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TÜV SÜD AUTOMOTIVE GMBH Phone: +49 (0)89 5791 – 1393 Ridlerstr. 57 Facsimile: +49 (0)89 5791 – 4438 80339 München / Munich Germany Audit report no.: 377‐0023‐07‐TAES‐A Manufacturer: Paravan GmbH, 72539 Pfrontstetten‐Aichelau, Germany Model: Space Drive Page 5 of 19 1.3 Components: • Information Center (touchpad including liquid crystal display (LCD). • Vehicle Interface Module. Safety-relevant system components: • Drive Module • Input Device (steering wheel, lever, joystick or similar) • Steering DC disk armature motors • Gas / brake DC disk armature motors • Backup power supply 2. Safety concept: The Drive Modules are provided with four (4) homogeneous microprocessors each. The processors are grouped in two pairs. One (1) Basic Controller and one (1) Safety Controller each are called a pair. Each pair works in parallel in what is called the master / slave arrangement, with the master pair selecting the motor, and the slave pair being an active backup without access to the motor. The respective allocation of the master and slave is automatically changed each time the system is started (generation via the primary signal). Within the pair, the Basic Controller selects the motor, and the Safety Controller monitors the function of the Basic Controller through evaluation of the setpoints and the actual values of the sensors or actuators. In the case of an error, it can switch over the motor selection to the slave pair via an independent path (error & reset signal) and arbitration logic. The Basic Controller has also an error & reset path to switch over the activation onto the slave pair in the event of a detected error. There is no direct data interchange between the processors, both within the pair and between the pairs. Switch-over from the master pair to the slave pair can only occur from the master pair. The error & reset lines from the slave pair will only be accepted by the arbitration logic once the slave pair is in active control, viz. acts as the master. An arbitration logic (programmable AND gate), which is coupled to a switch-over (four relays), waits for the signal for switch-over of activation between the master and slave (primary signal line) after each system start and the reset & error line. While a boot-up routine runs up, the arbitration logic is tested for activation switch-over. Accredited under DAR registration no. KBA‐P‐00001‐95 by the Akkreditierungsstelle Kraftfahrt‐Bundesamt / accreditation agency of the (German) Federal Motor Transport Authority Federal Republic of Germany.
TÜV SÜD AUTOMOTIVE GMBH Phone: +49 (0)89 5791 – 1393 Ridlerstr. 57 Facsimile: +49 (0)89 5791 – 4438 80339 München / Munich Germany Audit report no.: 377‐0023‐07‐TAES‐A Manufacturer: Paravan GmbH, 72539 Pfrontstetten‐Aichelau, Germany Model: Space Drive Page 6 of 19 The setpoints (driver input) are sensed via the input devices (viz. lever, joystick, wheel), which are designed for triple redundancy (three potentiometers) and supply three independent signals to the Drive Module. Power supply is from the Drive Module, separately for each potentiometer. Within the Drive Module, two (2) signals from each pair are processed via internal A-D converters. Here, the Basic Controller evaluates one signal as a setpoint input for activation, and the Safety Controller evaluates two (2) signals (cf. Figure 3) such that it monitors the control system and the setpoint sensors (input device) at the same time. In the case of errors between the signals, activation will be switched over between the master and slave, with the Basic Controllers accessing independent setpoint signals (cf. Figure 3). Errors in the signal jointly evaluated by the Safety Controllers are logically detected through double switch-over. The actual values (position of a motor) are determined by a dual potentiometer and a resolver (motion tracker). The dual potentiometer of the motor supplies two independent signals that signal the position of the output shaft of the motor and gearbox. The resolver of the motor supplies a signal that signals the position of the motor shaft proper. The dual potentiometer and resolver are powered separately by the Drive Module. Evaluation of these signals is conceptually similar to that of the setpoint signals. Each of the Basic Controllers receives one of the signals from the dual potentiometer as an actual value for control via the respective A-D converter. The Safety Controllers evaluate the other signal from the dual potentiometer from the resolver via an RS-422 interface. Error handling is simultaneous to the error handling for detected sensor errors. Accredited under DAR registration no. KBA‐P‐00001‐95 by the Akkreditierungsstelle Kraftfahrt‐Bundesamt / accreditation agency of the (German) Federal Motor Transport Authority Federal Republic of Germany.
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