DE3923676A1 - Trailer reversal control equipment for heavy goods vehicle - includes DC motorised pump feeding hydraulic servo under microprocessor control responsive to measurements of steering angles - Google Patents
Trailer reversal control equipment for heavy goods vehicle - includes DC motorised pump feeding hydraulic servo under microprocessor control responsive to measurements of steering anglesInfo
- Publication number
- DE3923676A1 DE3923676A1 DE19893923676 DE3923676A DE3923676A1 DE 3923676 A1 DE3923676 A1 DE 3923676A1 DE 19893923676 DE19893923676 DE 19893923676 DE 3923676 A DE3923676 A DE 3923676A DE 3923676 A1 DE3923676 A1 DE 3923676A1
- Authority
- DE
- Germany
- Prior art keywords
- hand lever
- shaft
- steering
- angle
- hollow shaft
- 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
Links
- 238000005259 measurement Methods 0.000 title 1
- 230000035945 sensitivity Effects 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 230000001419 dependent effect Effects 0.000 claims 1
- 230000002401 inhibitory effect Effects 0.000 claims 1
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Mechanical Control Devices (AREA)
Abstract
Description
Die Erfindung betrifft eine Einrichtung zum Steuern des Rückwärtsfahrens eines Kraftwagenzugs nach dem Oberbegriff des Anspruchs 1.The invention relates to a device for controlling the reversing a motor vehicle train according to the preamble of claim 1.
Bei Kraftwagenzügen, insbesondere Lastkraftwagenzügen, bestehend aus einem Zugfahrzeug und einem Anhängefahrzeug ist es beispielsweise aus der CH-PS 6 60 711 bekannt, über eine elektronische Regelschaltung unter Auswertung der Winkel zwischen einem Anhänger und einem damit verbundenen Zugfahrzeug sowie zwischen dem Zugfahrzeug und dessen gelenkten Rädern diese gelenkten Räder derart über einen Lenkradantrieb zu steuern, daß der Lagewinkel des An hängers bei Rückwärtsfahrt dem durch ein Steuerorgan vorgebenen Wert folgt. Hierdurch wird das Rückwärtsfahren mit Anhänger wesentlich erleichtert und vereinfacht, wodurch auch häufig beim Rückwärtsfahren auftretende Beschädi gungen und Unfallrisiken praktisch vermieden werden.In motor vehicle trains, in particular truck trains, consisting of a towing vehicle and a trailer vehicle, it is for example from the CH-PS 6 60 711 known, via an electronic control circuit under evaluation the angle between a trailer and an associated towing vehicle as well as between the towing vehicle and its steered wheels To control wheels via a steering wheel drive that the position angle of the An hangs when reversing the value specified by a control body. This makes driving backwards with a trailer much easier and simplified, which also often causes damage when reversing conditions and accident risks are practically avoided.
Wenn die Lenkung, d.h. die Vorgabe der Sollrichtung beim Rückwärtsfahren durch das Lenkrad vorgenommen wird, besteht die Gefahr, daß beim automatischen Lenkvorgang entsprechend dem vom Steuerorgan vorgegebenen Wert manuell in den Drehbereich des Lenkrades interveniert wird.If the steering, i.e. the specification of the target direction when reversing is made by the steering wheel, there is a risk that the automatic Steering process manually in accordance with the value specified by the control body Intervention range of the steering wheel is intervened.
Aufgabe der Erfindung ist es daher, eine Einrichtung nach dem Oberbe griff des Anspruchs 1 zu schaffen, die sicherstellt, daß das automatisierte Rückwärtsfahren permanent eine nicht am Lenkrad befindliche Hand benötigt.The object of the invention is therefore a device according to the Oberbe handle of claim 1 to create, which ensures that the automated Driving in reverse requires a hand that is not on the steering wheel.
Diese Aufgabe wird entsprechend dem kennzeichnenden Teil des Anspruchs 1 gelöst.This object is in accordance with the characterizing part of claim 1 solved.
Hierdurch wird erreicht, daß der Lenkradantrieb nur über die Schaltein richtung, über die der Handhebel mit der Regeleinrichtung gekoppelt ist und die insbesondere als kapazitiver Schalter im Handhebel ausgebildet, einge schaltet werden kann. Selbst wenn die elektronische Regeleinrichtung einge schaltet ist, kann dann ohne Ergreifen des Handhebels die Lenkung nicht über den Lenkradantrieb beeinflußt werden. Der Lenkradantrieb bleibt nur solange wirksam, wie der Handhebel manuell ergriffen bleibt. Dadurch ist eine Hand, bei linksgelenkten Fahrzeugen vorzugweise die rechte Hand infolge Anbringens des Handhebels rechts vom Lenkrad, beim automatischen Rückfahren blockiert und kann nicht dazu verwendet werden, in den Lenkvorgang zwangsweise über das Lenkrad einzugreifen. Der Handhebel ist in einer Stellung zu montieren, in der er vom Fahrer in normaler Sitzposition bequem ergreifbar ist, jedoch andere Funktionen nicht beeinträchtigt. Der Handhebel sollte sich außerhalb des Lenk rad-Drehbereichs befinden.This ensures that the steering wheel drive only via the switch direction via which the hand lever is coupled to the control device and which in particular as a capacitive switch in the hand lever, turned can be switched. Even if the electronic control device is turned on is switched, then the steering can not over without gripping the hand lever the steering wheel drive are affected. The steering wheel drive only stays as long effective as the hand lever remains gripped manually. This is a hand in left-hand drive vehicles, preferably the right hand as a result of attachment of the hand lever to the right of the steering wheel, blocked during automatic reversing and cannot be used in the steering process forcibly over the Intervene steering wheel. The hand lever must be installed in a position in which it can be comfortably gripped by the driver in normal sitting position, but others Functions not affected. The hand lever should be out of the steering wheel rotation range.
Weitere Ausgestaltungen der Erfindung sind der nachfolgenden Beschrei bung und den Unteransprüchen zu entnehmen.Further embodiments of the invention are described below exercise and the subclaims.
Die Erfindung wird nachstehend anhand des in den beigefügten Abbildungen dargestellten Ausführungsbeispiels näher erläutert.The invention is illustrated below in the attached figures illustrated embodiment explained in more detail.
Fig. 1 zeigt schematisch in Draufsicht einen Kraftwagenzug. Fig. 1 shows schematically a top view of a motor vehicle train.
Fig. 2 zeigt schematisch eine automatische Rückfahreinrichtung für einen Kraftwagenzug. Fig. 2 shows schematically an automatic reversing device for a motor vehicle train.
Fig. 3 zeigt im Schnitt einen Handhebel für eine automatische Rückfahr einrichtung. Fig. 3 shows in section a hand lever for an automatic reversing device.
Fig. 4 und 5 zeigen Schnitte längs der Linien IV-IV bzw. V-V von Fig. 3. FIGS. 4 and 5 show sections along the lines IV-IV and VV of FIG. 3.
Um mittels eines Kraftwagenzugs, der aus einem Zugfahrzeug 1 mit einer Längsachse 2 und einem Anhänger 3 mit einer Längsachse 4, der über eine Deichsel 5 mit dem Zugfahrzeug 1 (oder auch über eine Sattelkupplung) gekop pelt ist, wobei die Längsachsen 2, 4 einen Winkel α , die gelenkten Räder 6 mit der Längsachse 2 einen Winkel β und die Achse der mit der Deichsel 5 verbun denen Räder 7 des Anhängers 3 mit dessen Längsachse 4 einen Winkel γ (letzte res entfällt bei einem Sattelzug) bilden, automatisch rückwärts fahren zu können, kann eine Rückfahreinrichtung, wie sie in Fig. 2 dargestellt ist, vorgesehen sein.To by means of a motor vehicle train consisting of a towing vehicle 1 with a longitudinal axis 2 and a trailer 3 with a longitudinal axis 4 , which is coupled via a drawbar 5 to the towing vehicle 1 (or also via a fifth wheel coupling), the longitudinal axes 2 , 4 being one Angle α, the steered wheels 6 with the longitudinal axis 2 form an angle β and the axis of the connecting rods 5 with which the wheels 7 of the trailer 3 with its longitudinal axis 4 form an angle γ (last res does not apply to a semitrailer), automatically drive backwards can, a reversing device, as shown in Fig. 2, can be provided.
Die Rückfahreinrichtung von Fig. 2 umfaßt zunächst drei Winkelsensoren 8, 9 und 10, deren Signale einem Mikroprozessor 11 als Istwerte zugeführt wer den. Hierbei liefert der Winkelsensor 8 ein Maß für den Winkel α, der Winkel sensor 9 ein Maß für den Winkel β und der Winkelsensor 10 ein Maß für den Win kel γ. Ferner ist ein zusätzlicher Winkelsensor 12 vorgesehen, der mit einem Handhebel 13 derart gekoppelt ist, daß sein Ausgangssignal ein Maß für den vom Handhebel 13 eingestellten Winkel δ (einschließlich der Einstellrichtung) darstellt. Dieses Ausgangssignal wird über einen Schalter 14, der beispiels weise am Armaturenbrett des Zugfahrzeugs 1 angebracht ist und über den die Rückfahreinrichtung somit einschaltbar ist, dem Mikroprozessor 11 zugeführt. Der Winkelsensor 10 ist insbesondere mit dem Lenkrad 15 des Zugfahrzeugs 1 gekoppelt, während der Winkelsensor 8 mit der Anhängerkupplung 16 am Zugfahr zeug 1 und der Winkelsensor 10 mit der Deichsel des Anhängers 3 gekoppelt sein kann.The reversing device of FIG. 2 includes three first angle sensors 8, 9 and 10, the signals of a microprocessor 11 as actual values supplied to who. Here, the angle sensor 8 provides a measure of the angle α, the angle sensor 9 a measure of the angle β and the angle sensor 10 a measure of the angle γ. Furthermore, an additional angle sensor 12 is provided which is coupled to a hand lever 13 in such a way that its output signal represents a measure of the angle δ set by the hand lever 13 (including the setting direction). This output signal is supplied to the microprocessor 11 via a switch 14 which is attached, for example, to the dashboard of the towing vehicle 1 and via which the reversing device can thus be switched on. The angle sensor 10 is particularly coupled to the steering wheel 15 of the towing vehicle 1 , while the angle sensor 8 with the trailer coupling 16 on the train driving tool 1 and the angle sensor 10 can be coupled to the drawbar of the trailer 3 .
Entsprechend der von dem Handhebel 13 vorgegebenen Sollrichtung berech net der Mikroprozessor 11 laufend entsprechend den zugeführten Istwerten den notwendigen Lenkradeinschlag und beaufschlagt einen an der Lenksäule 17 an greifenden Servomotor 18 entsprechend. Der Servomotor 18 wird mittels einer Pumpe 19 betätigt, die von einem Gleichstrommotor 20 betrieben wird, der über ein Relais 21, das mit der Fahrzeugbatterie 22 gekoppelt und über den Mikro prozessor 11 betätigbar ist, zugeschaltet wird.In accordance with the target direction specified by the hand lever 13, the microprocessor 11 continuously calculates the required steering wheel lock according to the supplied actual values and acts on a servomotor 18 which engages on the steering column 17 accordingly. The servo motor 18 is actuated by means of a pump 19 which is operated by a direct current motor 20 which is connected via a relay 21 which is coupled to the vehicle battery 22 and can be actuated via the microprocessor 11 .
Der Servomotor 18 kann jedoch nur in Betrieb gesetzt werden, wenn der Handhebel 13 manuell vom Fahrer ergriffen ist, da der Handhebel 13 eine Schalteinrichtung 23 aufweist, die nur während des manuellen Ergreifens des Handhebels 13 eingeschaltet ist und ansonsten den Stromkreis zum Inbetrieb nehmen des Servomotors 18 unterbricht (hierbei ist der Schalter 14 in Ein schaltstellung Voraussetzung; wenn dieser ausgeschaltet ist, ist die Rück fahreinrichtung ebenfalls außer Betrieb).However, the servo motor 18 can only be set in operation when the hand lever is gripped 13 manually by the driver, since the hand lever 13 has a switching device 23 which is turned on only during the manual grasping of the hand lever 13 and otherwise taking the circuit to the commissioning of the servomotor 18 interrupts (switch 14 must be in the switch-on position; if this is switched off, the reversing device is also out of operation).
Der in den Fig. 3 bis 5 im einzelnen dargestellte Handhebel 13 umfaßt einen Flansch 24 zum Anbringen in dem Zugfahrzeug 1. Mit dem Flansch 24 ist eine Hülse 25 verschraubt, die eine damit drehfest verbundene Lagerbuchse 26 aufnimmt. In der Lagerbuchse 26 ist eine Hohlwelle 28 angeordnet, in deren Innerem eine mit der Hohlwelle 28 fest verbundene Nabe 29 vorgesehen ist. Die Hohlwelle 28 ist an der dem Flansch 24 abgewandten Seite mit einem sich senk recht hierzu erstreckenden Griff 30 verbunden, der aus einem Griffrohr 31 und einem dieses umfassenden Griffschutz 32 besteht. Die Hohlwelle 28 ist stirn seitig durch einen Deckel 33 verschlossen, der gleichzeitig über einen Zapfen 34 das Griffrohr 31 arretiert.The hand lever 13 shown in detail in FIGS. 3 to 5 comprises a flange 24 for attachment in the towing vehicle 1 . A sleeve 25 is screwed to the flange 24 and receives a bearing bush 26 connected to it in a rotationally fixed manner. A hollow shaft 28 is arranged in the bearing bush 26 , inside which a hub 29 is provided which is fixedly connected to the hollow shaft 28 . The hollow shaft 28 is connected on the side facing away from the flange 24 to a handle 30 which extends perpendicularly thereto and which consists of a handle tube 31 and a handle guard 32 encompassing it. The hollow shaft 28 is closed at the end by a cover 33 , which at the same time locks the handle tube 31 via a pin 34 .
Die Hohlwelle 28 ist zweckmäßigerweise nur über einen vorbestimmten Winkelbereich von insbesondere 30° nach beiden Seiten von einer (die Gerade ausfahrt repräsentierenden) Nullstellung drehbar. Hierzu besitzt die Lager buchse 26 eine entsprechende Ausnehmung 35, die den Kopf einer die Hohlwelle 28 und die Nabe 29 miteinander verschraubenden Schraube 36 derart aufnimmt, daß nur eine Verdrehung über den vorgesehenen Winkelbereich möglich ist, der die gewünschte Rückfahrrichtung angibt und durch die durch die Lagerbuchse 26 gebildeten festen Anschläge begrenzt wird.The hollow shaft 28 is expediently only rotatable over a predetermined angular range of in particular 30 ° to both sides from a zero position (representing the straight line exit). For this purpose, the bearing bushing 26 has a corresponding recess 35 which receives the head of a screw shaft 36 screwing the hollow shaft 28 and the hub 29 together in such a way that only a rotation over the intended angular range is possible, which indicates the desired return direction and through which Bearing bush 26 formed fixed stops is limited.
Im Griff 30 ist der Schalter 23 als kapazitiver Schalter untergebracht, dessen Empfindlichkeit über ein Potentiometer 37 einstellbar sein kann.In the handle 30 , the switch 23 is accommodated as a capacitive switch, the sensitivity of which can be adjustable via a potentiometer 37 .
Die Nabe 29 besitzt eine radiale Querwand 38, die zur Montage des als Potentiometer ausgebildeten Winkelsensors 12 dient. Die Welle 39 des Poten tiometers erstreckt sich durch eine axiale Bohrung in der Querwand 38 hindurch und steht mit einer drehfest bezüglich des Flansches 24 angeordneten Scheibe 40 in Eingriff, so daß eine Drehung des Griffs 30 eine Verdrehung des Poten tiometers 12 gegenüber seiner Welle 39 und damit gegenüber dem Flansch 24 be wirkt.The hub 29 has a radial transverse wall 38 , which is used to mount the angle sensor 12 , which is designed as a potentiometer. The shaft 39 of the potentiometer extends through an axial bore in the transverse wall 38 and is in engagement with a rotationally fixed disc 40 with respect to the flange 24 so that rotation of the handle 30 causes rotation of the potentiometer 12 relative to its shaft 39 and thus acts against the flange 24 be.
Die elektrischen Zuleitungen zum Winkelsensor 12 und zum Schalter 23 werden über ein durch eine Öffnung 41 in der Hohlwelle 28 geführtes Kabel 42 benachbart zum Deckel 33 zugeführt.The electrical leads to the angle sensor 12 and to the switch 23 are supplied adjacent to the cover 33 via a cable 42 which is guided through an opening 41 in the hollow shaft 28 .
Die Hohlwelle 28 besitzt am Außenumfang eine sich in Axialrichtung er streckende Nut 43, während an einer zwischen Flansch 24 und Lagerbuchse 26 angeordneten Backe 44 an einer Seite eine Rastfeder 45 mit einem abgekröpften, mit der Nut 43 zur Definition der Mittelposition für die Geradeausfahrt zu sammenwirkenden, freien Ende und an der anderen Seite eine Hemmfeder 46 befe stigt sind. Sowohl die Rastfeder 45 als auch die Hemmfeder 46 werden jeweils durch eine Blattfeder 47 gegen gegenüberliegende Seiten des Außenumfangs der Hohlwelle 28 gedrückt. Die Blattfedern 47 werden durch entsprechende Zapfen 48 gehalten.The hollow shaft 28 has an axially extending groove 43 on the outer circumference, while on a jaw 44 arranged between flange 24 and bearing bush 26 on one side a detent spring 45 with a cranked, with the groove 43 to define the center position for driving straight ahead together , free end and on the other side an escapement spring 46 are BEFE Stigt. Both the detent spring 45 and the escapement spring 46 are each pressed by a leaf spring 47 against opposite sides of the outer circumference of the hollow shaft 28 . The leaf springs 47 are held by corresponding pins 48 .
Hierdurch wird bewirkt, daß das Verstellen des Handhebels 13 einen be stimmten Drehwiderstand hat, damit Kleinstvibrationen eine gewählte Einstel lung nicht verändern. Die Hemmung darf jedoch nicht zu groß sein, damit bei zu großer Kraftanwendung die Einstellung nicht ruckartig erfolgt, d.h. der Un terschied zwischen Haftreibung und Gleitreibung im Handhebel 13 darf nur re lativ gering sein.This causes the adjustment of the hand lever 13 has a certain rotational resistance so that small vibrations do not change a selected setting. However, the inhibition must not be too great, so that the setting is not jerky when too much force is applied, ie the difference between static friction and sliding friction in the hand lever 13 may only be relatively low.
Durch das spielfreie Einrasten der Rastfeder 45 in die Nut 43 wird dem Fahrer die Geradeausfahrt spürbar angezeigt. Auch hier gelten die vorgenannten Bedingungen zwischen Haftmoment und kontinuierlichem Drehmoment, damit die gewünschte Lenkpräzision im Bereich der Geradeausfahrt erhalten werden kann.The straight-ahead driving is noticeably indicated to the driver by the play-free engagement of the catch spring 45 in the groove 43 . The conditions mentioned above between the holding torque and the continuous torque also apply here, so that the desired steering precision can be obtained in the area of straight-ahead driving.
Damit das Potentiometer 12 ohne weiteres von außen justierbar ist, er streckt sich dessen Welle 39 durch eine von der Scheibe 40 aufgenommene Durchführtülle 49, die in eine mittlere axiale Öffnung 50 des Flansches 24 ragt, so daß sich das Ende der Welle 39 im Bereich der Öffnung 50 bei nicht montiertem Handgriff 13 von außen zugänglich befindet, so daß die Welle 39 mittels eines Schraubendrehers o.dgl. ohne Zerlegen des Handgriffs 13 justiert werden kann.So that the potentiometer 12 is easily adjustable from the outside, it extends its shaft 39 through a grommet 49 received by the disk 40 , which protrudes into a central axial opening 50 of the flange 24 , so that the end of the shaft 39 in the region of Opening 50 when the handle 13 is not mounted is accessible from the outside, so that the shaft 39 or the like by means of a screwdriver. can be adjusted without disassembling the handle 13 .
Claims (17)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19893923676 DE3923676A1 (en) | 1989-07-18 | 1989-07-18 | Trailer reversal control equipment for heavy goods vehicle - includes DC motorised pump feeding hydraulic servo under microprocessor control responsive to measurements of steering angles |
CH226190A CH683086A5 (en) | 1989-07-18 | 1990-07-06 | Means for controlling the backward driving of a motor car train. |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19893923676 DE3923676A1 (en) | 1989-07-18 | 1989-07-18 | Trailer reversal control equipment for heavy goods vehicle - includes DC motorised pump feeding hydraulic servo under microprocessor control responsive to measurements of steering angles |
Publications (2)
Publication Number | Publication Date |
---|---|
DE3923676A1 true DE3923676A1 (en) | 1991-01-24 |
DE3923676C2 DE3923676C2 (en) | 1991-05-23 |
Family
ID=6385247
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE19893923676 Granted DE3923676A1 (en) | 1989-07-18 | 1989-07-18 | Trailer reversal control equipment for heavy goods vehicle - includes DC motorised pump feeding hydraulic servo under microprocessor control responsive to measurements of steering angles |
Country Status (2)
Country | Link |
---|---|
CH (1) | CH683086A5 (en) |
DE (1) | DE3923676A1 (en) |
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WO2000044605A1 (en) * | 1999-01-26 | 2000-08-03 | Valtion Teknillinen Tutkimuskeskus | Method and arrangement for reversing a 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 |
DE10322828A1 (en) * | 2003-05-19 | 2005-01-05 | Daimlerchrysler Ag | Control system for a vehicle |
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DE19900662C1 (en) * | 1999-01-11 | 2000-12-28 | Hermann Kleine | Steering lock for truck trailer uses driver-operated switch which can only be operated upon selection of reverse gear and operation of reversing lamps |
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 |
DE102006048947B4 (en) * | 2006-10-17 | 2017-11-23 | Volkswagen Ag | Control unit and method for adjusting a trailer coupled to a 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 |
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Also Published As
Publication number | Publication date |
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DE3923676C2 (en) | 1991-05-23 |
CH683086A5 (en) | 1994-01-14 |
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