DE19834752A1 - Device for regulation of reversing of cars with trailers - Google Patents

Device for regulation of reversing of cars with trailers

Info

Publication number
DE19834752A1
DE19834752A1 DE19834752A DE19834752A DE19834752A1 DE 19834752 A1 DE19834752 A1 DE 19834752A1 DE 19834752 A DE19834752 A DE 19834752A DE 19834752 A DE19834752 A DE 19834752A DE 19834752 A1 DE19834752 A1 DE 19834752A1
Authority
DE
Germany
Prior art keywords
trailer
towing vehicle
steered wheels
vehicle
trailers
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.)
Granted
Application number
DE19834752A
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German (de)
Other versions
DE19834752C2 (en
Inventor
Uwe Paul
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Individual
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to DE19834752A priority Critical patent/DE19834752C2/en
Publication of DE19834752A1 publication Critical patent/DE19834752A1/en
Application granted granted Critical
Publication of DE19834752C2 publication Critical patent/DE19834752C2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

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

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

Abstract

The method involves measuring the angle of lock ( beta ) of one or both front wheels as the vehicle is moving forwards. The distance between the vehicle and trailer is measured using a distance measurement at least one point and values are stored in relative to each other. When the vehicle is reversing the front wheel angle of lock is regulated using the stored values and the distance measurement.

Description

Die Erfindung "Vorrichtung zur Regelung der Rückwärtsfahrt von Kraft­ fahrzeugen mit Anhängern" - kurz Rückfahrregelung - betrifft eine Vorrich­ tung zur Regelung der Rückwärtsfahrt entsprechend dem Oberbegriff des Anspruchs 1. Ihr liegt der Gedanke zugrunde, daß ein Zugfahrzeug mit An­ hänger stabil rückwärts um eine Kurve fährt, wenn Lenkeinschlag und Po­ sition von Zugfahrzeug und Anhänger zueinander dieselben Werte anneh­ men, wie beim Durchfahren derselben Kurve vorwärts.The invention "device for regulating the backward movement of force vehicles with trailers "- briefly reversing control - concerns a Vorrich device for regulating the reverse travel according to the preamble of Claim 1. It is based on the idea that a towing vehicle with an trailer stably reverses around a curve when steering lock and bottom sition of towing vehicle and trailer assume the same values to each other as when driving the same curve forward.

In der Druckschrift 34 30 074 wird eine Vorrichtung beschrieben, bei der die Lenkbewegung mechanisch von der Zugmaschine auf die lenkbare Achse des Anhängers übertragen wird. Die Druckschrift 35 38 338 be­ schreibt eine Einrichtung, bei der die lenkbare Achse des Anhängers nach vorgegebenen elektrischen Sollwerten bewegt wird. Und nach 23 39 600 wird der Einschlagwinkel der gelenkten Räder des Zugfahrzeuges anhand von gemessenen Winkeln errechnet.In the document 34 30 074 a device is described in which the steering movement mechanically from the tractor to the steerable Axle of the trailer is transmitted. The document 35 38 338 be writes a facility where the steerable axle of the trailer follows predetermined electrical setpoints is moved. And after 23 39 600 the steering angle of the steered wheels of the towing vehicle is used calculated from measured angles.

Bei den drei aufgeführten Vorrichtungen sind entsprechende Anbauteile an ein- und/oder zweiachsigen Anhängern erforderlich. Demgegenüber liegt dieser Erfindung die Aufgabe zugrunde, eine geregelte Rückwärtsfahrt oh­ ne Zusatzausstattung der Anhänger möglich zu machen. Diese Aufgabe wird durch die Merkmale des Anspruchs l gelöst. Zweckmäßige Ausgestal­ tungen dazu sind in den Unteransprüchen angegeben.Appropriate attachments are attached to the three devices listed single and / or two-axle trailers required. On the other hand This invention has the object of a regulated backward movement oh To make additional equipment of the trailer possible. This task is solved by the features of claim 1. Appropriate design Information on this is given in the subclaims.

Dadurch, daß die Anhänger nicht mit Zusatzeinrichtungen ausgestattet wer­ den müssen und keine Signalübertragung zwischen Anhänger und Zugfahr­ zeug erforderlich ist, ergeben sich folgende Hauptvorteile: Erstens können alle existierenden Anhänger mit dem System zusammenarbeiten. Zweitens besteht keine Notwendigkeit, daß sich verschiedene Hersteller von Zug­ fahrzeugen und Anhängern auf einen gemeinsamen Standard einigen müs­ sen.The fact that the trailer is not equipped with additional devices the must and no signal transmission between trailer and train driver The main advantages are: First, you can all existing trailers work with the system. Secondly there is no need for different train manufacturers vehicles and trailers must agree on a common standard sen.

Die Erfindung wird nun anhand eines Ausführungsbeispiels erläutert. Es soll sich um eine Zugmaschine mit zweiachsigem Anhänger handeln, bei der die relative Positionsbestimmung von Zugfahrzeug zu Anhänger durch eine außermittige Abstandsmessung per Ultraschall an zwei Punkten erfolgt (Fig. 1, 1 1 und 1 2. Der Einschlagwinkel (Fig. 1, α) der gelenkten Räder wird durch ein Potentiometer in eine elektrische Spannung umgesetzt, die Geschwindigkeit (v) wird von vorhandenen Sensoren abgegriffen. Die Ab­ stände, der Winkel und die Geschwindigkeit werden digitalisiert und einer Mikroprozessorschaltung mit nichtflüchtigem Speicher zugeführt (Fig. 2, 1 1, 1 2, α und v). Der Kurvenradius wird durch ein Potentiometer vorgegeben und ebenfalls der Mikroprozessorschaltung zugeführt und digitalisiert (Fig. 2, β). Über einen analogen Ausgang wird die modifizierte Servolen­ kung angesteuert (Fig. 2, x). Kuppelt der Fahrer einen Anhänger an, betä­ tigt er den Reset-Taster und fährt anschließend wie gewohnt vorwärts. Die Rückfahrregelung speichert nun in kurzen Zeitabständen den Einschlag­ winkel der gelenkten Räder des Zugfahrzeugs (α) und die relative Position von Zugfahrzeug zu Anhänger (1 1 und 1 2) und die Geschwindigkeit (v) beim Einlenken in eine Kurve, bei Kurvenfahrt mit konstantem Radius und beim Auslenken aus einer Kurve. Für eine geregelte Rückwärtsfahrt müssen sich Zugfahrzeug und Anhänger in einer stabilen Ausgangsposition befinden, d. h. die aktuellen Werte von 1 1 und 1 2 müssen gespeicherten Werten entspre­ chen. Der Fahrer stellt nun eine schwache oder starke, links- oder rechts­ seitige Kurvenkrümmung mit dem Potentiometer mit Mittelstellung ein und fährt rückwärts; siehe hierzu Fig. 3. Die Rückfahrregelung wird mit Ein­ legen des Rückwärtsganges aktiviert. Ein maximaler Potentiometeraus­ schlag nach rechts bedeutet, daß die Rückfahrregelung mit dem größten gespeicherten Einschlagwinkel der gelenkten Räder (α) für Kurvenfahrt nach rechts arbeiten soll u.s.w. Nun müssen die Werte für eine entspre­ chende Vorwärtskurvenfahrt im Speicher gesucht werden. Eine Kurve mit einem bestimmten Radius kann schnell und langsam durchfahren werden. Bei schneller Fahrt muß schneller eingelenkt werden. Dies muß bei den Lenkwinkel- und Abstandsänderungen berücksichtigt werden. Wird der Lenkwinkel für Vor- und Rückwärtsfahrt in gleichbleibenden Zeitabständen Δt gemessen, so gilt Δαrück = Δα.(vrück : v). Die Erfassung der Änderung erfolgt durch die Messung in gleichbleibenden Zeitabständen (Δt). Gleiches gilt für die Längenmessungen: Δ1rück = Δ1.(vrück : v). Die Rückfahrregelung steuert nun die Servolenkung so an, daß die gelenkten Räder für jede Zeiteinheit Δt den errechneten Lenkwinkel αrück annehmen. Beginnt der Anhänger einer zu stark gekrümmten Bahn zu folgen, so müssen die ge­ lenkten Räder des Zugfahrzeugs etwas weniger eingeschlagen werden, be­ ginnt der Anhänger einer zu schwach gekrümmten Bahn zu folgen, so müs­ sen die gelenkten Räder etwas stärker eingeschlagen werden. Diese Rege­ lung erfolgt über die errechneten und gemessenen Werte für 1 1rück, 1 2rück, 1 1 und 1 1. Ändert der Fahrer die Potentiometereinstellung, beginnt der Vor­ gang von Neuem. Fährt der Fahrzeugzug geradeaus rückwärts (Potentiometer in Mittelstellung), so ist αrück = 0 und 1 1rück = 1 2rück. Für Fahrten ohne Anhänger ist die Rückfahrregelung abschaltbar. The invention will now be explained using an exemplary embodiment. It should be a tractor with two-axle trailer, in which the relative positioning of the towing vehicle to trailer by an eccentric distance measurement using ultrasound at two points. Occurs (Fig. 1, 1 1 and 1 2 The turning angle (Fig. 1, α) of the steered wheels is implemented by a potentiometer into an electrical voltage, the speed (v) is taken from existing sensors. the Ab stands, the angle and speed are digitized and a microprocessor circuit with nonvolatile memory is supplied (Fig. 2, 1 1, 1 2 , α and v). The radius of the curve is specified by a potentiometer and also fed to the microprocessor circuit and digitized ( Fig. 2, β). The modified servo steering is controlled via an analog output ( Fig. 2, x) If the driver hits a trailer, he presses the reset button and then drives forward as usual un at short intervals the turning angle of the steered wheels of the towing vehicle (α) and the relative position of the towing vehicle to the trailer ( 1 1 and 1 2 ) and the speed (v) when turning into a curve, when cornering with a constant radius and when deflecting from a curve. For a controlled reverse drive, the towing vehicle and trailer must be in a stable starting position, ie the current values of 1 1 and 1 2 must correspond to stored values. The driver now sets a weak or strong curve on the left or right side with the potentiometer with the central position and drives backwards; see Fig. 3. The reversing control is activated when the reverse gear is engaged. A maximum potentiometer deflection to the right means that the reversing control should work with the largest stored steering angle of the steered wheels (α) for cornering to the right, etc. Now the values for a corresponding forward curve driving must be searched in the memory. A curve with a certain radius can be passed quickly and slowly. When driving fast you have to turn in faster. This must be taken into account when changing the steering angle and distance. If the steering angle for forward and reverse travel is measured at constant time intervals Δt, then Δα back = Δα. (V back : v) applies. The change is recorded by measuring at constant time intervals (Δt). The same applies to the length measurements: Δ1 back = Δ1. (V back : v). The reversing control now controls the power steering so that the steered wheels assume the calculated steering angle α back for each time unit Δt. If the trailer begins to follow a path that is too curved, the steered wheels of the towing vehicle have to be turned a little less, if the trailer starts to follow a path that is curved too weakly, the steered wheels have to be turned a little more. This control is based on the calculated and measured values for 1 1 back , 1 2 back , 1 1 and 1 1 . If the driver changes the potentiometer setting, the process begins again. If the vehicle train goes straight backwards (potentiometer in the middle position), α back = 0 and 1 1 back = 1 2 back . The reversing control can be switched off for trips without a trailer.

Das beschriebene Verfahren ist für einachsige Anhänger identisch. Die Position von Zugfahrzeug und Anhänger zueinander kann auch über eine Winkelmessung in der Anhängerkupplung erfolgen. Zur Sicherheit werden Kupplung, Brems- und Gaspedal vom Fahrer betätigt.The procedure described is identical for single-axle trailers. The Position of towing vehicle and trailer to each other can also be done via a Angle measurement in the trailer coupling. Be for security Clutch, brake and accelerator pedal operated by the driver.

Claims (8)

1. Vorrichtung zur Regelung der Rückwärtsfahrt von Kraftfahrzeugen mit Anhängern, dadurch gekennzeichnet, daß bei der stabilen Vorwärtskur­ venfahrt in kurzen, gleichbleibenden Zeitabständen der Einschlagwinkel der gelenkten Räder des Zugfahrzeuges, die dazugehörige relative Posi­ tion von Zugfahrzeug zu Anhänger und die dazugehörige Geschwindig­ keit erfaßt und gespeichert werden und daß bei der geregelten Rück­ wärtsfahrt der Einschlagwinkel der gelenkten Räder anhand der gespei­ cherten Werte so geregelt wird, daß der Fahrzeugzug einen vom Fahrer vorgegebenen Kurvenradius einnimmt und stabil folgt.1. Device for controlling the backward travel of motor vehicles with trailers, characterized in that in the stable Vorwärtskur venfahrt in short, constant time intervals the steering angle of the steered wheels of the towing vehicle, the associated relative position of towing vehicle to trailer and the associated speed detected and are stored and that in the controlled reverse travel the steering angle of the steered wheels is regulated based on the stored values so that the vehicle train assumes a curve radius specified by the driver and follows stably. 2. System nach Anspruch 1, dadurch gekennzeichnet, daß die Positionsbe­ stimmung von Zugfahrzeug zu Anhänger durch eine außermittige Ab­ standsmessung an mindestens einem Punkt erfolgt.2. System according to claim 1, characterized in that the Positionsbe tuning from towing vehicle to trailer through an off-center Ab level measurement at at least one point. 3. System nach Anspruch 1, dadurch gekennzeichnet, daß die Positionsbe­ stimmung von Zugfahrzeug zu Anhänger durch eine Winkelmesung in der Anhängekupplung erfolgt.3. System according to claim 1, characterized in that the Positionsbe tuning from towing vehicle to trailer using an angle measurement in the trailer coupling. 4. System nach Anspruch 1, dadurch gekennzeichnet, daß die Bewegung der gelenkten Räder des Zugfahrzeuges über eine modifizierte Servolen­ kung erfolgt.4. System according to claim 1, characterized in that the movement the steered wheels of the towing vehicle via a modified servo kung takes place. 5. System nach Anspruch 1, dadurch gekennzeichnet, daß bei einem An­ hängerwechsel der Speicherinhalt durch einen Taster gelöscht werden kann.5. System according to claim 1, characterized in that at an trailer changes the memory content can be deleted with a button can. 6. System nach Anspruch 1, dadurch gekennzeichnet, daß die Vorgabe des Kurvenradius durch ein Potentiometer mit Mittelstellung erfolgt.6. System according to claim 1, characterized in that the specification of Curve radius is done by a potentiometer with middle position. 7. System nach Anspruch 1, dadurch gekennzeichnet, daß die Vorrichtung mit Einlegen des Rückwärtsganges aktiviert wird.7. System according to claim 1, characterized in that the device is activated when reverse gear is engaged. 8. System nach Anspruch 1, dadurch gekennzeichnet, daß die Vorrichtung abschaltbar ist.8. System according to claim 1, characterized in that the device can be switched off.
DE19834752A 1997-10-13 1998-08-01 Device for regulating the reverse travel of motor vehicles with trailers Expired - Fee Related DE19834752C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19834752A DE19834752C2 (en) 1997-10-13 1998-08-01 Device for regulating the reverse travel of motor vehicles with trailers

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE1997145188 DE19745188A1 (en) 1997-10-13 1997-10-13 Method of regulating the reversing motion of motor vehicles with trailers
DE19834752A DE19834752C2 (en) 1997-10-13 1998-08-01 Device for regulating the reverse travel of motor vehicles with trailers

Publications (2)

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DE19834752A1 true DE19834752A1 (en) 1999-07-08
DE19834752C2 DE19834752C2 (en) 2000-12-07

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DE19834752A Expired - Fee Related DE19834752C2 (en) 1997-10-13 1998-08-01 Device for regulating the reverse travel of motor vehicles with trailers

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10030738C1 (en) * 2000-06-23 2001-08-30 Daimler Chrysler Ag Arrangement for determining the articulation angle between a towing vehicle and a trailer or semi-trailer
DE10065230A1 (en) * 2000-12-27 2002-07-04 Valeo Schalter & Sensoren Gmbh Reversing and parking electronic aid for road vehicle with two-wheel trailer incorporates steering wheel angle sensor and trailer deflection angle sensor
DE10122562C1 (en) * 2001-05-10 2002-07-25 Daimler Chrysler Ag Relative angle detection device for tractor-trailer vehicle, uses ultrasonic transceivers attached to tractor vehicle and passive reflectors attached to coupling and trailer vehicle
DE10154612A1 (en) * 2001-11-07 2003-05-22 Bayerische Motoren Werke Ag Steer by wire system for reversing towing vehicle with trailer, employs gap sensors to monitor changing angle between their longitudinal axes
WO2004109326A1 (en) * 2003-06-06 2004-12-16 Daimlerchrysler Ag Device and method for determining an orientation of a semitrailer or trailer
WO2005118371A1 (en) * 2004-06-04 2005-12-15 Daimlerchrysler Ag Method for the regulated reversing of a vehicle towing a trailer
US7159890B2 (en) 2004-10-06 2007-01-09 ZF Lemförder Metallwaren AG Trailer hitch for a motor vehicle
DE102013003853A1 (en) * 2013-03-06 2014-09-25 Wabco Gmbh Method, control system and braking system for controlling the backward maneuvering of a trailer vehicle
US9108598B2 (en) 2011-01-13 2015-08-18 Continental Automotive Systems, Inc. System and method for maneuvering a vehicle-trailer unit in reverse travel
DE102012207647B4 (en) 2012-05-08 2023-03-09 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system for reversing a two-lane motor vehicle with a trailer

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10334000B4 (en) * 2003-07-25 2014-07-03 Volkswagen Ag trailer hitch
DE10333998B4 (en) 2003-07-25 2018-08-23 Volkswagen Ag Motor vehicle trailer combination and method for determining the vehicle angle
DE102004025252B4 (en) * 2004-05-22 2009-07-09 Daimler Ag Arrangement for determining the mating angle of a articulated train
DE102006002294B4 (en) * 2006-01-18 2011-02-24 Zf Lenksysteme Gmbh Method for assisting the driver of a motor vehicle in trailer operation when reversing

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DE2339600A1 (en) * 1973-08-04 1975-02-13 Rainer Dipl Ing Hofmann Steering control for articulated vehicle - prevents undesired motion of trailer during vehicle reversing by wheel angle adjustment
FR2515379A1 (en) * 1981-10-23 1983-04-29 Clerc Alain Reverse motion stabiliser system for articulated lorry - uses angle sensors on tractor and trailer connected to power steering motor
CH655471B (en) * 1984-01-19 1986-04-30
DE3430074A1 (en) * 1984-08-16 1986-02-27 Karl 7900 Ulm Scherber Automatic reversing control for passenger cars with trailer
DE3538338A1 (en) * 1984-08-16 1987-04-30 Karl Scherber Automatic reverse steering system for passenger vehicles with trailer
FR2587962A1 (en) * 1985-09-30 1987-04-03 Martinet Simon DEVICE FOR SERVICING THE DIRECTION OF AN ARTICULATED VEHICLE
DE3923676A1 (en) * 1989-07-18 1991-01-24 Fischer Georg Fahrzeugtech Trailer reversal control equipment for heavy goods vehicle - includes DC motorised pump feeding hydraulic servo under microprocessor control responsive to measurements of steering angles
US5247442A (en) * 1991-09-25 1993-09-21 Brigham Young University Vehicular steering system for reverse paths

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10030738C1 (en) * 2000-06-23 2001-08-30 Daimler Chrysler Ag Arrangement for determining the articulation angle between a towing vehicle and a trailer or semi-trailer
DE10065230A1 (en) * 2000-12-27 2002-07-04 Valeo Schalter & Sensoren Gmbh Reversing and parking electronic aid for road vehicle with two-wheel trailer incorporates steering wheel angle sensor and trailer deflection angle sensor
DE10122562C1 (en) * 2001-05-10 2002-07-25 Daimler Chrysler Ag Relative angle detection device for tractor-trailer vehicle, uses ultrasonic transceivers attached to tractor vehicle and passive reflectors attached to coupling and trailer vehicle
DE10154612A1 (en) * 2001-11-07 2003-05-22 Bayerische Motoren Werke Ag Steer by wire system for reversing towing vehicle with trailer, employs gap sensors to monitor changing angle between their longitudinal axes
WO2004109326A1 (en) * 2003-06-06 2004-12-16 Daimlerchrysler Ag Device and method for determining an orientation of a semitrailer or trailer
WO2005118371A1 (en) * 2004-06-04 2005-12-15 Daimlerchrysler Ag Method for the regulated reversing of a vehicle towing a trailer
US7159890B2 (en) 2004-10-06 2007-01-09 ZF Lemförder Metallwaren AG Trailer hitch for a motor vehicle
US9108598B2 (en) 2011-01-13 2015-08-18 Continental Automotive Systems, Inc. System and method for maneuvering a vehicle-trailer unit in reverse travel
US9321483B2 (en) 2011-01-13 2016-04-26 Continental Automotive Systems, Inc. System and method for maneuvering a vehicle-trailer unit in reverse travel
DE112012000466B4 (en) 2011-01-13 2018-12-13 Continental Automotive Systems, Inc. System and method for maneuvering a vehicle-trailer combination when reversing
DE102012207647B4 (en) 2012-05-08 2023-03-09 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system for reversing a two-lane motor vehicle with a trailer
DE102013003853A1 (en) * 2013-03-06 2014-09-25 Wabco Gmbh Method, control system and braking system for controlling the backward maneuvering of a trailer vehicle

Also Published As

Publication number Publication date
DE19745188A1 (en) 1999-04-22
DE19834752C2 (en) 2000-12-07

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