System for the at least partially autonomous operation of a motor vehicle with double redundancy

A system for controlling at least partially autonomous operation of a motor vehicle, comprising:

• a) an electronic service brake device with at least one electronic service brake controller with at least one service brake actuator;
• b) an electrical parking brake device with an electronic parking brake controller and with at least one parking brake actuator;
• c) an electrical steering device with an electrical steering actuator;
• d) an electronic engine controller to control an engine of the motor vehicle;
• e) a sensor device with which environment data characterizing an environment of the motor vehicle is generated;
• f) an electronic main control unit, which receives the environment data from the sensor device, and, depending on the environment data, inputs adjusting commands into the electronic service brake device and/or the electrical parking brake device and/or the electrical steering device and/or into the electronic engine controller;
• g) a first electronic backup control unit, which, for a fault or failure of the electronic main control unit, receives the environment data from the sensor device, and, depending on the environment data, inputs the adjusting commands into the electronic service brake device and/or the electrical parking brake device and/or the electrical steering device and/or into the electronic engine controller;
• and h) a second electronic backup control unit, which, for a fault or failure of the electronic main control unit and the first electronic backup control unit, receives the environment data from the sensor device, and, depending on the environment data, inputs the adjusting commands at least into the electronic service brake device and/or the electrical parking brake device and/or the electrical steering device and/or into the electronic engine controller;
• a position device to determine current positional data of the motor vehicle;
• and a receiver to receive data from other motor vehicles and/or from stationary transmitters as part of vehicle-to-X (V2X) communication, including information and data concerning the other motor vehicles driving on the route travelled, the data being input into the electronic main control unit;
• wherein the electronic main control unit receives the environment data from the sensor device and data from the position device and from the V2X and detects based on the environment data a position and/or a speed and/or a nature of an object located in an environment of the motor vehicle, wherein as a reaction to the detection of the position and/or the speed and/or the nature of the object and also the data from the position device and the V2X, it carries out an action plan, and wherein a movement corridor for the further movement of the motor vehicle is determined, and depending on the movement corridor determined, electrical adjusting commands are generated and are input into a first brake controller.

A vehicle or a commercial vehicle, comprising:

• a system for controlling at least partially autonomous operation of a motor vehicle, including:
• a) a sensor device with which environment data characterizing an environment of the motor vehicle is generated;
• b) an electronic main control unit, which receives the environment data from the sensor device, and, depending on the environment data, inputs adjusting commands into at least one device or into at least one actuator, which device or actuator is used in the at least partially autonomous operation of the motor vehicle;
• c) a first electronic backup control unit, which, for a fault or failure of the electronic main control unit, receives the environment data from the sensor device, and, depending on the environment data, inputs the adjusting commands into the at least one device or into the at least one actuator, which device or actuator is used in the at least partially autonomous operation of the motor vehicle;
• and d) a second electronic backup control unit, which, for a fault or failure of the electronic main control unit and the first electronic backup control unit, receives the environment data from the sensor device, and, depending on the environment data, inputs the adjusting commands into the at least one device or into the at least one actuator, which device or actuator is used in the at least partially autonomous operation of the motor vehicle, a position device to determine current positional data of the motor vehicle;
• and a receiver to receive data from other motor vehicles and/or from stationary transmitters as part of vehicle-to-X (V2X) communication, including information and data concerning the other motor vehicles driving on the route travelled, the data being input into the electronic main control unit;
• wherein the electronic main control unit receives the environment data from the sensor device and data from the position device and from the V2X and detects based on the environment data a position and/or a speed and/or a nature of an object located in an environment of the motor vehicle, wherein as a reaction to the detection of the position and/or the speed and/or the nature of the object and also the data from the position device and the V2X, it carries out an action plan, and wherein a movement corridor for the further movement of the motor vehicle is determined, and depending on the movement corridor determined, electrical adjusting commands are generated and are input into a first brake controller.