DE102005043467A1 - Reverse drive assistance system for vehicle combination, has input device with adjusting unit for influencing force acting on adjusting lever to give haptic feedback signal about realizability and dangerousness of parameters to driver - Google Patents
Reverse drive assistance system for vehicle combination, has input device with adjusting unit for influencing force acting on adjusting lever to give haptic feedback signal about realizability and dangerousness of parameters to driver Download PDFInfo
- Publication number
- DE102005043467A1 DE102005043467A1 DE102005043467A DE102005043467A DE102005043467A1 DE 102005043467 A1 DE102005043467 A1 DE 102005043467A1 DE 102005043467 A DE102005043467 A DE 102005043467A DE 102005043467 A DE102005043467 A DE 102005043467A DE 102005043467 A1 DE102005043467 A1 DE 102005043467A1
- Authority
- DE
- Germany
- Prior art keywords
- driver
- trailer
- input device
- lever
- vehicle
- 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.)
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Classifications
-
- 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
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/75—Arm-rests
- B60N2/753—Arm-rests movable to an inoperative position
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Die Erfindung betrifft ein Rückfahrhilfesystem zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns gemäß dem Oberbegriff des Patentanspruchs 1.The The invention relates to a reverse-assistance system for regulating the reverse drive a vehicle combination according to the preamble of claim 1
Ein
derartiges Rückfahrhilfesystem
ist beispielsweise aus der
Aus
der
Des
Weiteren ist aus der
Aus
der
Der Erfindung liegt die Aufgabe zugrunde, ein Rückfahrhilfesystem der eingangs genannten Art anzugeben, das leicht zu bedienen ist und mit dem zuverlässig verhindert wird, dass das Fahrzeuggespann in eine nicht mehr steuerbare oder gefährliche Position gebracht wird.Of the Invention is based on the object, a Rückfahrhilfesystem the above Specify specified type that is easy to use and reliably prevented with the is that the vehicle combination in a no longer controllable or dangerous position is brought.
Die Aufgabe wird erfindungsgemäß durch die Merkmale des Anspruchs 1 gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen ergeben sich aus den Unteransprüchen.The The object is achieved by the Characteristics of claim 1 solved. Advantageous embodiments and further developments emerge the dependent claims.
Erfindungsgemäß umfasst das Rückfahrhilfesystem zur Regelung der Rückwärtsfahrt eines Zugfahrzeug-Anhänger-Gespanns eine Eingabeeinrichtung mit einem Stellhebel, der durch eine Rückstellkraft in einer Nullstellung gehalten wird und der vom Fahrer des Fahrzeuggespanns zur Eingabe einer die Längsbewegung des Fahrzeuggespanns bestimmenden Fahrervorgabe in eine Längsrichtung und zur Eingabe einer die Querbewegung des Fahrzeuggespanns bestimmenden Fahrervorgabe in eine Querrichtung auslenkbar ist. Das Rückfahrhilfesystem umfasst weiterhin Stellmittel zur Durchführung von die Längs- und Querbewegung des Zugfahrzeugs steuernden Stelleingriffen entsprechend den vom Fahrer über die Eingabeeinrichtung eingegebenen Fahrervorgaben und es umfasst zudem Bewertungsmittel zur Bewertung der Fahrervorgaben hinsichtlich ihrer Realisierbarkeit oder Gefahrenträchtigkeit. Die Eingabeeinrichtung umfasst Stellmittel zur Beeinflussung der auf den Stellhebel wirkenden Rückstellkraft, um dem Fahrer eine Rückmeldung über die Realisierbarkeit oder Gefährlichkeit der Fahrervorgaben zu geben.According to the invention, the reversing assist system for regulating the reversing of a towing vehicle-trailer combination comprises an input device with a control lever which is held by a restoring force in a zero position and by the driver of the vehicle combination for inputting a longitudinal movement of the vehicle combination determining driver specification in a longitudinal direction and for input a driver specification determining the transverse movement of the vehicle combination can be deflected in a transverse direction. The rear-aid system further comprises adjusting means for carrying out the control actions controlling the longitudinal and transverse movement of the towing vehicle according to the driver input entered by the driver via the input device and also comprises evaluation means for evaluating the driver's specifications with regard to their feasibility or dangerousness. The input device comprises adjusting means for influencing the restoring force acting on the adjusting lever in order to provide the driver with feedback about the feasibility or danger of the vehicle give instructions.
Der Stellhebel ist somit als haptischer Joystick oder Drivestick ausgeführt, über den der Fahrer eine haptische Rückmeldung über seine Vorgaben erhält, so dass er die Fahrervorgaben entsprechend der Rückmeldung rechtzeitig an die momentane Situation anpassen kann. Dadurch wird vermieden, dass das Fahrzeuggespann in eine nicht steuerbare oder gefährliche Position gebracht wird.Of the Lever is thus designed as a haptic joystick or Drivestick over the the driver gives a haptic feedback about his Receives specifications, so that he the driver specifications according to the feedback in time to the can adapt to the current situation. This will avoid that Vehicle combination in a non-taxable or dangerous Position is brought.
In einer vorteilhaften Ausgestaltung wird durch das Ausmaß der Betätigung des Stellhebels in Querrichtung eine der folgenden Größen als Fahrervorgabe vorgegeben:
- – ein Anhängerlenkwinkel, der im Falle eines Anhängers mit einer über eine Deichsel lenkbaren Radachse dem Winkel zwischen den Längsachsen des Anhängers und der Deichsel entspricht und der im Falle eines Anhängers mit unlenkbaren Radachsen dem Winkel zwischen den Längsachsen des Anhängers und des Zugfahrzeugs entspricht,
- – einer zeitlichen Änderung des Anhängerlenkwinkels,
- – einer relativen Änderung des Anhängerlenkwinkels bezogen auf die Länge der vom Zugfahrzeug gefahrenen Strecke.
- A trailer steering angle which, in the case of a trailer with a wheel axle steerable by a drawbar, corresponds to the angle between the longitudinal axes of the trailer and the drawbar and, in the case of a trailer with non-steerable axles, corresponds to the angle between the longitudinal axles of the trailer and the towing vehicle,
- A time change of the trailer steering angle,
- - A relative change in the trailer steering angle relative to the length of the distance traveled by the towing vehicle.
In einer weiteren vorteilhaften Ausgestaltung ist die die Eingabeeinrichtung an einer neben einem Fahrersitz vorgesehenen Armlehne oder unter einer hochschwenkbaren Armlehne angeordnet. Die Eingabeeinrichtung befindet sich dann in einer Position, in der sie vom Fahrer einfach und intuitiv bedient werden kann.In A further advantageous embodiment is the input device on a provided next to a driver's seat armrest or under arranged a swinging armrest. The input device is then in a position where it is easy for the driver and can be operated intuitively.
Vorzugsweise ist eine mit dem Rückfahrhilfesystem drahtlos kommunizierende Fernbedieneinrichtung als weitere Eingabeeinrichtung vorgesehen ist. Der Fahrer kann das Fahrzeuggespann dann auch von einer Position außerhalb des Fahrzeugs steuern, aus der er die Verkehrssituation besser übersehen kann.Preferably is one with the reverse drive system wirelessly communicating remote control device as another input device is provided. The driver can then also the vehicle combination of a position outside control the vehicle, from which he better overlook the traffic situation can.
Die Erfindung wird nachfolgend anhand eines Ausführungsbeispiels unter Bezugnahme auf die Figuren näher beschrieben. Dabei zeigen:The Invention will now be described with reference to an embodiment with reference closer to the figures described. Showing:
Bei
dem Ausführungsbeispiel
gemäß
In der Figur ist noch der Einschlagwinkel des rechten Vorderrads des Zugfahrzeugs A als Lenkwinkel δ eingezeichnet. Es wird nachfolgend vereinfachen davon ausgegangen, dass die Einschlagwinkel an beiden Vorderrädern des Zugfahrzeugs A gleich groß sind. Aufgrund der Spurgeometrie ist dies in der Regel jedoch nicht der Fall. In einem solchen Fall bezeichnet der Lenkwinkel δ den Einschlagwinkel des Vorderrads eines Einspurmodells des Zugfahrzeugs A. Bei einem solchen Einspurmodell werden die linken und rechten Räder des Fahrzeugs jeweils zu einem fiktiven Mittelrad in der Mitte des Zugfahrzeugs A zusammengefasst. Der Lenkwinkel δ ist demnach proportional zu dem Drehwinkel des Lenkrads des Zugfahrzeugs A, wobei der Proportionalitätsfaktor der Lenkübersetzung des Lenksystems des Zugfahrzeugs A entspricht.In the figure is still the turning angle of the right front wheel of Towing vehicle A is shown as a steering angle δ. It will simplify below assume that the steering angle both front wheels of the towing vehicle A are the same size. Due to the track geometry this is usually not the case Case. In such a case, the steering angle δ designates the steering angle of the front wheel of a single-track model of towing vehicle A. In a such single track model will be the left and right wheels of the Each vehicle to a fictitious center wheel in the middle of the towing vehicle A. summarized. The steering angle δ is therefore proportional to the angle of rotation of the steering wheel of the towing vehicle A, where the proportionality factor of steering ratio of the steering system of the towing vehicle A corresponds.
Um den Anhänger B entlang einer Kreisbahn zu bewegen, muss der Anhängerlenkwinkel κ2 so eingestellt werden, dass die Verlängerungen der Vorder- und Hinterradachse des Anhängers B sich im Mittelpunkt dieser Kreisbahn schneiden. Die Einstellung des Anhängerlenkwinkels κ2 erfolgt durch eine entsprechende Änderung des Deichselwinkels κ1, der seinerseits durch Steuerung des Lenkwinkels δ eingestellt wird.Around the trailer B to move along a circular path, the trailer steering angle κ2 must be set be that extensions the front and rear axle of the trailer B in the center to cut this circular path. The setting of the trailer steering angle κ2 takes place by a corresponding change of the drawbar angle κ1, in turn adjusted by controlling the steering angle δ becomes.
Das Rückfahrhilfesystem muss den Lenkwinkel δ nun so einstellen, dass das Fahrzeuggespann A, B nach und nach auf eine vom Fahrer gewünschte Bahn gebracht wird. Es umfasst hierzu entsprechende auf den Antriebsstrang und die Lenkanlage des Zugfahrzeugs A wirkende Regler und Stellmittel sowie Detektionsmittel zur Erfassung der aktuellen Werte der Geschwindigkeit, des Lenkwinkels δ und der Knickwinkel κ1, κ2. Die Einstellung des Lenkwinkels δ erfolgt durch eine Regelung, die auf der Auswertung von Bewegungsgleichungen basiert, welche für ein Modell des Fahrzeuggespanns vorab aufgestellt worden sind.The rear-aid system must now adjust the steering angle δ such that the vehicle combination A, B is gradually brought to a desired path by the driver. For this purpose, it comprises corresponding regulators and adjusting means acting on the drive train and the steering system of the traction vehicle A, as well as detection means for detecting the current values of the speed, the steering angle δ and the articulation angles κ1, κ2. The adjustment of the steering angle δ is performed by a scheme based on the evaluation of equations of motion, which have been prepared in advance for a model of the vehicle combination.
Bei einem Fahrzeuggespann mit einem Anhänger mit ungelenkter Achse, beispielsweise bei einem als Sattelauflieger ausgeführten Anhänger, vereinfachen sich die Verhältnisse. Die Knickwinkel κ1 und κ2 werden dann zu einem Anhängerlenkwinkel zusammengefasst, der dem Winkel zwischen den Längsachsen des Zugfahrzeugs und des Anhängers entspricht.at a vehicle combination with a trailer with unguided axle, For example, in a trailer designed as a semi-trailer simplify the conditions. The bending angles κ1 and κ2 become then combined into a trailer steering angle, the angle between the longitudinal axes of the towing vehicle and the trailer corresponds.
Der
Fahrer gibt seinen Fahrerwunsch über eine
Eingabeeinrichtung vor.
Die
Eingabeeinrichtung umfasst weiterhin verschiedene als Schalter ausgeführte Schaltmittel
Die
Eingabeeinrichtung
Der
Stellhebel
Durch
Betätigung
des Stellhebels
Durch
die Betätigung
des Stellhebels
Bei deaktiviertem Rückfahrhilfesystem gibt der Fahrer durch das Ausmaß der Auslenkung des Stellhebels in Querrichtung den Lenkwinkel δ oder dessen zeitliche Änderung vor. Bei aktiviertem Rückfahrhilfesystem gibt der Fahrer hingegen durch das Ausmaß der Querauslenkung eine der folgenden Größen als Fahrervorgabe vor:
- – den Anhängerlenkwinkel κ2,
- – die zeitliche Änderung des Anhängerlenkwinkels κ2, d.h. die Änderung des Anhängerlenkwinkels bezogen auf die Zeit,
- – die relative Änderung des Anhängerlenkwinkels κ2 bezogen auf die Länge der vom Zugfahrzeug gefahrenen Strecke.
- The trailer steering angle κ2,
- The change with time of the trailer steering angle κ2, ie the change of the trailer steering angle with respect to time,
- - The relative change of the trailer steering angle κ2 relative to the length of the distance traveled by the towing vehicle.
Dies gilt auch für ein Fahrzeuggespann mit einem Anhänger mit ungelenkter, starrer Radachse. In einem solchen Fall wird unter Anhängerlenkwinkel der Winkel zwischen den Längsachsen des Anhängers B und des Zugfahrzeugs A verstanden.This applies to a vehicle team with a trailer with unguided, more rigid Wheel axle. In such a case, under angle of the trailer angle between the longitudinal axes of the trailer B and the towing vehicle A understood.
Die
Eingabeeinrichtung
Das Rückfahrhilfesystem umfasst Bewertungsmittel, mit denen bewertet wird, ob die Fahrervorgaben realisierbar sind oder zu einer Gefahrensituation führen könnten, in der beispielsweise die Gefahr besteht, dass sich das Zugfahrzeug A und der Anhänger B verkeilen und beschädigen könnten.The Reversing aid system includes assessment tools that are used to assess driver preferences are realizable or could lead to a dangerous situation, in for example, the risk that the towing vehicle A and the trailer B wedging and damaging could.
Falls
die Fahrervorgaben als nicht realisierbar oder gefährlich beurteilt
werden, wird mit geeigneten Stellmitteln die auf den Stellhebel
So
wird der Stellhebel
In
entsprechender Weise wird der Stellhebel
Die Rückstellkraft kann auch moduliert werden, um eine pulsierende Kraftwirkung zu erzielen.The Restoring force can also be modulated to provide a pulsating force effect achieve.
Durch die haptische Rückmeldung über die Rückstellkraft kann der Fahrer seine Vorgaben rechtzeitig an die momentane Situation anpassen und damit rechtzeitig verhindern dass das Fahrzeuggespann in eine nicht steuerbare Position gebracht wird oder dass Zugfahrzeug und Anhänger sich verkeilen und gegenseitig beschädigen.By the haptic feedback on the restoring force the driver can set his specifications in time to the current situation adapt and thus prevent timely that the vehicle combination is placed in a non-controllable position or that towing vehicle and followers to wedge and damage each other.
Die
Eingabeeinrichtung
Claims (5)
Priority Applications (1)
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DE102005043467A DE102005043467A1 (en) | 2005-09-13 | 2005-09-13 | Reverse drive assistance system for vehicle combination, has input device with adjusting unit for influencing force acting on adjusting lever to give haptic feedback signal about realizability and dangerousness of parameters to driver |
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DE102005043467A DE102005043467A1 (en) | 2005-09-13 | 2005-09-13 | Reverse drive assistance system for vehicle combination, has input device with adjusting unit for influencing force acting on adjusting lever to give haptic feedback signal about realizability and dangerousness of parameters to driver |
Publications (1)
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DE102005043467A1 true DE102005043467A1 (en) | 2007-03-15 |
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DE102005043467A Withdrawn DE102005043467A1 (en) | 2005-09-13 | 2005-09-13 | Reverse drive assistance system for vehicle combination, has input device with adjusting unit for influencing force acting on adjusting lever to give haptic feedback signal about realizability and dangerousness of parameters to driver |
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2005
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