DE10154612A1 - Steer by wire system for reversing towing vehicle with trailer, employs gap sensors to monitor changing angle between their longitudinal axes - Google Patents

Steer by wire system for reversing towing vehicle with trailer, employs gap sensors to monitor changing angle between their longitudinal axes

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Publication number
DE10154612A1
DE10154612A1 DE10154612A DE10154612A DE10154612A1 DE 10154612 A1 DE10154612 A1 DE 10154612A1 DE 10154612 A DE10154612 A DE 10154612A DE 10154612 A DE10154612 A DE 10154612A DE 10154612 A1 DE10154612 A1 DE 10154612A1
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DE
Germany
Prior art keywords
trailer
towing vehicle
angle
steering
reversing
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.)
Withdrawn
Application number
DE10154612A
Other languages
German (de)
Inventor
Reidar Fleck
Axel Pauly
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Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
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Filing date
Publication date
Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Priority to DE10154612A priority Critical patent/DE10154612A1/en
Publication of DE10154612A1 publication Critical patent/DE10154612A1/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9317—Driving backwards
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The towing vehicle (1) at the rear is fitted with gap sensors (5) monitoring the gap between vehicle and trailer (2). Dependent on the angle (a) between the trailer and vehicle longitudinal axes the left (l) and right (r) gaps between the two differ. With the aid of an appropriate algorithm this is used to assist the towing vehicle driver when reversing.

Description

Die Erfindung betrifft eine Vorrichtung zum Lenken eines Zugfahrzeuges mit einem Anhänger bei Rückwärtsfahrt, mit einer elektronischen Steuereinheit, die zumindest Korrekturen für den Lenkeinschlag der lenkbaren Räder des Zugfahrzeuges in Abhängigkeit vom Winkel zwischen der Längsachse des Zugfahrzeugs und der Längsachse des Anhängers oder der Anhänger- Deichsel vorgibt. Zum technischen Umfeld wird beispielshalber auf die DE 39 23 676 A1 oder auf FR-2515379 A verwiesen. The invention relates to a device for steering a towing vehicle with a trailer when reversing, with an electronic control unit, the at least corrections for the steering angle of the steerable wheels of the Towing vehicle as a function of the angle between the longitudinal axis of Towing vehicle and the longitudinal axis of the trailer or the trailer Drawbar pretends. The technical environment is for example on the DE 39 23 676 A1 or to FR-2515379 A referenced.

Das Rückwärtsfahren mit einem Anhänger, welcher über eine Anhängerkupplung von einem Zugfahrzeug bewegt wird, erfordert einige Übung, da der Anhänger dazu neigt "auszuscheren". Die Aufgabe wird noch wesentlich schwieriger, wenn es sich um einen mehrachsigen Anhänger handelt. Bekannt wurde ein Projekt mit dem Titel "Future of Motion - Die elektronische Revolution im Antriebsstrang", bei welchem an einem Versuchsträger, bestehend aus einem Zugfahrzeug und einem zweiachsigem Anhänger, demonstriert wurde, dass es möglich ist, den Fahrzeugführer bei dieser schwierigen Aufgabe zu unterstützen. Dabei ist in dem Zugfahrzeug eine sog. by-wire Lenkung verbaut, welche aus einer Lenkhandhabe und einem von einem Computer angesteuerten Radwinkelsteller besteht. Bei Vorwärtsfahrt steuert der Fahrer über die Lenkhandhabe den Radwinkelsteller an und lenkt damit das Zugfahrzeug. Bei Rückwärtsfahrt (d. h. bei Rangier- oder Parkierbetrieb) lenkt der Fahrzeugführer nicht direkt das Zugfahrzeug, sondern gibt über die Lenkhandhabe den Sollkurs des Anhängers vor. Das heißt, dass der Fahrzeugführer quasi den Anhänger um einen virtuellen anhängerfesten Punkt lenkt, bei welchem es sich beispielsweise bei zweiachsigen Anhängern um die Mitte der lenkbaren Anhängerachse oder bei einachsigen Anhängern bzw. solchen mit Tandemachse um den Kugelkopf der Anhänger-Deichsel handeln kann. Denkbar ist es auch, den virtuellen Punkt in den Schwerpunkt oder die Mitte des Anhängers (in der Draufsicht) zu legen. Ein Computer berechnet dann die erforderlichen Lenkeinschläge am Zugfahrzeug, um den Anhänger auf dem gewünschten Kurs zu halten und steuert dementsprechend den Radwinkelsteller des Zugfahrzeuges an. Der Fahrer lenkt also mit der Lenkhandhabe direkt den Anhänger. The reversing with a trailer, which has a Towing hitch is moved by a towing vehicle, requires some practice because the trailer tends to "excite". The task will be even more important more difficult if it is a multi-axis trailer. A project with the title "Future of Motion - Die electronic revolution in the powertrain ", in which a test carrier, consisting of a towing vehicle and a biaxial trailer, It has been demonstrated that it is possible for the driver of this vehicle difficult task to support. It is in the towing vehicle a so-called by-wire steering installed, which consists of a steering handle and a consists of a computer controlled Radwinkelsteller. at Forwards, the driver uses the steering handle to activate the wheel angle adjuster and thus steers the towing vehicle. When reversing (ie at Rangier- or Parkierbetrieb), the driver does not direct the towing vehicle, but specifies via the steering handle the desired course of the trailer. The means that the driver quasi the trailer to a virtual trailer-fixed point directs, which is for example at biaxial trailers around the center of the steerable trailer axle or in uniaxial trailers or those with tandem axle to the Ball head of the trailer drawbar can act. It is also conceivable, the virtual point in the center of gravity or the center of the trailer (in the Top view). A computer then calculates the required Steering knobs on towing vehicle to the trailer on the desired Course and accordingly controls the Radwinkelsteller the Towing vehicle. The driver steers so with the steering handle directly Pendant.

Handelt es sich bei dem beschriebenen Funktionsprinzip um eine Steuerung in Abhängigkeit von den Eingaben des Fahrers an der Lenkhandhabe, so besteht das Problem, dass diese grundsätzlich nicht in der Lage ist, äußere Störungen, wie beispielsweise Bordsteinkanten, unterschiedliche Fahrbahnreibwerte etc. zu berücksichtigen. Dies kann an einem einfachen, anschaulichen Beispiel verdeutlicht werden: Es sei angenommen, dass es sich um ein Zugfahrzeug (PKW) mit einem einachsigen Anhänger oder einem Anhänger mit einer Tandemachse handelt. Wird ein Rad des Anhängers bei Rückwärtsfahrt z. B. durch eine Bordsteinkante blockiert oder befinden sich die Räder des Anhängers auf unterschiedlichen Fahrbahnbelägen mit unterschiedlichen Reibwerten, so ermittelt eine reine Steuerung nicht die richtigen Sollwerte für die Radwinkelsteller des Zugfahrzeuges, da die beispielhaft genannten Störgrößen nicht berücksichtigt werden können bzw. werden. Is the described principle of operation a control depending on the inputs of the driver to the steering handle, so There is the problem that this is basically not able to external Disturbances, such as curbs, different Fahrreibreibwerte etc. to take into account. This may be due to a simple, descriptive example be clarified: It is assumed that it is a Traction vehicle (car) with a uniaxial trailer or a trailer with a tandem axle. Will a wheel of the trailer at Reverse drive z. B. blocked by a curb or are the Wheels of the trailer on different road surfaces with different coefficients of friction, a pure control does not determine the correct ones Setpoints for the Radwinkelsteller of the towing vehicle, as the example can not be taken into account.

Dieses beschriebene Problem lässt sich lösen, wenn die Ansteuerung des Radwinkelstellers des Zugfahrzeuges über eine Regelung erfolgt, die Information über die Lage oder Position des Anhängers in Relation zum Zugfahrzeug über eine geeignete Sensorik erhält. Der Fahrer kann dabei in den Regelkreis mit seinen Eingaben an der Lenkhandhabe integriert sein. Die Kombination aus Fahrereingabe und exakter Erkennung der Anhängerlage zum Zugfahrzeug mittels geeigneter Sensorik ermöglicht es einer in einer elektronischen Steuereinheit enthaltenen Regelung, alle möglichen Störungen zu berücksichtigen und auszuregeln. Dieser Stand der Technik ist Inhalt der eingangs genannten Schriften. This described problem can be solved if the activation of the Radwinkelstellers the towing vehicle via a scheme that takes place Information about the position or position of the trailer in relation to Towing vehicle receives via a suitable sensor. The driver can do it in be integrated with the control circuit with its inputs to the steering handle. The combination of driver input and accurate detection of the Trailer position to the towing vehicle by means of suitable sensors allows an in an electronic control unit contained control, all possible Disruptions to take into account and correct. This prior art is Content of the aforementioned writings.

Bei diesem bekannten Stand der Technik kommen Winkelsensoren zum Einsatz, die zwischen der lenkbaren Achse des Anhängers und dem Anhängeraufbau sowie an der Anhängerkupplung des Zugfahrzeuges angebracht sind. Damit kann zum einen der Einschlagwinkel der lenkbaren Anhängerachse und zum anderen der Winkel zwischen der Längsachse des Zugfahrzeuges und der Längsachse der Anhänger-Deichsel bestimmt werden. Derartige Winkelsensoren sowie die Übermittlung von deren Signalen an eine elektronische Auswerte- und Steuereinheit sind jedoch relativ aufwändig, wobei dieser Aufwand für Lastkraftwagen mit Mehrachs- Anhängern mit lenkbaren Achsen eventuell noch gerechtfertigt ist, bei üblichen Personenkraftwagen hingegen, die nur gelegentlich einen Einachs- oder einen Tandemachs-Anhänger ziehen sollen, unvertretbar hoch ist. In this known prior art angle sensors come to Insert, between the steerable axle of the trailer and the Trailer body as well as on the trailer hitch of the towing vehicle are attached. Thus, on the one hand, the steering angle of the steerable Trailer axle and the other the angle between the longitudinal axis of Towing vehicle and the longitudinal axis of the trailer drawbar determines become. Such angle sensors and the transmission of their However, signals to an electronic evaluation and control unit are relatively complex, whereby this expenditure for lorries with multi-axis Trailers with steerable axles may still be justified, at on the other hand, which only occasionally produce a one-axle or pulling a tandem axle trailer is unacceptably high.

Eine dahingehend verbesserte Vorrichtung nach dem Oberbegriff des Anspruchs 1 aufzuzeigen, ist daher Aufgabe der vorliegenden Erfindung. Die Lösung dieser Aufgabe ist dadurch gekennzeichnet, dass der besagte Winkel (bspw. zwischen der Längsachse des Zugfahrzeugs und der Längsachse des Anhängers oder der Anhänger-Deichsel) aus den Signalen zumindest zweier Abstandssensoren, die am Zugfahrzeug und/oder am Anhänger vorgesehen sind und die den jeweiligen Abstand zwischen dem Zugfahrzeug und dem Anhänger oder der Deichsel desselben ermitteln, bestimmt wird. Vorteilhafte Aus- und Weiterbildungen sind Inhalt der Unteransprüche. An improved device according to the preamble of Claim 1 show, therefore, object of the present invention. The solution to this problem is characterized in that said Angle (eg. Between the longitudinal axis of the towing vehicle and the Longitudinal axis of the trailer or trailer drawbar) from the signals at least two distance sensors on the towing vehicle and / or on Trailers are provided and the the distance between the Determine the towing vehicle and the trailer or the drawbar of the same, is determined. Advantageous training and further education are content of Dependent claims.

Ein Gedanke der Erfindung ist es, die an vielen Personenkraftwagen bereits vorhandene Abstands-Mess-Sensorik zu nützen, um einer elektronischen Auswerte- und Steuereinheit die benötigte Information über die Lage oder Position des Anhängers in Relation zum Zugfahrzeug bei einer Rückwärtsfahrt zu vermitteln. Bislang dient diese Abstands-Mess-Sensorik insbesondere dazu, beim Einparken des Kraftfahrzeugs bzw. Personenkraftwagens auf drohende Kollisionen hinzuweisen. Dabei überwacht bzw. ermittelt diese Sensorik den Abstand zwischen dem Kraftfahrzeug und einem naheliegenden Hindernis. One thought of the invention is that many passenger cars already existing distance-measuring sensors to use an electronic Evaluation and control unit, the information required about the location or Position of the trailer in relation to the towing vehicle at a To provide reversing. So far, this distance-measuring sensors are used in particular, when parking the motor vehicle or passenger car to indicate impending collisions. It monitors or determines this Sensors the distance between the motor vehicle and a obvious obstacle.

Erfindungsgemäß soll nun das Messergebnis dieser Sensorik dazu genutzt werden, bspw. den Winkel zwischen der Längsachse des Zugfahrzeugs und der Längsachse eines hieran angekoppelten Einachs-Anhängers zu bestimmen. Üblicherweise sind mehrere solcher Abstandssensoren nebeneinander bspw. in der hinteren Stoßstange eines Personenkraftwagens angeordnet. Wenn sich die Längsachse des Anhängers in der Längsachse des Zugfahrzeuges fortsetzt, so dass zwischen diesen Längsachsen ein Winkel von 0° vorliegt, so ist der Abstand zwischen dem Zugfahrzeug und dem Anhänger (bzw. der Stirnseite desselben) an der linken Fahrzeugseite gleich demjenigen an der rechten Fahrzeugseite. Verlaufen hingegen die Längsachsen von Zugfahrzeug und Anhänger gegeneinander geneigt, d. h. liegt zwischen diesen Längsachsen ein Winkel α ungleich 0° (bzw. ungleich 180°) vor, so ist der Abstand zwischen dem Zugfahrzeug und dem Anhänger an der in Fzg. Fahrtrichtung betrachtet linken Fahrzeugseite ungleich dem entsprechenden Abstand an der rechten Fahrzeugseite. According to the invention, the measurement result of this sensor is now to be used be, for example, the angle between the longitudinal axis of the towing vehicle and the longitudinal axis of a coupled thereto single-axle trailer determine. Usually, several such distance sensors side by side, for example, in the rear bumper of a Passenger car arranged. When the longitudinal axis of the trailer in the Longitudinal axis of the towing vehicle continues, so that between these Longitudinal axes is an angle of 0 °, so the distance between the Towing vehicle and the trailer (or the front side of the same) on the left side of the vehicle similar to the one on the right side of the vehicle. On the other hand, the longitudinal axes of towing vehicle and trailer run inclined to each other, d. H. lies between these longitudinal axes an angle α is not equal to 0 ° (or not equal to 180 °), the distance between the Towing vehicle and the trailer at the considered in Fzg. Driving direction left side of the vehicle not equal to the corresponding distance on the right Side of the vehicle.

Dies geht auch aus der beigefügten einzigen Figur hervor, die in Draufsicht einen PKW als Zugfahrzeug 1 sowie einen daran angehängten Anhänger 2 (bspw. Einachs-Wohnanhänger) zeigt. Die Längsachse des Anhängers 2 ist mit der Bezugsziffer 2' und diejenige des Zugfahrzeuges 1 mit der Bezugsziffer 1' bezeichnet. Diese beiden Längsachsen 1', 2' schneiden sich im Zentrum des Kugelkopfes 3a der PKW-Anhängerkupplung 3, auf welchen die Deichsel 4 des Anhängers 2 mit ihrem Kupplungsstück 4a aufgesetzt ist, unter dem Winkel α. Unter den Bezugsziffern 5 sind mehrere Abstandssensoren dargestellt, die in der hinteren Stossstange des Zugfahrzeugs 1 angeordnet sind, und die jeweils lokal begrenzt bzw. individuell den kürzesten Abstand zwischen ihrem Anbringungsort und dem Anhänger 2 bestimmen. Wie ersichtlich ist für α ≠ 0° der linksseitige besagte Abstand "I" ungleich dem entsprechenden rechtsseitigen besagten Abstand "r". This is also apparent from the attached single figure, which shows in plan view a car as a towing vehicle 1 and an attached trailer 2 (eg single-axle caravan). The longitudinal axis of the trailer 2 is denoted by the reference numeral 2 'and that of the towing vehicle 1 by the reference numeral 1 '. These two longitudinal axes 1 ', 2 ' intersect at the center of the ball head 3 a of the car trailer hitch 3 , on which the drawbar 4 of the trailer 2 is placed with its coupling piece 4 a, at the angle α. The reference numerals 5 , a plurality of distance sensors are shown, which are arranged in the rear bumper of the towing vehicle 1 , and each locally or individually determine the shortest distance between their mounting location and the trailer 2 . As can be seen, for α ≠ 0 °, the left side said distance "I" is not equal to the corresponding right side said distance "r".

Mit der so gewonnenen Information und dem daraus abgeleiteten Winkel α kann eine elektronische Auswerte- und Steuereinheit bei Vorhandensein eines geeigneten Zugfahrzeug-Lenksystems, insbesondere eines sog. bywire Lenksystems, mit einem (hier nicht näher beschriebenem) Algorithmus den Fahrzeugführer bei Rückwärtsfahrt zu unterstützen, so dass unabhängig von äußeren Störungen der Anhänger dem Fahrerwunsch folgt und nicht ungewollt ausschert. Hierzu veranlasst die elektronische Steuereinheit über das geeignete Lenksystem geeignete Lenkeinschläge an den lenkbaren Rädern des Zugfahrzeugs 1. With the information thus obtained and the angle α derived therefrom, an electronic evaluation and control unit in the presence of a suitable towing vehicle steering system, in particular a so-called bywire steering system with an algorithm (not described in more detail here) can assist the driver in reversing that regardless of external disturbances, the trailer follows the driver's request and does not unintentionally go missing. For this purpose, the electronic control unit initiates suitable steering impacts on the steerable wheels of the towing vehicle 1 via the suitable steering system.

Es ist aber nicht nur möglich, dass eine Korrektur für den Lenkeinschlag direkt in ein geeignetes Lenksystem des Zugfahrzeuges, welches unabhängig von oder zusätzlich zu den Vorgaben des Fahrzeugführers den Lenkeinschlag der lenkbaren Räder beeinflusst, eingespeist wird, sondern dass die Korrektur für den Lenkeinschlag dem Fahrzeugführer angezeigt wird. Das heißt, dass mit einer derartigen Abstands-Mess-Sensorik an Zugfahrzeugen, die kein (bspw. by-wire) Lenksystem besitzen, das zusätzliche, vom Fahrzeugführer unabhängige Lenkeingriffe ermöglicht, die Abstandsinformation zumindest dazu genutzt werden, dem Fahrzeugführer geeignete Hinweise zu geben, in welcher Weise er Korrekturen an seinem Lenkrad bzw. an seiner Lenkhandhabe vornehmen sollte. Im einfachsten Fall kann bei Rückwärtsfahrt mit den Abstandssensoren eine Kollisionswarnung erfolgen, d. h. bei einem entsprechend großen Winkel α zwischen den Längsachsen von Zugfahrzeug und Anhänger wird der Fahrzeugführer auf eine drohende Kollision zwischen diesen beiden hingewiesen wird. But it is not only possible that a correction for the steering angle directly into a suitable steering system of the towing vehicle, which regardless of or in addition to the specifications of the driver Steering wheel steered the steerable wheels, is fed, but that the Correction for the steering angle is displayed to the driver. The means that with such a distance-measuring sensor technology on towing vehicles, which have no (for example by-wire) steering system, the additional, from Driver independent steering intervention allows the Distance information used at least to the driver appropriate To give indications of how he made corrections to his steering wheel or should make on his steering handle. In the simplest case can when reversing with the distance sensors a collision warning take place, d. H. at a correspondingly large angle α between the Longitudinal axes of towing vehicle and trailer is the driver a threatening collision between these two is pointed out.

Ausdrücklich sei darauf hingewiesen, dass die Abstandssensoren keineswegs alleine am Zugfahrzeug angebracht sein müssen. Vielmehr ist es auch möglich, derartige Abstandssensoren am Anhänger vorzusehen. Handelt es sich um einen Anhänger ohne lenkbare Achse, so können diese Abstandssensoren analog der vorangegangenen Beschreibung den Winkel zwischen den Längsachsen des Zugfahrzeuges sowie des Anhängers bestimmen. Bei einem Anhänger mit lenkbarer Achse, an welche üblicherweise die Deichsel angekoppelt ist, kann mit derartigen Abstandssensoren bei geeigneter Anbringung auch der Winkel zwischen dem Anhänger-Aufbau (bzw. dessen Längsachse) und der Deichsel-Längsachse bestimmt werden, d. h. der Einschlagwinkel der Lenk-Achse des Anhängers. It should be explicitly noted that the distance sensors by no means alone on the towing vehicle must be installed. Rather, it is too possible to provide such distance sensors on the trailer. Is it? It can be a trailer without a steerable axle Distance sensors analogous to the previous description, the angle between determine the longitudinal axes of the towing vehicle and the trailer. at a trailer with steerable axle, to which usually the drawbar is coupled with such distance sensors at a suitable Attachment also the angle between the trailer body (or its Longitudinal axis) and the drawbar longitudinal axis are determined, d. H. of the Steering angle of the steering axle of the trailer.

Was die Ausgestaltung der Abstands-Mess-Sensorik betrifft, so kann diese beispielsweise auf Ultraschall- oder Radarbasis arbeiten. Dabei deckt der Messbereich der üblicherweise in den Kraftfahrzeugen eingesetzten Abstandssensoren selbst große Deichsellängen ab. Auch ist die übliche Auflösung einer üblichen Abstands-Mess-Sensorik (in der Größenordnung von 1 cm) in jedem Fall ausreichend für die hiermit vorgeschlagene Anwendung. Mögliche Temperatureinflüsse können in bekannter Weise durch Quotientenbildung weitgehend ausgeschaltet werden. Auch wird bspw. das Ultraschall-Messprinzip üblicher Abstandssensoren bei den beim Rückwärtsfahren niedrigen Fahrzeuggeschwindigkeiten nicht gestört. As far as the configuration of the distance-measuring-sensor technology is concerned, this can For example, work on ultrasound or radar. It covers the Measuring range of the commonly used in motor vehicles Distance sensors even large drawbar lengths from. Also, the usual Resolution of a conventional distance-measuring sensor (in the order 1 cm) is sufficient in any case for the hereby proposed Application. Possible temperature influences can in a known manner largely eliminated by quotient formation. Also, for example. the ultrasonic measuring principle of conventional distance sensors at the Reversing low vehicle speeds did not bother.

Sollten sich derart große Winkel zwischen den Längsachsen des Zugfahrzeuges und des Anhängers einstellen, dass diese Knickwinkel mit der vorgeschlagenen Abstands-Mess-Sensorik nicht mehr erfassbar sind, so sind diese Knick-Winkel dann aus dem Fahrverhalten bei gesamtheitlicher Betrachtung des Gespanns (= Zugfahrzeug und Anhänger) erkennbar. Im übrigen können bei gerader Vorwärtsfahrt (= Zugbetrieb des Gespanns), die über einen Lenkwinkelsensor (dieser ist in einem Zugfahrzeug mit einer by- wire-Lenkung ohnehin vorhanden) und/oder Raddrehzahlsensoren (diese sind in jedem mit einem Anti-Blockier-System ausgestatteten Fahrzeug verbaut) erkannt werden kann, die Abstands-Mess-Sensoren kalibriert, d. h. quasi eingeeicht bzw. überprüft werden. Ferner kann über Kurvenfahrten bei geringerer Geschwindigkeit die Deichsellänge des Anhängers zumindest abgeschätzt bzw. ausreichend genau ermittelt werden. Hieraus ergibt sich dann ein Kalibrierfaktor für die Abstände zwischen dem Zugfahrzeug und dem Anhänger und daraus der besagte Winkel α (vgl. beigefügte Figur sowie obige Beschreibung hierzu), anhand dessen in der besagten Auswerte- und Steuereinheit zumindest ein Korrektur-Wert für den Lenkeinschlag der lenkbaren Räder des Zugfahrzeugs bestimmt wird. Should such large angles between the longitudinal axes of the Traction vehicle and the trailer adjust that these bending angles with the proposed distance-measuring sensors are no longer detectable, so These kink angles are then from the overall driving behavior View of the team (= towing vehicle and trailer) recognizable. in the remaining can in straight forward driving (= train operation of the team), the via a steering angle sensor (this is in a towing vehicle with a by- wire steering already available) and / or wheel speed sensors (this are in every vehicle equipped with an anti-lock system installed), the distance measuring sensors are calibrated, d. H. quasi calibrated or checked. Further, about cornering at lower speed the drawbar length of the trailer at least estimated or sufficiently accurately determined. It follows then a calibration factor for the distances between the towing vehicle and the trailer and from there the said angle α (see attached figure and above description), based on which in the said evaluation and Control unit at least a correction value for the steering angle of the steerable wheels of the towing vehicle is determined.

Zusammenfassend sind durch die Positionserkennung eines Anhängers in Relation zum Zugfahrzeug mittels einer Abstands-Mess-Sensorik folgende Unterstützungen für den Fahrer des Zugfahrzeuges auf einfache Weise und insbesondere ohne aufwändige Zusatzausrüstung oder Nachrüstung möglich:
Erkennung von Kollisionen zwischen Zugfahrzeug und Anhänger und hierauf eine Warnung des Fahrer, wobei für diese Funktion kein sog. aktives Lenksystem, d. h. kein Lenksystem, welches der Lenkvorgabe des Fahrers weitere Lenkwinkel hinzufügt, erforderlich ist.
Ein Assistenzsystem für Anhängerrückwärtsfahrt. Dabei ist der Fahrer ein Bestandteil des Regelkreises und lenkt, wie bereits oben beschrieben, mit der Lenkhandhabe des Zugfahrzeuges den Anhänger um einen virtuellen Punkt des Anhängers (bspw. um den in der beigfügten Figur mit dem Buchstaben "a" bezeichneten Punkt). Selbstverständlich ist für diese Funktion ein sog. aktives Lenksystem im Zugfahrzeug erforderlich.
Vollautomatische Rückwärtsfahrt (bspw. an einem LKW mit Anhänger in einem Verladebahnhof). Hierbei ist der Fahrer ist nicht Bestandteil des Regelkreises, sondern er kann das Fahrzeug sogar verlassen. Aktive Lenkung im Zugfahrzeug ist erforderlich. Bei gegebener Infrastruktur ist es dann möglich, den Sattelzug vollautomatisch zum Be- und Entladen fahrerlos zu bewegen. In summary, by the position detection of a trailer in relation to the towing vehicle by means of a distance-measuring sensor, the following supports for the driver of the towing vehicle in a simple manner and in particular without expensive additional equipment or retrofit:
Detection of collisions between towing vehicle and trailer and then a warning of the driver, with no so-called active steering system, ie no steering system, which adds more steering angle of the driver's steering input, is required for this function.
An assistance system for trailer reversing. The driver is a part of the control loop and directs, as already described above, with the steering handle of the towing vehicle the trailer to a virtual point of the trailer (for example, to the designated in the attached figure with the letter "a" point). Of course, a so-called active steering system in the towing vehicle is required for this function.
Fully automatic reverse drive (eg on a truck with trailer in a loading yard). Here, the driver is not part of the control loop, but he can even leave the vehicle. Active steering in the towing vehicle is required. Given a given infrastructure, it is then possible to move the semitrailer fully automatically for loading and unloading.

Claims (4)

1. Vorrichtung zum Lenken eines Zugfahrzeuges mit einem Anhänger bei Rückwärtsfahrt, mit einer elektronischen Steuereinheit, die zumindest Korrekturen für den Lenkeinschlag der lenkbaren Räder des Zugfahrzeuges in Abhängigkeit vom Winkel zwischen der Längsachse des Zugfahrzeugs und der Längsachse des Anhängers oder der Anhänger-Deichsel vorgibt, dadurch gekennzeichnet, dass der besagte Winkel aus den Signalen zumindest zweier Abstandssensoren, die am Zugfahrzeug und/oder am Anhänger vorgesehen sind und die den jeweiligen Abstand zwischen dem Zugfahrzeug und dem Anhänger oder der Deichsel desselben ermitteln, bestimmt wird. 1. A device for steering a towing vehicle with a trailer when reversing, with an electronic control unit that at least provides corrections for the steering angle of the steerable wheels of the towing vehicle in dependence on the angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer or the trailer drawbar, characterized in that said angle is determined from the signals of at least two distance sensors provided on the towing vehicle and / or the trailer and determining the respective distance between the towing vehicle and the trailer or the drawbar thereof. 2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Korrektur für den Lenkeinschlag dem Fahrzeugführer angezeigt wird oder direkt in ein geeignetes Lenksystem des Zugfahrzeuges, welches unabhängig von oder zusätzlich zu den Vorgaben des Fahrzeugführers den Lenkeinschlag der lenkbaren Räder beeinflusst, eingespeist wird. 2. Apparatus according to claim 1, characterized in that the correction for the steering angle the driver is displayed or directly into a suitable Steering system of towing vehicle, which is independent of or in addition to the specifications of the driver the steering angle of the steerable wheels, is fed. 3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Abstandssensoren auf Ultraschallbasis oder Radarbasis arbeiten. 3. Apparatus according to claim 1 or 2, characterized in that the distance sensors Ultrasonic base or radar base work. 4. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die Abstandssensoren im Zugbetrieb bei Vorwärtsfahrt des Zugfahrzeuges kalibriert werden. 4. Device according to one of the preceding claims, characterized in that the distance sensors in train operation be calibrated during forward travel of the towing vehicle.
DE10154612A 2001-11-07 2001-11-07 Steer by wire system for reversing towing vehicle with trailer, employs gap sensors to monitor changing angle between their longitudinal axes Withdrawn DE10154612A1 (en)

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