrzeugsteuereinheitunddie Fahrzeugdomänegesteuerten Elemente,wie beispielsweiseeine Bremse. The distribution of the high-speed data and, if applicable, the non-critical data is taken over by the distribution gateway quick control by the elements controlled by the vehicle control unit and the vehicle domain, such as a brake.

Dankdes gemeinsamenVerteilungsgatewaysisteine effizienteVerwaltunggroßer Mengen möglich,wie siedurchdie Sensorsteuereinheit/Sensordomäne und ggf.die zeitkritische Steuereinheitsowieggf.durchdie Fahrzeugsteuereinheitund die Fahrzeugdomäneerzeugtwerden,wiesolche,die im autonom fahrenden Fahrzeug auftreten. Thanks to the common distribution gateway, efficient management of large volumes such as those generated by the sensor control unit/sensor domain and possibly the time-critical control unit and possibly the vehicle control unit and vehicle domain, such as those that occur in the autonomous driving vehicle, is possible.

FernergewährleisteteinsolchesgemeinsamesVerteilungsgateway,dassdie übertragenen undverwendetenDatenaufdem neuestenStand sind. Furthermore, such a common distribution gateway ensures that the data transmitted and used is up-to-date.

EinsolchesgemeinsamesVerteilungsgatewaykannauchmitspeziellenAlgorithmen und HardwaregegenHackerangriffe geschütztwerden. Such a common distribution gateway can also be protected against hacker attacks with special algorithms and hardware.

Ferneristesmöglich,weitere Systeme,diedie Datenbenötigen,invereinfachter Form andasgemeinsameVerteilungsgatewayoderunkritische Sensoren/Aktuatoren mitderunkritischenSteuereinheitzuverbinden. It is also possible to connect other systems that require the data in a simplified form to the common distribution gateway or to connect non-critical sensors/actuators to the non-critical control unit.

InweitererAusbildung istdie mindestenseinezeitkritische Steuereinheitdazu ausgelegt,einegesteuerte verzögerte Übertragung mindestensderdurchdie zeitkritischenSensorenund/oderzeitunkritischenAktuatorenerzeugten zeitunkritischen Sensordatenund/oderzeitkritischenAktuatordatenandas Verteilergatewayals Hochgeschwindigkeitsdatendurchzuführen,wobeidie gesteuerteverzögerte FortsetzungzumindesteineraktuellenArbeitslast,abhängig vom EmpfangderDaten,dermindestenseinenSensorsteuereinheitund/oderder mindestenseinenSensorsteuereinheitund/oderdermindestenseinen Fahrzeugsteuereinheitund/oderdermindestenseinen Fahrzeugdomäne. In a further development, the at least one time-critical control unit is designed to carry out a controlled delayed transmission of at least the time-uncritical sensor data and/or time-critical actuator data generated by the time-critical sensors and/or time-uncritical actuators to the distributor gateway as high-speed data, with the controlled delayed continuation of at least one current workload depending on the receipt of the data, the at least one sensor control unit and/or the at least one sensor control unit and/or the at least one vehicle control unit and/or the at least one vehicle domain.

Diese Konstellationgewährleistet,dasssicherheitskritische Datenzuerstverarbeitet werden. This constellation ensures that security-critical data is processed first.

Ferneristdie mindestenseinezeitunkritische Steuereinheitdazuausgelegt,die zeitunkritischenSensordatenfürentsprechendezeitunkritischeAktuatoren auszuwertenundbasierend aufdenmindestensausgewerteten Sensordaten zeitunkritische Betriebsparameterzuerzeugenunddiezeitkritischen BetriebsparameterdenentsprechendenzeitunkritischenAktuatoren überdie PLC- SchnittstellezurVerarbeitungvorzugeben.Beim Erzeugenderzeitkritischen Betriebsparameterkönnenauchzeitkritische SensordatenoderAuswertungen,die ausdem Verteilungsgatewayübertragenwerden,verwendetwerden. Furthermore, the at least one time-uncritical control unit is designed to transmit the time-uncritical sensor data for corresponding time-uncritical actuators to evaluate and generate non-time-critical operating parameters based on the minimum evaluated sensor data and to specify the time-critical operating parameters for the corresponding non-time-critical actuators via the PLC interface for processing.

DiesezeitunkritischenSensordatenwerden überdie entsprechenden PLC- Schnittstellenandiezeitkritische Steuereinheitund dessenAuswertung/Steuerbefehl andieentsprechendenAktuatoren übertragen.Diesentlastetdas Hochgeschwindigkeitsdatenübertragungsnetzwerk. These non-time-critical sensor data are transmitted via the corresponding PLC interfaces to the time-critical control unit and its evaluation/control command to the corresponding actuators. This relieves the high-speed data transmission network.

Im Falte einerPLC-Übertragungüberdie Stromversorgung könnendie elektrischen StromleitungenalsGleichstromversorgungsleitungenausgelegtsein.Im Gegensatz zurherkömmlichenWechselstromkommunikationhatderGleichstrom-Gleichstrom- Busvorhersehbare Rausch-und Impedanzeigenschaften,dieeine hohe Bandbreite ermöglichen.Durch Nutzung dervorhandenenGleichstrom-Gleichstrom-Busleitung zurDatenübertragung isteineeinfacheund kostengünstige Protokollierung mittels PLC möglich. In the fold of a PLC transmission over the power supply, the electrical power lines can be designed as DC power supply lines. In contrast to traditional AC communication, the DC-DC bus has predictable noise and impedance characteristics that enable high bandwidth. By using the existing DC-DC bus line for data transmission, simple and inexpensive logging is possible using PLC.

Fernerkanndie mindestenseinezeitunkritische Steuereinheitdazuausgelegtsein, diezeitunkritischenSensordatenauszuwertenund dieAuswertungals Hochgeschwindigkeitsdatenundggf.andasVerteilergatewayals HochgeschwindigkeitsdatenzurVerwendungfürmindestenseine Fahrzeugdomäne und/oderfürmindestenseine Fahrzeugsteuereinheitund/oderfürmindestenseine Sensordomäne und/oderfürmindestenseine Sensorsteuereinheitzutransformieren, oderzurAuswertung aufAnforderung durchdie mindestenseine Fahrzeugdomäne und/oderdurch mindestenseine Fahrzeugsteuereinheitund/oderdurchdie mindestenseine Sensorsteuereinheitund/oderdurchdie mindestenseine Sensordomäne und DatenzurVerwendung in mindestenseinerFahrzeugdomäne und/odermindestenseinerFahrzeugsteuereinheitund/odermindestenseiner Sensordomäne und/odermindestenseinerSensorsteuereinheit. Dadurchkanndie Sensorsteuereinheitoderdie Sensordomäne im Hinblickaufeine Auswertung entlastetwerden.Fernerkönnenrechenintensive,aberunkritische AuswertungenaufderzeitkritischenSteuereinheitdurchgeführtwerden. Furthermore, the at least one time-uncritical control unit can be designed to evaluate the time-uncritical sensor data and to transform the evaluation as high-speed data and, if necessary, to the distributor gateway as high-speed data for use for at least one vehicle domain and/or for at least one vehicle control unit and/or for at least one sensor domain and/or for at least one sensor control unit, or for evaluation upon request by the at least one vehicle domain and/or by at least one vehicle control unit and/or by the at least one sensor control unit and/or by the at least one sensor domain and data for use in at least one vehicle domain and/or at least one vehicle control unit and/or at least one sensor domain and/or at least one sensor control unit. As a result, the sensor control unit or the sensor domain can be relieved of an evaluation.

Fernerkanndie mindestenseine Fahrzeugdomäne dermindestenseinen Fahrzeugsteuereinheituntergeordnetsein,unddie mindestenseine Sensordomäne kanndermindestenseinenSensorsteuereinheituntergeordnetsein. Further, the at least one vehicle domain may be subordinate to the at least one vehicle controller and the at least one sensor domain may be subordinate to the at least one sensor controller.

Das Fahrzeugsteuerungssystem dominiertund koordiniertvorzugsweise als übergeordnetesSystem die mehreren Fahrzeugdomänen.Diese Fahrzeugdomänen könnenauchals Funktionszonen-Steuergeräte bezeichnetwerden.Solche Fahrzeugdomänensinddem Fahrzeugsteuerungssystem untergeordnet.Die Fahrzeugdomänenbedienen Fahrzeugmodule,die einefunktionale Einheitbilden und indenenaufeinanderbezogene Funktionenerzeugtwerden.Die Modulewerden im Detailuntersucht.BeispielefürFahrzeugdomänensindelektronische Systemewie ein Lenkradsystem einesFahrzeugsim Antriebsstrangsowieein Multimediasystem undein Infotainmentsystem oderbeispielsweise dieADAS-Funktionssysteme (Fahrerassistenzsysteme). The vehicle control system preferably dominates and coordinates the multiple vehicle domains as a higher-level system. These vehicle domains can also be referred to as functional zone control units. Such vehicle domains are subordinate to the vehicle control system ADAS -Functional systems (driver assistance systems).

Die Fahrzeugdomänenkönnenzum Beispieleine odermehrere Funktionenoder einenodermehrereAktuatoreneinstellen.DasFahrzeugsteuerungssystem istals Masterausgelegt.DasFahrzeugsteuerungssystem kann Betriebsparameterzum SteuerndesFahrzeugs,beispielsweisefürdasBremssystem,erzeugen. For example, the vehicle domains can set one or more functions or one or more actuators. The vehicle control system is designed as a master. The vehicle control system can generate operating parameters for controlling the vehicle, e.g.

Ebenso istdie mindestenseine SensorsteuereinheitalsübergeordnetesSystem ausgelegt,daszum Dominieren und KoordinierenderSensordomänenausgelegtist. Likewise, the at least one sensor control unit is designed as a higher-level system designed to dominate and coordinate the sensor domains.

Fernerkanndie mindestenseine Fahrzeugdomänezurbidirektionalen Kommunikation mitdermindestenseinen Fahrzeugsteuereinheitüberdas Verteilungsgatewayüberdie mindestenseine Hochgeschwindigkeitsdatenübertragungsverbindungausgebildetseinund die mindestenseine Sensorsteuereinheitzurbidirektionalen Kommunikation mitder mindestenseinenSensordomäne überdasVerteilungsgatewayüberdie mindestens eine Hochgeschwindigkeitsdatenverbindung ausgebildetsein.Sowirddie bestehende Hochgeschwindigkeitsdatenübertragungsverbindung auchfürdie Kommunikationzwischendensensorbezogenen Modulenundden fahrzeugbezogenen Modulengenutzt. Furthermore, the at least one vehicle domain may be configured for bi-directional communication with the at least one vehicle control unit via the distribution gateway via the at least one high-speed data transmission link and the at least one sensor control unit for bi-directional communication with the at least one sensor domain via the distribution gateway via the at least one high-speed data connection. In this way, the existing high-speed data transmission connection is also used for communication between the sensor-related modules and the vehicle-related modules.

Fernerkönneneineodermehrere Hochgeschwindigkeitsdatenübertragungsverbindungenzum Übertragender zeitkritischenSensorsignaleandie mindestenseine Sensorsteuereinheitund/oder die mindestenseine Sensordomänevorgesehensein. Furthermore, one or more high-speed data transmission links can be provided for transmitting the time-critical sensor signals to the at least one sensor control unit and/or the at least one sensor domain.

Ferneristdie mindestenseine Hochgeschwindigkeitsdatenübertragungsverbindung alsBusverbindungausgelegt.Diesermöglichteine schnelle Datenübertragung. Furthermore, the at least one high-speed data transmission connection is designed as a bus connection. This enables fast data transmission.

Vorzugsweise kanndie mindestenseine HochgeschwindigkeitsdatenübertragungsverbindungalsEthernet-Bus,CAN-Bus, A/C-LinkoderFlexRay-Busausgelegtsein.Dieseeignensichbesondersin Fahrzeugenmitgeringem Platzangebot.DabeikannderPanelDisplay-Link(FPD- Link)-Busbesondersgutfürdie Übertragungvon Sensorbilderngeeignetsein. The at least one high-speed data transmission connection can preferably be designed as an Ethernet bus, CAN bus, A/C link or FlexRay bus. These are particularly suitable in vehicles with limited space. The Panel Display Link (FPD Link) bus can be particularly suitable for the transmission of sensor images.

Fernerkönnenmehrere Hochgeschwindigkeitsdatenübertragungsverbindungen zwischendem Verteilergatewayund dermindestenseinen Fahrzeugdomäneund der mindestenseinenFahrzeugsteuereinheitunddermindestenseinenSensordomäne unddermindestenseinenSensorsteuereinheitund dermindestenseinen zeitbezogenenSteuereinheitvorgesehensein. Furthermore, multiple high-speed data transmission links can be provided between the distribution gateway and the at least one vehicle domain and the at least one vehicle control unit and the at least one sensor domain and the at least one sensor control unit and the at least one time-related control unit.

Diesermöglichtsowohlmehrere Datenübertragungenalsauchredundante Datenübertragung.Diesistinsbesondere beiautonom fahrenden Fahrzeugenvon Vorteil,um die Fahrsicherheitzuerhöhen. DasVerteilergatewaykannvorzugsweisealsSteuereinheitausgelegtsein.Diese kannRegeln undAlgorithmenfürdiegezielteVerteilung derDatenaufweisen.Ferner kanndasVerteilungsgatewaynuralsSoftwaremodulaufeinerbereitsvorhandenen Steuereinheitauslegtsein. This enables multiple data transmissions as well as redundant data transmission. This is particularly advantageous for autonomous vehicles in order to increase driving safety. The distribution gateway can preferably be designed as a control unit. This can have rules and algorithms for the targeted distribution of the data.

FernerkanndasVerteilergatewaymehrere RegelnoderAlgorithmenzum Verteilen derHochgeschwindigkeitsdatenandie mindestenseine Fahrzeugdomäne und/oder die mindestenseine Fahrzeugsteuereinheitund/oderdie mindestenseine Sensordomäne und/oderdie mindestenseineSensorsteuereinheitund/oderdie mindestenseinezeitunkritische Steuereinheitaufweisen.So kanndas Verteilungsgatewaybeispielsweise Regelndafüraufweisen,wanndiese Datenan die mindestenseinezeitunkritische Steuereinheitzu übertragensind.Dadurchwird eine unnötigeAuslastung derHochgeschwindigkeitsverbindungvermieden. Furthermore, the distribution gateway can have multiple rules or algorithms for distributing the high-speed data to the at least one vehicle domain and/or the at least one vehicle control unit and/or the at least one sensor domain and/or the at least one sensor control unit and/or the at least one time-non-critical control unit. For example, the distribution gateway can have rules for when this data is to be transmitted to the at least one time-non-critical control unit.

FernerkanndasVerteilergatewayim Falle einergestörten HochgeschwindigkeitsverbindungzudermindestenseinenSensordomäne und/oder dermindestenseinenSensorsteuereinheitNotfalldatenzurÜbertragung andie mindestenseine Fahrzeugdomäne und/oderdie mindestenseine Fahrzeugsteuereinheitaufweisen.So kannbeispielsweise beieinergestörten Hochgeschwindigkeitsdatenübertragungsverbindungzwischendermindestenseinen Sensordomäne/SensorsteuereinheitoderzwischendenzeitkritischenSensorenund dermindestenseinenSensordomäne/Sensorsteuereinheitein Notfalldatensatzzum Erzeugenvon Betriebsparameternzum SteuernderkritischenAktuatorenandie Fahrzeugsteuereinheitgesendetwerden.Dieserhöhtdie Betriebssicherheit, insbesondere beieinem autonom fahrenden Fahrzeug. Furthermore, in the event of a disrupted high-speed connection to the at least one sensor domain and/or the at least one sensor control unit, the distributor gateway can have emergency data for transmission to the at least one vehicle domain and/or the at least one vehicle control unit Controls of the critical actuators are sent to the vehicle control unit. This increases operational safety, especially in the case of an autonomously driving vehicle.

Fernerkönnendie mindestenseine Fahrzeugsteuereinheitund die mindestenseine Fahrzeugdomänezum Erzeugenvon Betriebsparameternzum Steuern kritischer AktuatorenaufBasisderübertragenenzeitkritischenund ggf.zeitunkritischen Sensordatenausgelegtsein,undwobeidie mindestenseine Fahrzeugsteuereinheit unddie mindestenseine Fahrzeugdomänezum Übertragenvon Betriebsparametern direktandiezeitkritischenAktuatorenangebundensind,undwobeieine oder mehrere Hochgeschwindigkeitsdatenübertragungsstreckenzum Übertragender Betriebsparameterandie entsprechendenkritischenAktuatorenvorgesehensind. Furthermore, the at least one vehicle control unit and the at least one vehicle domain can be designed to generate operating parameters for controlling critical actuators on the basis of the transmitted time-critical and possibly time-uncritical sensor data, and the at least one vehicle control unit and the at least one vehicle domain to transmit operating parameters connected directly to the time-critical actuators, and where one or more high-speed data transmission links are provided for transmitting the operating parameters to the corresponding critical actuators.

Die schnelle Hochgeschwindigkeitsdatenübertragungsverbindung ermöglichteine schnelle Übertragung und Steuerung. The fast, high-speed data transmission link enables fast transmission and control.

FernerwirddieAufgabedurchein Fahrzeug miteinem Fahrzeugsystem wieoben beschriebengelöst,wobeidasFahrzeugalsautonom fahrendesFahrzeug ausgelegt ist.DasSystem istinsbesonderefüreinautonom fahrendesFahrzeug geeignet,da hierviele Sensoren installiertwerdenmüssen. Furthermore, the task is solved by a vehicle with a vehicle system as described above, wherein the vehicle is designed as an autonomously driving vehicle. The system is particularly suitable for an autonomously driving vehicle, since many sensors have to be installed here.

Die Erfindung ermöglichtes,aufvielezusätzliche Kabelunddamitauferhöhtes Gewichtunderhöhte Kostenzuverzichten.Insbesondere kanndasFahrzeug ein Elektrofahrzeug sein. The invention makes it possible to dispense with many additional cables and the associated increased weight and costs. In particular, the vehicle can be an electric vehicle.

Weitere Merkmale undVorteiledervorliegenden Erfindungergebensichausder nachfolgenden Beschreibung unterBezugnahme aufdie beigefügtenFiguren.Die folgenden Diagrammezeigen: Further features and advantages of the present invention result from the following description with reference to the attached figures. The following diagrams show:

FIG 1:EineSteuereinheitgemäß dem StandderTechnikund FIG 1: A control unit according to the prior art and

FIG 2:eineersteAusführungsform eineserfindungsgemäßenFahrzeugsystems, FIG 3:EinezweiteAusführungsform eineserfindungsgemäßen Fahrzeugsystems. FIG 2: a first embodiment of a vehicle system according to the invention, FIG 3: a second embodiment of a vehicle system according to the invention.

Das Fahrzeugsystem 100weisteine Steuereinheit(ECU)101auf.Fernerweistdas Fahrzeugsystem 100 mehrere Sensoren 102a,102b,102cauf.Diese Sensoren 102a,102b,102ckönnenSensorsysteme,Sensorfelder,EinzelsensorenoderLidar- und Radarsensoren,Kamerasensorenusw.sein. The vehicle system 100 has a control unit (ECU) 101. The vehicle system 100 also has a number of sensors 102a, 102b, 102c.

Die Sensoren 102a,102b,102cerzeugenSensorsignale,beispielsweise aus fahrzeuginternen KomponentenoderalsUmgebungsbild beispielsweise durcheine KameradurchAufzeichneneinesUmgebungsbildes. Die Sensorsignalewerdenaufgezeichnetundandie Steuereinheiten 101,101a übertragen. The sensors 102a, 102b, 102c generate sensor signals, for example from vehicle-internal components or as an image of the surroundings, for example by a camera by recording an image of the surroundings. The sensor signals are recorded and transmitted to the control units 101, 101a.

Diejeweilige Steuereinheit101,101aführtdieSensorsignalezusammen und verarbeitetsiegetrennt,um Betriebsparameterzuerzeugen. The respective control unit 101, 101a combines the sensor signals and processes them separately in order to generate operating parameters.

Sindalso mehrereSteuereinheiten 101,101avorhanden,werdendie relevanten Sensorsignale injederSteuereinheit101,101azusammengeführtund ausgewertet. If there are several control units 101, 101a, the relevant sensor signals are combined and evaluated in each control unit 101, 101a.

Die meistenSteuereinheiten 101,101agemäß dem Stand derTechnikverarbeiten oftdieselbenSignaleausSensoren.Die Sensordatenverarbeitung istmit Funktionalitätenverknüpft und befindetsich inderSteuereinheit101,101a,die eng voneinanderabhängig sind.Jede Steuereinheit101,101aführtdie Sensorsignale und-datengetrenntzusammen undverarbeitetsie.DieshatzurFolge,dassdie ausgewertetenseriellenSignaledurchjede Steuereinheitseparatundteilweise doppeltübertragenwerden,waszueinem hohenVerkabelungsaufwandführt.Die Kabelbaummodellefürdasgesamte System sindsehraufwändig und ineffizientfür die Implementierung solcherArchitekturen.DaskomplexeVerkabelungssystem führt unmittelbarzu Problemenwie hohen Kosten,Installationsschwierigkeiten, Schwierigkeiten beiderFehlersuche und Energieverschwendung aufgrunddes zusätzlichenGewichts.Darausergebensichein höhererKomplexitätsgrad,eine hohe erforderliche Rechenleistung undeine hohe Komplexitätder Schnittstellenschichtenund Kabelbaummodelle. Most state-of-the-art control units 101, 101a often process the same signals from sensors leads to a lot of wiring. The wiring harness models for the entire system are very complex and inefficient for the implementation of such architectures. The complex wiring system directly leads to problems such as high cost, installation difficulty, difficulty in troubleshooting and wasted energy due to the added weight.

FIG.2 zeigteinerfindungsgemäßesFahrzeugsystem 1.DasFahrzeugsystem 1weist mehrere Sensorenzum ErzeugenvonSensorsignalenauf.Die Sensorenmessen und registriereneine großeVielfaltvon Messgrößenund konvertierendie Messergebnisse inelektrische Signale. FIG.2 shows a vehicle system 1 according to the invention. The vehicle system 1 has a number of sensors for generating sensor signals. The sensors measure and record a large variety of measured variables and convert the measurement results into electrical signals.

Die Sensorensind inzeitkritische Sensoren2a,...,2n,wie Raddrehzahlsensorenzum ErfassenderRaddrehzahlen,Drucksensorenzum ErfassendesBremsdrucks, Temperatursensorenzum ErfassenderKühlwassertemperatur, Nockenwellensensoren,Bremsverschleißsensoren,unterteilt. The sensors are in time-critical sensors 2a,...,2n, such as wheel speed sensors for detecting the wheel speeds, pressure sensors for detecting the brake pressure, Temperature sensors for detecting the cooling water temperature, camshaft sensors, brake wear sensors.

Fernersinddie Sensoren inzeitkritische Sensoren3a,...,3n unterteilt.Zeitkritische Sensoren3a,...3nsindSensoren,diefüreinezeitverzögerte Erfassung oder Auswertung empfindlichsindoderSensoren,diefüreinzeitkritischesSystem nicht benötigtwerden.SolchezeitkritischenSensoren3a,...,3nsindbeispielsweise Sensorenwie Umgebungslichtsensoren,SensorenzurErkennung des Kofferraumzustands(offenodergeschlossen),FußsensorenzurErkennung der Kofferraumöffnung,Regensensoren,Fensterhebersensoren,Reifendrucksensoren, Ölstandssensorenusw. The sensors are also divided into time-critical sensors 3a,...,3n. Time-critical sensors 3a,...3n are sensors that are sensitive to a time-delayed detection or evaluation, or sensors that are not required for a time-critical system ,Rain sensors,window sensors,tire pressure sensors,oil level sensors,etc.

Fernersind mindestenseine Sensorsteuereinheit4 und mindestenseinSensorfehler 13vorgesehen.DiezeitkritischenSensoren2a,...,2nsind mitdermindestenseinen Sensorsteuereinheit4 unddermindestenseinenSensordomäne 13direktübereine odermehrere Hochgeschwindigkeitsdatenübertragungsverbindungenverbunden,um diezeitkritischenSensorsignaledirektandieSensorsteuereinheit4 und/oderdie Sensorsteuereinheit13zuübertragen.Einesolche Hochgeschwindigkeitsdatenübertragungsverbindung kanneinBussystem,zum BeispieleinCAN-Bussystem oderein Ethernet-Bussystem,sein. Furthermore, at least one sensor control unit 4 and at least one sensor error 13 are provided. The time-critical sensors 2a,..., 2n are directly connected to the at least one sensor control unit 4 and the at least one sensor domain 13 via one or more high-speed data transmission connections in order to transmit the time-critical sensor signals directly to the sensor control unit 4 and/or the sensor control unit 13. Such a high-speed data transmission connection can be a bus system, for example a CAN bus system oran Ethernet bus system.

FernerkönnenmehrereSensordomänen 13vorgesehensein,wobeidie Sensorsteuereinheit4 dazuausgelegtseinkann,eine odermehrere Sensordomänen 13zu steuernundzudominieren. Furthermore, several sensor domains 13 can be provided, whereby the sensor control unit 4 can be designed to control and dominate one or more sensor domains 13.

Diezeitkritische Sensorsteuereinheit4 unddie Sensordomäne 13sind dazu ausgelegt,diezeitkritischenSensorsignale inzeitkritische aufbereitete Sensordaten konvertieren,diezum SteuerndesFahrzeugsbenötigtwerden. The time-critical sensor control unit 4 and the sensor domain 13 are designed to convert the time-critical sensor signals into time-critical conditioned sensor data that are required for controlling the vehicle.

EinVerteilungsgateway 10 istebenfallsvorhanden.Daskannzum BeispieleineA distribution gateway 10 is also present

Lenkvorrichtung sein.DasVerteilungsgateway 10 istfürdasVerteilender eingehenden Datenausgelegt.DazukanndasVerteilungsgateway 10 beispielsweise eine Steuerung/AlgorithmenoderaucheineAuswerteeinheitaufweisen,braucht jedochkeineSteuereinheitusw.aufzuweisen. The distribution gateway 10 is designed for distributing the incoming data have a controller/algorithms or an evaluation unit, but does not need to have a control unit etc.

Dabeiwerdendie durchdiezeitkritische Sensorsteuereinheit4 verarbeiteten SensordatendirektausderzeitkritischenSensorsteuereinheit4 überdie bidirektionale Hochgeschwindigkeitsdatenübertragungsverbindung andas Übertragungsgateway 10 übertragen. Here, the sensor data processed by the time-critical sensor control unit 4 is transmitted directly from the time-critical sensor control unit 4 to the transmission gateway 10 via the bidirectional high-speed data transmission link.

Fernerwerdendiedurchdiezeitkritische Sensordomäne 13verarbeitetenSensoren überdie bidirektionale Hochgeschwindigkeitsdatenübertragungsverbindung direkt ausderSensordomäne 13andasVerteilergateway 10übertragen. Furthermore, the sensors processed by the time-sensitive sensor domain 13 are transmitted directly from the sensor domain 13 to the distribution gateway 10 via the bi-directional high-speed data transmission link.

Fernersindeinezeitkritische Fahrzeugsteuereinheit5 und mindestenseine Fahrzeugdomäne 15zurBildungvon Betriebsparameternzum Steuerneinzelner Fahrzeugkomponentenund deren Fahrzeugfunktionenvorgesehen. Furthermore, a time-critical vehicle control unit 5 and at least one vehicle domain 15 are provided for forming operating parameters for controlling individual vehicle components and their vehicle functions.

Dabeisind diezeitkritische Fahrzeugsteuereinheit5 und die mindestenseine zeitkritische Fahrzeugdomäne 15 bidirektionalübereine odermehrere Hochgeschwindigkeitsdatenübertragungsverbindungendirektmitdem Verteilergateway10 verbunden,beispielsweisezum direktenEmpfang derdurchdas Verteilergateway 10 verteilten Daten,wie diezeitkritischen Sensordatenanforderungenoderbeispielsweise diezeitkritischenSensordaten.Die Datenübertragungsverbindung kanneinBussystem,beispielsweiseeinCAN- Bussystem oderein Ethernet-Bussystem,sein. The time-critical vehicle control unit 5 and the at least one time-critical vehicle domain 15 are connected bidirectionally via one or more high-speed data transmission connections directly to the distribution gateway 10, for example for directly receiving the data distributed by the distribution gateway 10, such as the time-critical sensor data requirements or, for example, the time-critical sensor data. The data transmission connection can be a bus system, for example a CAN bus system or an Ethernet bus system.

Fernersinddiezeitkritische Fahrzeugsteuereinheit5 unddie mindestenseine Fahrzeugdomäne 15 mitverschiedenenzeitkritischenAktuatoren6a,...,6nund zeitkritischenTeilsystemen7a,...,7nübereine Hochgeschwindigkeitsdatenübertragungsverbindungzurdirektenundschnellen Übertragung derzeitkritischen Betriebsnormzählerund Steuerparameter,6a,usw. verbunden. Es könnenauchmehrere Fahrzeugdomänen 15vorgesehensein,wobeidie zeitkritische Fahrzeugsteuereinheit5dazuausgelegtist,die eine odermehreren Fahrzeugdomänen 15zusteuernundzudominieren. Furthermore, the time-critical vehicle control unit 5 and the at least one vehicle domain 15 are connected to various time-critical actuators 6a,...,6n and time-critical subsystems 7a,...,7n via a high-speed data transmission link for direct and rapid transmission of currently critical operating standard counters and control parameters, 6a, etc. tied together. Multiple vehicle domains 15 can also be provided, with the time-critical vehicle control unit 5 being designed to control and dominate the one or more vehicle domains 15.

FernerweistdasFahrzeugsystem 1mindestenseinezeitunkritische Steuereinheit8 aus,die ebenfallsübereine Hochgeschwindigkeitsdatenübertragungsstrecke mit dem Verteilungsgateway 10verbundenist. Furthermore, the vehicle system 1 has at least one non-time-critical control unit 8, which is also connected to the distribution gateway 10 via a high-speed data link.

Fernerweistdiezeitkritische Steuereinheit8eine PLC(PowerLine Communication)- Schnittstelle 12zurbidirektionalen Datenübertragung überPLC,d.h.zum Übertragenvon Daten überelektrische Leitungen,auf. Furthermore, the time-critical control unit 8 has a PLC (PowerLine Communication) interface 12 for bidirectional data transmission via PLC, i.e. for transmitting data via electrical lines.

Dabeisind dieelektrischenStromleitungenvorzugsweisealsGleichstromleitungen ausgelegt.Im GegensatzzurherkömmlichenWechselstromkommunikationhatder Gleichstrom-Gleichstrom-Busvorhersehbare Rausch-und Impedanzeigenschaften, dieeine hohe Bandbreite ermöglichen.DurchNutzungdervorhandenen Gleichstrom-Gleichstrom-BusleitungzurDatenübertragung isteineeinfache und kostengünstige Übertragung überPLC möglich. The electrical power lines are preferably designed as DC lines. In contrast to conventional AC communication, the DC-DC bus has predictable noise and impedance properties that enable a high bandwidth. By using the existing DC-DC bus line for data transmission, simple and inexpensive transmission via PLC is possible.

FernersindzeitkritischeSensoren3a,...3nvorgesehen,diezeitkritische Sensorsignale erzeugenundjeweilseine PLC-Schnittstelleaulweisenund überdie PLC(PowerLine Communicationj-Schnittstelle 12 bidirektionalmitderzeitkritischen Steuereinheit8 überdie PLC-Datenübertragungsverbindungverbundensind. Furthermore, time-critical sensors 3a,...3n are provided, which generate time-critical sensor signals and each have a PLC interface and are bidirectionally connected to the time-critical control unit 8 via the PLC (PowerLine Communication) interface 12 via the PLC data transmission connection.

FernersindzeitkritischeAktuatoren9a,...,9nundzeitkritischeTeilsysteme 11a,..., 11nvorgesehen,die ebenfallsjeweilseine PLC-Schnittstelle aufweisen undebenfalls überdie PLC-Datenübertragungsverbindung überdie PLC(Power-Line- Communicationj-Schnittstelle 12 mitderzeitkritischenSteuereinheit8verbunden sind. Furthermore, time-critical actuators 9a,...,9n and time-critical subsystems 11a,...,11n are provided, which also each have a PLC interface and are also connected to the time-critical control unit 8 via the PLC data transmission connection via the PLC (power-line communicationj interface 12.

Ferneristdiezeitkritische Steuereinheit8fürdieAufnahmevonzeitkritischenFurthermore, the time-critical control unit 8 is for recording time-critical

Sensoren3a,...3nundderenzeitunkritischeSensorsignaleausgelegt,die beispielsweisefürdiezeitkritischenAktuatoren9a,...,9n undzeitkritischen Teilsysteme 11a,...,11ndazu bestimmtsind,zeitkritische Betriebsparameterbzw. zeitkritische Sensordatenauszuwertenundzuerzeugenund diese überdie PCL- VerbindungzudenzeitunkritischenAktuatoren9a,...,9nundzeitkritischen Teilsystemen 11a,...,11nalsPLC-Datenzuerzeugen. Sensors 3a,...3n and their non-time-critical sensor signals designed, for example, for the time-critical actuators 9a,...,9n and time-critical Subsystems 11a, ..., 11n are intended to time-critical operating parameters or to evaluate and generate time-critical sensor data and to generate this as PLC data via the PCL connection to the non-time-critical actuators 9a,...,9n and time-critical subsystems 11a,...,11.

DiesentlastetdasHochgeschwindigkeitsdatennetzwerk. This relieves the high-speed data network.

Fernerweistdiezeitunkritische Steuereinheit8 eineFurthermore, the time-uncritical control unit 8 has a

Hochgeschwindigkeitsdatenschnittstelle 14 auf,die dazuausgelegtist,bestimmte PLC-Datenzu übertragen,die beispielsweise durchdiezeitunkritischenSensoren 3a,...3nalszeitkritischeSEN-Signale übertragenwerden,oderbeispielsweise um derenAuswertungalsHochgeschwindigkeitsmitteldatendurchzuführenund um diese andas Hochgeschwindigkeitsübertragungsgateway 10zu übertragen. High-speed data interface 14, which is designed to transmit specific PLC data that is transmitted, for example, by the time-uncritical sensors 3a,...

Dabeierfolgtdie Übertragung inAbhängigkeitvonderAuslastungder Hochgeschwindigkeitsdatenübertragungsverbindung und/oderinAbhängigkeitvom Empfänger,wie beispielsweise derSensorsteuereinheit4 und/oder Fahrzeugsteuereinheit5und/oderFahrzeugdomäne 15 und/oderSensordomäne 13, oderinAbhängigkeitvonderFlexibilitätoderauchderDringlichkeitdesGateways 10. The transmission takes place depending on the utilization of the high-speed data transmission connection and/or depending on the recipient, such as the sensor control unit 4 and/or vehicle control unit 5 and/or vehicle domain 15 and/or sensor domain 13, or depending on the flexibility or even the urgency of the gateway 10.

DieWarteschlangefürzeitkritische Daten,diealszeitkritischeSteuereinheit8 ausgelegtist,kanndiegesamte Kommunikation im gesamtenFahrzeugsystem 1 entlasten. The queue for time-sensitive data, which is designed as a time-sensitive control unit 8, can relieve the entire communication in the entire vehicle system 1.

FernererleichtertdieseArchitekturdasHinzufügenzeitkritischerSensorenzueinem bereitsbestehenden Fahrzeugsystem 1,beidem derzeitkritische (nichtzeitkritische) SensornurmitderzeitkritischenSteuereinheit8verbundenist. Furthermore, this architecture facilitates the addition of time-critical sensors to an already existing vehicle system 1, where currently critical (non-time-critical) sensor is only connected to the time-critical control unit 8.

Durchdie unabhängigeAuswertungderzeitunkritischen Sensorsignale der zeitkritischenSensoren3a,...3ndurchdiezeitkritische Steuereinheit8als BetriebsparameterfürdiezeitkritischenAktuatoren9a,...,9n/zeitunkritischen Teilsysteme 11a,...,11nund die Übertragungals Hochgeschwindigkeitsübertragungslastdaten,die Fernerkanndergesamte erforderliche Kabelbaum reduziertwerden,dadie zeitkritischenundzeitkritischenDaten nichtsynchron/parallelübertragenwerden müssen,sondernbeispielsweiseje nachAuslastungoderbeiderÜbertragung zwischenzeitkritischenSensoren3a,...3nundzeitkritischenAktuatoren9a,...,9n nur alsPLC-Daten. Through the independent evaluation of the non-time-critical sensor signals of the time-critical sensors 3a,...,3n by the time-critical control unit 8 as operating parameters for the time-critical actuators 9a,...,9n/time-non-critical subsystems 11a,...,11n and the transmission as high-speed transmission load data that Furthermore, the entire wiring harness required can be reduced, as the time-critical and time-critical data do not have to be transmitted synchronously/in parallel, but only as PLC data, for example depending on the load or during transmission between time-critical sensors 3a,...3n and time-critical actuators 9a,...,9n.

Fernerkönnenbereitsausgewertete zeitunkritische Sensorsignale,d.h.die zeitunkritischen Sensordaten,in Hochgeschwindigkeitsdatentransformiertund als HochgeschwindigkeitsdatenandasVerteilungsgateway 10 übertragenwerden.Dies entlastetbeispielsweisedie Sensorsteuereinheit4/Sensordomäne 13 beider Auswertung sowiedie Hochgeschwindigkeitsdatenübertragungsverbindung. Furthermore, already evaluated non-time-critical sensor signals, i.e. the non-time-critical sensor data, can be transformed into high-speed data and transmitted to the distribution gateway 10 as high-speed data.

Werden nunwährenddesBetriebszeitkritische Sensorsignaledurchdie zeitkritischen Are now during the operating time-critical sensor signals by the time-critical

Sensoren2a,...,2nerzeugt,werdendiese überdieSensors2a,...,2generated, these are over the

Hochgeschwindigkeitsdatenübertragungsverbindungandiezeitkritische Sensorsteuereinheit4 und/oderdiezeitkritische Sensordomäne 13gesendetund dortinzeitkritischenSensordatenausgewertet. High-speed data transmission connection to the time-critical sensor control unit 4 and/or the time-critical sensor domain 13 and evaluated there in time-critical sensor data.

Diesezeitkritischen SensordatenwerdenausderzeitkritischenSensorsteuereinheit4 oderderzeitkritischenSensordomäne 13 andasVerteilergateway 10 undvondort beispielsweise andie zeitkritische Fahrzeugsteuereinheit5oderdie Fahrzeugdomäne 15alsHochgeschwindigkeitsdatenübertragen. This time-critical sensor data is transmitted from the time-critical sensor control unit 4 or the time-critical sensor domain 13 to the distributor gateway 10 and from there, for example, to the time-critical vehicle control unit 5 or the vehicle domain 15 as high-speed data.

Diezeitkritische Fahrzeugsteuereinheit5oderdie Fahrzeugdomäne 15erzeugtaus denempfangenenzeitkritischenSensorenzeitkritische Betriebsparameterund überträgtdiese direktandiezeitkritischenAktuatoren6a,...,6nund diezeitkritischen Teilsysteme 7a,...,7n.Diese Übertragung kannalsHochgeschwindigkeitsdaten verwendetwerden.FernerkönnendiezeitkritischenBetriebsparameterbeiBedarfals HochgeschwindigkeitsdatenandasVerteilergateway 10 übertragenwerden. FernerkanndasVerteilergateway 10 beiBedarf diezeitkritischenSensordatenund diezeitbezogenen Betriebsparameterandiezeitkritische Steuereinheit8 übertragen. AusderzeitkritischenSensorsteuereinheit4/SENS 13 undderzeitkritischen Fahrzeugsteuereinheit5/Fahrzeugdomäne 15werdenThe time-critical vehicle control unit 5 or the vehicle domain 15 generates time-critical operating parameters from the received time-critical sensors and transmits these directly to the time-critical actuators 6a,...,6n and the time-critical subsystems 7a,...,7n. Furthermore, the distribution gateway 10 can transmit the time-critical sensor data and the time-related operating parameters to the time-critical control unit 8 if required. The time-critical sensor control unit 4/SENS 13 and the time-critical vehicle control unit 5/vehicle domain 15 become

Anforderungen/Informationsabfragenbezüglichderzeitkritischen Sensoren3a,...3n/zeitunkritischenAktuatoren9a,...,9nüberdas Verteilungsgateway 10alsVerteilerandiezeitkritischeSteuereinheit8gesendet. Requests/information queries regarding the time-critical sensors 3a,...3n/time-uncritical actuators 9a,...,9n are sent via the distribution gateway 10 as a distributor to the time-critical control unit 8.

Die KommunikationoderSteuerung derSensorsteuereinheit4/Sensordomäne 13 untereinanderundderzeitkritischen Fahrzeugsteuereinheit5/Fahrzeugdomäne 15 untereinandererfolgtebenfallsalsDatenverteilerüberdieThe communication or control of the sensor control unit 4/sensor domain 13 with each other and the time-critical vehicle control unit 5/vehicle domain 15 with each other also takes place as a data distributor via the

Hochgeschwindigkeitsdatenverbindung mitdem Verteilergateway 10.Gleichesgiltfür dieWeiterleitungvonSensordaten/SensorsignalenoderAuswertungenvon Sensordatenausdenzeitunkritischen Sensoren3a,...3noderDatenausden zeitunkritischenAktuatoren9a,...,9ndurchdiezeitunkritischeLenkeinheit8. High-speed data connection with the distributor gateway 10. The same applies to the forwarding of sensor data/sensor signals or evaluations of sensor data from the time-uncritical sensors 3a,...3n or data from the time-uncritical actuators 9a,...,9n through the time-uncritical steering unit 8.

Dadurchkönnen redundanteAuswertungenoderÜbertragungenvermiedenwerden, wasZeitundAuslastungdesHochgeschwindigkeitsdatenübertragungsnetzwerks spart. As a result, redundant evaluations or transmissions can be avoided, which saves time and the utilization of the high-speed data transmission network.

FIG 3zeigteineweitereAusführungsform deserfindungsgemäßen Fahrzeugsystems 1a. 3 shows a further embodiment of the vehicle system 1a according to the invention.

Das Fahrzeugsystem 1averfügtüberdiezeitkritischenSensoren2a,...,2n,und die zeitbezogenenSensoren3a,...,3n. The vehicle system 1a has the time-critical sensors 2a,...,2n, and the time-related sensors 3a,...,3n.

FernerweistdasFahrzeugsystem 1adie Sensorsteuereinheit4 und die mindestens eine Sensordomäne 13auf,diezurDatenübertragung übereine Hochgeschwindigkeitsdatenübertragungsverbindungdirektmitdenzeitkritischen Sensoren2a,...,2nverbunden ist.Eskönnenauchmehrere Sensordomänen vorhandensein. Furthermore, the vehicle system 1a has the sensor control unit 4 and the at least one sensor domain 13, which is directly connected to the time-critical sensors 2a,...,2n for data transmission via a high-speed data transmission connection. There can also be several sensor domains.

Das Fahrzeugsystem 1averfügtauchüberdie zeitkritische Fahrzeugsteuereinheit5 und mindestenseine Fahrzeugdomäne 15. FernerweistdasFahrzeugsystem 1a dasVerteilungsgateway 10 auf. The vehicle system 1a also has the time-critical vehicle control unit 5 and at least one vehicle domain 15. Furthermore, the vehicle system 1a has the distribution gateway 10 .

DabeisinddieSensorsteuereinheit4,die Sensordomäne 13,diezeitkritische Fahrzeugsteuereinheit5sowie die mindestenseine Fahrzeugdomäne 15 über beispielsweisezweiHochgeschwindigkeitsbussezurschnellenredundantenoder getrennten ÜbertragungderDaten (Signale,Auswertungen usw.)mitdem Verteilungsgateway 10verbunden.Die Hochgeschwindigkeitsbusse könnenzum Beispielein Ethernet-Bus 17 undeinCAN-Bus 16sein. The sensor control unit 4, the sensor domain 13, the time-critical vehicle control unit 5 and the at least one vehicle domain 15 are connected to the distribution gateway 10 via, for example, two high-speed buses for rapid redundant or separate transmission of data (signals, evaluations, etc.).

Damitistbeispielsweiseeine redundante Datenübertragung oderbeiAusfalleines Busseseine sichere Datenübertragungodereine schnellere Datenübertragung (durchgetrennte Übertragung)möglich. This enables, for example, redundant data transmission or, in the event of a bus failure, reliable data transmission or faster data transmission (separated transmission).

Ferneristdiezeitkritische Steuereinheit8vorgesehen,die ebenfallsmitdem Verteilergateway10zurbidirektionalen Datenübertragung überbeispielsweisezwei Hochgeschwindigkeitsbusse,hierden Ethernet-Bus 17bund den CAN-Bus 16b, verbundenist. Furthermore, the time-critical control unit 8 is provided, which is also connected to the distribution gateway 10 for bidirectional data transmission via, for example, two high-speed buses, here the Ethernet bus 17b and the CAN bus 16b.

FernerkanndasVerteilergateway 10 mehrere RegelnoderAlgorithmenzum ErhöhenderHochgeschwindigkeitsdatenandie mindestenseine Fahrzeugdomäne 15 und/oderdie mindestenseine Fahrzeugsteuereinheit5 und/oderdie mindestens eine Sensorsteuereinheit13 und/oderdie mindestenseine Sensorsteuereinheit4 unddie mindestenseinezeitkritische Steuereinheit8aufweisen. Furthermore, the dispatch gateway 10 can have several rules or algorithms for increasing the high-speed data to the at least one vehicle domain 15 and/or the at least one vehicle control unit 5 and/or the at least one sensor control unit 13 and/or the at least one sensor control unit 4 and the at least one time-critical control unit 8.

FernerkanndasVerteilergateway 10 Notfalldatenzum Übertragendieser Notfalldatenandie mindestenseine Fahrzeugdomäne 15 und/oderandie mindestenseine Fahrzeugsteuereinheit5 beieinergestörten Hochgeschwindigkeitsverbindung mitdermindestenseinenSensordomäne 13 und/oderdermindestenseinenSensorsteuereinheit4 aufweisen.Übereinensolchen Notfalldatensatz könnenBetriebsparameterzum SteuernderkritischenAktuatoren andie Fahrzeugdomäne 15 und/oderdie Fahrzeugsteuereinheit5gesendetwerden. Dieserhöhtdie Betriebssicherheit,insbesondere beieinem autonom fahrenden Fahrzeug. Furthermore, the distributor gateway 10 can have emergency data for transmitting this emergency data to the at least one vehicle domain 15 and/or to the at least one vehicle control unit 5 in the event of a disrupted high-speed connection with the at least one sensor domain 13 and/or the at least one sensor control unit 4. This increases operational safety, particularly in the case of an autonomously driving vehicle.

Referenzsymbole 00 Fahrzeugsystem (Stand derTechnik)01.101a Steuereinheit(StandderTechnik) 03 ExternerServer(Stand derTechnik)04a,,104n Fahrzeugmodule (Stand derTechnik)05a„ 105n Aktuatoren(Stand derTechnik) .1a Fahrzeugsystem a,...,2n ZeitkritischeSensoren a,...,3n ZeitkritischeSensorenReference symbols 00 vehicle system (prior art) 01.101a control unit (prior art) 03 external server (prior art) 04a,, 104n vehicle modules (prior art) 05a, 105n actuators (prior art) .1a vehicle system a,...,2n time-critical sensors a,. ..,3n time critical sensors

Sensorsteuereinheit sensor control unit

Fahrzeugsteuereinheit a,...,6n ZeitkritischeAktuatoren a,...,7n ZeitkritischeTeilsysteme ZeitkritischeSteuereinheita,...,9n ZeitkritischeAktuatoren 0 Verteilungsgateway 1a,...,11n ZeitkritischeTeilsysteme 2 PLC(PowerLine CommunicationJ-Schnittstelle3 Sensordomäne 4 Hochgeschwindigkeitsdatenschnittstelle5 Fahrzeugdomäne 6,16a,16b CAN-Bus ,17a,17b Ethernet-Bus Vehicle control unit a,...,6n Time-critical actuators a,...,7n Time-critical subsystems Time-critical control unita,...,9n Time-critical actuators 0 Distribution gateway 1a,...,11n Time-critical subsystems 2 PLC(PowerLine CommunicationJ interface3 Sensor domain 4 High-speed data interface5 Vehicle domain 6,16a, 16b CAN bus, 17a, 17b Ethernet bus

Claims

Patentansprüche patent claims 1.Fahrzeugsystem (1.1a),umfassend mehrere bordseitige Sensorenzum Erzeugen vonfahrzeuginternenSensorsignalen und mehrere bordseitigeAktuatoren,wobeidie mehrerenSensoren inzeitkritische Sensoren(2a,...,2n)undzeitkritische Sensoren (3a,...,3n)unddieAktuatoren inzeitkritischeAktuatoren(6a,...,6n)und zeitunkritischeAktuatoren (9a,...,9n)integriertsind,fernerumfassend mindestens eine Sensorsteuereinheit(4)und mindestenseine Sensordomäne (13),wobeidie Sensorsteuereinheit(4)unddie mindestenseine Sensordomäne (13)dazuausgelegt sind,fahrzeuginterne Sensorsignalezuempfangenund Sensordatendurch AuswertenundVerarbeitenderfahrzeuginternenSensorsignalezuerzeugen,wobei diezeitkritischenSensoren (2a,..,2n)direktzum Übertragenzeitkritischer Sensorsignale andie mindestenseine Sensorsteuereinheit(4)ausgelegtundandie mindestenseine Sensordomäne (13)zum BestimmenzeitkritischerSensoren angebunden ist,undwobeidie mindestenseine Fahrzeugsteuereinheit(5)und die mindestenseine Fahrzeugdomäne (15)zum Erzeugenvon Betriebsparameternzum SteuernzeitkritischerAktuatoren(6a,..,6n)durchAuswertenundVerarbeitenvon Sensordatengebildetwerden,undwobeimindestenseinezeitkritische Steuereinheit (8)vorgesehen ist,die mitdenzeitkritischenSensoren (3a,...,3n)undzeitkritischen Aktuatoren(9a,...,9n)direktaneine bidirektionale Datenübertragungangeschlossen istundwobeidiezeitkritischenSensoren(3a,...,3n)undzeitkritischenAktuatoren (9a,...,9n)sowie die mindestenseinezeitkritische Steuereinheit(8)jeweilseine PLC(PowerLine Communication^Schnittstelle (12)aufweisenundzurÜbertragung derbidirektionalen DatenalsPLC-Datenübertragung überdie PLC(PowerLine Communication^Schnittstelle (12)ausgelegtsind,wobeieinVerteilergateway(10) vorgesehenist,daszurbidirektionalen Datenübertragung sowohlmitdermindestens einenzeitkritischenSteuereinheit(8)unddermindestenseinenSensorsteuereinheit (4)alsauchmitdermindestenseinenSensordomäne (13)unddermindestenseinen Fahrzeugsteuereinheit(5)verwendbaristund mitdermindestenseinen Fahrzeugdomäne (15)direktübereine Datenübertragungsverbindungverbunden ist, diejeweilsalsHochgeschwindigkeitsdatenübertragungsverbindungausgebildetist, undwobeidie mindestenseinezeitkritische Steuereinheit(8)eine Hochgeschwindigkeitsdatenschnittstelle (14)aufweist,undwobeidie mindestens einezeitkritische Steuereinheit(8)dazuausgelegtist,diedurchdiezeitkritischen Sensoren (3a,..,3n)undzeitkritischenAktuatoren (9a,..,9n)übertragenen PLC- DatenbeiBedarfüberdie Hochgeschwindigkeitsdatenschnittstelle (14)als Hochgeschwindigkeitsdatenzutransformierenund alsHochgeschwindigkeitsdaten andas Verteilergateway(10)zusenden,undwobeidasVerteilergateway(10)dazu ausgelegtist,DatenalsHochgeschwindigkeitsdatenzwischendermindestenseinen Sensorsteuereinheit(4)unddem mindestenseinenSensorfehler(13)undder mindestenseinenFahrzeugsteuereinheit(5)zuübertragen,um die Betriebsparameterzum SteuernderzeitkritischenAktuatoren(6a,..,6n)undder mindestenseinenFahrzeugdomäne (15)zum ErzeugenvonBetriebsparametern zum SteuernderzeitkritischenAktuatoren(6a,..,6n)und dermindestenseinen zeitkritischenSteuereinheit(8)zuerzeugenund diese Datenübertragungzusteuern. Vehicle system (1.1a), comprising a plurality of onboard sensors for generating in-vehicle sensor signals and a plurality of onboard actuators, the plurality of sensors being divided into time-critical sensors (2a,...,2n) and time-critical sensors (3a,...,3n) and the actuators being divided into time-critical actuators (6a,... , 6n) and non-time-critical actuators (9a,...,9n) are integrated, further comprising at least one sensor control unit (4) and at least one sensor domain (13), wherein the sensor control unit (4) and the at least one sensor domain (13) are designed to receive in-vehicle sensor signals and to generate sensor data by evaluating and processing the in-vehicle sensor signals, wherein the time-critical sensors (2a,.., 2n) are designed directly for transmitting time-critical sensor signals to the at least one sensor control unit (4) and are connected to the at least one sensor domain (13) for determining time-critical sensors, and wherein the at least one vehicle control unit (5) and the at least one vehicle domain (15) for generating operating parameters for controlling time-critical actuators (6a,. ., 6n) are formed by evaluating and processing sensor data, and wherein at least one time-critical control unit (8) is provided, which is connected directly to a bidirectional data transmission system with the time-critical sensors (3a,...,3n) and time-critical actuators (9a,...,9n) and wherein the time-critical sensors (3a,...,3n) and time-critical actuators (9a, . that can be used for bidirectional data transmission both with the at least one time-critical control unit (8) and the at least one sensor control unit (4) and with the at least one sensor domain (13) and the at least one vehicle control unit (5) and is connected directly to the at least one vehicle domain (15) via a data transmission connection, which is in each case designed as a high-speed data transmission connection, and wherein the at least one time-critical control unit (8) has a high-speed data interface (14), and wherein the at least one time-critical control unit (8) is designed to process the PLC data transmitted by the time-critical sensors (3a,..,3n) and time-critical actuators (9a,..,9n) as required via the high-speed data interface (14). to transform high-speed data and send it to the distribution gateway (10) as high-speed data, and wherein the distribution gateway (10) is designed to transfer data as high-speed data between the at least one sensor control unit (4) and the at least one sensor error (13) and the at least one vehicle control unit (5) in order to transmit the operating parameters for controlling the time-critical actuators (6a,.., 6n) and the at least one vehicle domain (1 5) for generating operating parameters for controlling the time-critical actuators (6a,..,6n) and the at least one time-critical control unit (8) and for controlling this data transmission. 2.Fahrzeugsystem (1.1a)gemäß Anspruch 1,dadurchgekennzeichnet,dassdie mindestenseinezeitkritische Steuereinheit(8)dazuausgelegtist,einegesteuerte verzögerte Übertragungzumindestderdurchzeitunkritische Sensoren(3a,..,3n) und/oderzeitunkritischeAktuatoren (9a,..,9n)erzeugtenzeitunkritischen Sensordaten und/oderzeitunkritischenAktuatordatenandasVerteilergateway(10)in Form von Hochgeschwindigkeitsdatenzu übertragen,wobeidergesteuerte verzögerteAbrufmindestensdurcheineaktuelleAusnutzung inAbhängigkeitvom Empfang derDatendermindestenseinenSensorsteuereinheit(4)und/oderder mindestenseinenSensordomäne (13)und/oderdermindestenseinen Fahrzeugsteuereinheit(5)und/oderdermindestenseinen Fahrzeugdomäne(15) beeinflusstwird. 2. Vehicle system (1.1a) according to claim 1, characterized in that the at least one time-critical control unit (8) is designed to transmit a controlled, delayed transmission of at least the time-uncritical sensor data and/or time-uncritical actuator data generated by time-uncritical sensors (3a, .., 3n) and/or time-uncritical actuators (9a, .., 9n) to the distributor gateway ( 10) to be transmitted in the form of high-speed data, with the controlled delayed retrieval being influenced at least by a current utilization depending on the receipt of the data from the at least one sensor control unit (4) and/or the at least one sensor domain (13) and/or the at least one vehicle control unit (5) and/or the at least one vehicle domain (15). 3.Fahrzeugsystem (1.1a)gemäß einem dervorhergehendenAnsprüche,dadurch gekennzeichnet,dassdie mindestenseinezeitkritische Steuereinheit(8)dazu ausgelegtist,diezeitkritischenSensordatenfürentsprechendezeitkritische Aktuatoren(9a,...,9n)auszuwertenund basierendaufdenmindestens ausgewertetenSensordatenandenzeitkritischenAktuatoren(9a,9n)die zeitkritischen Betriebsparameterzuerzeugenund diezeitrelevantenzeitkritischen Aktuatoren(9n)zuerzeugen. 3. Vehicle system (1.1a) according to one of the preceding claims, characterized in that the at least one time-critical control unit (8) is designed to evaluate the time-critical sensor data for corresponding time-critical actuators (9a,...,9n) and based on the at least evaluated sensor data at the time-critical actuators (9a, 9n) the to generate time-critical operating parameters and to generate the time-relevant time-critical actuators (9n). 4.Fahrzeugsystem (1.1a)gemäß einem dervorhergehendenAnsprüche,dadurch gekennzeichnet,dassdie mindestenseinezeitkritische Steuereinheit(8)dazu ausgelegtist,diezeitunkritischen Sensordatenauszuwerten und dieAuswertungals Hochgeschwindigkeitsdatenund ggf.andasVerteilungsgateway(10)als HochgeschwindigkeitsdatenzurVerwendung inmindestenseinerFahrzeugdomäne (15)und/oderfürdie mindestenseine Fahrzeugsteuereinheit(5)und/oderfürdie mindestenseine Sensordomäne (13)zutransformieren und/oderfürwelche mindestens,eineSensorsteuereinheit(4)zusendenist,oderdieAuswertung auf Anforderungdurchdie mindestenseine Fahrzeugdomäne (15)und/oderdie mindestenseine Fahrzeugsteuereinheit(5)und/oderdie mindestenseine Sensordomäne (13)und/oderdie mindestenseine Sensorsteuereinheit(4)andas Verteilergateway(10)alsHochgeschwindigkeitsdatenzurVerwendung in mindestens einem Fahrzeug (15)und/oderfürdie mindestenseine Fahrzeugsteuereinheit(5) und/oderfürdie mindestenseine Sensordomäne (13)und/oderfürdie mindestens eine Sensorsteuereinheit(4). 4. Vehicle system (1.1a) according to one of the preceding claims, characterized in that the at least one time-critical control unit (8) is designed to evaluate the time-uncritical sensor data and the evaluation as high-speed data and, if necessary, to the distribution gateway (10) as high-speed data for use in at least one vehicle domain (15) and/or for the at least one vehicle control unit (5) and/or or to be transformed for the at least one sensor domain (13) and/or for which at least one sensor control unit (4) is to be sent, or the evaluation on request by the at least one vehicle domain (15) and/or the at least one vehicle control unit (5) and/or the at least one sensor domain (13) and/or the at least one sensor control unit (4) to the distribution gateway (10) as high-speed data for use in at least one vehicle (15) and/or for the at least one vehicle control unit (5) and/or for the at least one sensor domain (13) and/or for the at least one sensor control unit (4). 5.Fahrzeugsystem (1.1a)gemäß einem dervorhergehendenAnsprüche,dadurch gekennzeichnet,dassdie mindestenseine Fahrzeugdomäne(15)dermindestens einenFahrzeugsteuereinheit(5)untergeordnetist,unddassdermindestenseine Sensorfehler(13)dermindestenseinenSensorsteuereinheit(4)untergeordnetist. Vehicle system (1.1a) according to any of the preceding claims, characterized in that the at least one vehicle domain (15) is subordinate to the at least one vehicle control unit (5), and that the at least one sensor error (13) is subordinate to the at least one sensor control unit (4). 6.Fahrzeugsystem (1.1a)gemäß einem dervorhergehendenAnsprüche,dadurch gekennzeichnet,dassdie mindestenseine Fahrzeugdomäne (15)zurbidirektionalen Kommunikation mitdermindestenseinen Fahrzeugsteuereinheit(5)überdas Verteilergateway(10)überdie mindestenseine Hochgeschwindigkeitsdatenübertragungsverbindung unddiemindestenseine Sensorsteuereinheit(4)überdasVerteilergateway (10)zurbidirektionalen Kommunikation mitdermindestenseinenSensordomäne (13)überdie mindestens eine Hochgeschwindigkeitsdatenübertragungsverbindungausgebildetist. Vehicle system (1.1a) according to one of the preceding claims, characterized in that the at least one vehicle domain (15) for bidirectional communication with the at least one vehicle control unit (5) via the distribution gateway (10) via the at least one high-speed data transmission connection and the at least one sensor control unit (4) via the distribution gateway (10) for bidirectional communication with the at least one sensor domain (13) over which at least one high-speed data transmission link is established. 7.Fahrzeugsystem gemäßeinem dervorhergehendenAnsprüche,dadurch gekennzeichnet,dasseine odermehrere Hochgeschwindigkeitsdatenübertragungsverbindungenzum Übertragender zeitkritischenSensorsignaleandie mindestenseine Sensorsteuereinheit(4) und/oderdie mindestenseine Sensordomäne (13)vorgesehensind. Vehicle system according to any one of the preceding claims, characterized in that one or more high-speed data transmission links are provided for transmitting the time-critical sensor signals to the at least one sensor control unit (4) and/or the at least one sensor domain (13). 8.Fahrzeugsystem (1.1a)gemäß einem dervorhergehendenAnsprüche,dadurch gekennzeichnet,dassdie mindestenseine HochgeschwindigkeitsdatenübertragungsverbindungalsBusverbindung ausgelegt ist. 8. Vehicle system (1.1a) according to one of the preceding claims, characterized in that the at least one high-speed data transmission connection is designed as a bus connection. 9.Fahrzeugsystem (1,1a)gemäßAnspruch8,dadurchgekennzeichnet,dassdie HochgeschwindigkeitsdatenübertragungsverbindungalsEthernet-Bus(17,17a,17b), CAN-Bus (16,16a,16b),ZF-LinkoderFlexRay-Busausgelegtist 9. Vehicle system (1, 1a) according to claim 8, characterized in that the high-speed data transmission connection is designed as an Ethernet bus (17, 17a, 17b), CAN bus (16, 16a, 16b), ZF link or FlexRay bus 10.Fahrzeugsystem (1.1a)gemäß einem dervorhergehendenAnsprüche,dadurch gekennzeichnet,dassmehrere Hochgeschwindigkeitsdatenübertragungsverbindungenzwischendem Verteilergateway(10)unddermindestenseinen Fahrzeugdomäne(15)undder mindestenseinenFahrzeugsteuereinheit(5)und dermindestenseinen Sensordomäne (13)unddermindestenseinenSensorsteuereinheit(8)vorgesehen sind. Vehicle system (1.1a) according to one of the preceding claims, characterized in that several high-speed data transmission connections are provided between the distribution gateway (10) and the at least one vehicle domain (15) and the at least one vehicle control unit (5) and the at least one sensor domain (13) and the at least one sensor control unit (8). 11.Fahrzeugsystem (1.1a)gemäß einem dervorhergehendenAnsprüche,dadurch gekennzeichnet,dassdasVerteilergateway(10)alsSteuereinheitausgelegtist. 11. Vehicle system (1.1a) according to one of the preceding claims, characterized in that the distributor gateway (10) is designed as a control unit. 12.Fahrzeugsystem (1.1a)gemäßAnspruch 11,dadurchgekennzeichnet,dassdas12. Vehicle system (1.1a) according to claim 11, characterized in that the Verteilergateway(10)mehrereRegelnoderAlgorithmenzum Verteilender Hochgeschwindigkeitsdatenandie mindestenseine Fahrzeugdomäne (15)und/oder distribution gateway (10) multiple rules or algorithms for distributing the high speed data to the at least one vehicle domain (15) and/or 25 die mindestenseine Fahrzeugsteuereinheit(5)und/oderdie mindestenseine Sensordomäne (13)und/oderdie mindestenseine Sensorsteuereinheit(8)enthält. 25 the at least one vehicle control unit (5) and/or the at least one sensor domain (13) and/or the at least one sensor control unit (8). 13.Fahrzeugsystem (1.1a)gemäßAnspruch 11oder12,dadurchgekennzeichnet, dassdasVerteilergateway(10)NotfalldatenzurÜbertragungdieserNotfalldatenan die mindestenseine Fahrzeugdomäne (15)und/oderandie mindestenseine Fahrzeugsteuereinheit(5)im Falleeinergestörten Hochgeschwindigkeitsverbindung zudermindestenseinenSensordomäne (4)aufweist. 13. Vehicle system (1.1a) according to claim 11 or 12, characterized in that the distributor gateway (10) has emergency data for transmission of this emergency data to the at least one vehicle domain (15) and/or to the at least one vehicle control unit (5) in the event of a disrupted high-speed connection to at least one sensor domain (4). 14.Fahrzeugsystem (1.1a)gemäß einem dervorhergehendenAnsprüche,dadurch gekennzeichnet,dass die mindestenseine Fahrzeugsteuereinheit(5)und diemindestenseine Fahrzeugdomäne (15)zum Erzeugenvon Betriebsparameternzum Steuernkritischer Aktuatoren(6a,..,6n)basierendaufdenübertragenenzeitkritischen undggf. zeitbezogenenSensordatenausgelegtist,undwobeidie mindestenseine Fahrzeugsteuereinheit(5)unddie mindestenseine Fahrzeugdomäne (15)direktzum Bestimmenvon BetriebsparameternzudenzeitkritischenAktuatoren(6a,..,6n) ausgelegtsind und eineodermehrere14. Vehicle system (1.1a) according to one of the preceding claims, characterized in that the at least one vehicle control unit (5) and the at least one vehicle domain (15) for generating operating parameters for controlling critical actuators (6a,.., 6n) based on the transmitted time-critical and possibly time-related sensor data, and wherein the at least one vehicle control unit (5) and the at least one vehicle domain (15) are designed directly for determining operating parameters relating to the time-critical actuators (6a,..,6n) and one or more Hochgeschwindigkeitsdatenübertragungsstreckenzum Übertragender Betriebsparameterandie relevantenkritischenAktuatoren(6a,..,6n)vorgesehen sind. High-speed data transmission links are provided for transmitting the operating parameters to the relevant critical actuators (6a,..,6n). 15.Fahrzeug,umfassend ein Fahrzeugsystem (1.1a)gemäß einem der vorhergehendenAnsprüche,wobeidasFahrzeug alsautonom fahrendesFahrzeug ausgelegtist. A vehicle comprising a vehicle system (1.1a) according to any one of the preceding claims, wherein the vehicle is designed as an autonomously driving vehicle. 26 26
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