DE102005043468A1 - Reverse drive assistance system for vehicle combination, has evaluating unit evaluating actual steering angle in straight driving mode so that trailer-vehicle-angle position is brought to straight route for drive in straight direction - Google Patents
Reverse drive assistance system for vehicle combination, has evaluating unit evaluating actual steering angle in straight driving mode so that trailer-vehicle-angle position is brought to straight route for drive in straight direction Download PDFInfo
- Publication number
- DE102005043468A1 DE102005043468A1 DE200510043468 DE102005043468A DE102005043468A1 DE 102005043468 A1 DE102005043468 A1 DE 102005043468A1 DE 200510043468 DE200510043468 DE 200510043468 DE 102005043468 A DE102005043468 A DE 102005043468A DE 102005043468 A1 DE102005043468 A1 DE 102005043468A1
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- Prior art keywords
- trailer
- straight
- steering angle
- towing vehicle
- vehicle
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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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (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. Die Erfindung betrifft weiterhin ein Verfahren zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns gemäß dem Oberbegriff des Patentanspruchs 4.The The invention relates to a reverse-assistance system for regulating the reverse drive a vehicle combination according to the preamble of claim 1. The invention further relates to a method for regulating the reverse drive a vehicle combination according to the preamble of claim 4.
Ein
gattungsgemäßes Rückfahrhilfesystem ist
beispielsweise aus der
Aus
der
Des
weiteren ist aus der
Problematisch ist bei diesen Systemen die Einstellung und Einhaltung einer Geradeausfahrrichtung bei Fortsetzung der Rückwärtsfahrt nach dem Durchfahren einer Kurve.Problematic is in these systems, the adjustment and compliance with a straight-ahead direction with continuation of the reverse drive after passing through a curve.
Der Erfindung liegt die Aufgabe zugrunde, ein Rückfahrhilfesystem der eingangs genannten Art anzugeben, das die Einstellung und Einhaltung einer Geradeausfahrrichtung während einer Rückwärtsfahrt erleichtert. Der Erfindung liegt weiterhin die Aufgabe zugrunde, ein Verfahren zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns der eingangs genannten Art anzugeben.Of the Invention is based on the object, a Rückfahrhilfesystem the above specify the type mentioned, the setting and compliance with a straight-ahead direction while a reverse drive facilitated. The invention is further based on the object a method for regulating the reverse drive specify a vehicle combination of the type mentioned.
Die Aufgabe wird erfindungsgemäß durch die Merkmale der unabhängigen Ansprüche gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen ergeben sich aus den Unteransprüchen.The The object is achieved by the Characteristics of the independent claims solved. advantageous Refinements and developments emerge from the dependent claims.
Das erfindungsgemäße Rückfahrhilfesystem zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns mit einem Zugfahrzeug und Anhänger umfasst eine Eingabeeinrichtung zur Eingabe einer kursbestimmenden Fahrervorgabe, Detektionsmittel zur Erfassung einer die aktuelle Position des Anhängers relativ zum Zugfahrzeug beschreibenden Anhänger-Zugfahrzeug-Winkellage, Berechnungsmittel zur Berechnung eines Soll-Lenkwinkels als Lenksteuerbefehl für einen automatischen Lenkeingriff und Stellmittel zur Durchführung des Lenksteuerbefehls, wobei die Eingabeeinrichtung Schaltmittel umfasst, die zur Aktivierung eines Geradeausfahrmodus vorgesehen sind, und wobei die Berechnungsmittel eingerichtet sind, im Geradeausfahrmodus den Soll-Lenkwinkel derart zu berechnen, dass die Anhänger-Zugfahrzeug-Winkellage bei Fortsetzung der Rückwärtsfahrt in eine Geradeausstellung für eine Fahrt in Geradeausrichtung gebracht wird.The inventive reverse drive system for Regulation of the reverse drive a vehicle combination with a towing vehicle and trailer includes an input device for inputting a course-determining driver specification, Detection means for detecting a current position of the trailer relative Trailer towing vehicle angular position describing the towing vehicle, calculating means for calculating a desired steering angle as a steering control command for an automatic steering intervention and adjusting means for performing the Steering control command, wherein the input device comprises switching means, which are provided for activating a straight-ahead driving mode, and wherein the calculating means are arranged in the straight-ahead driving mode to calculate the target steering angle such that the trailer-tractor angle position with continuation of the reverse drive in a straight-ahead exhibition for a ride in straight ahead is brought.
Dem Fahrer wird somit die Möglichkeit gegeben, den aktuellen Kurvenkurs zu unterbrechen und das Fahrzeuggespann schnell und auf einfache Weise auf einen Geradeausfahrkurs zu bringen, ohne hierzu die zuvor eingegebene Fahrervorgabe zu modifizieren.the Driver will thus have the opportunity given to interrupt the current curve course and the vehicle combination quickly and easily bring you on a straight-ahead driving course without modifying the previously entered driver default.
Vorzugsweise ist das Schaltmittel zur Aktivierung des Geradeausfahrmodus als Taster ausgebildet und das Rückfahrhilfesystem eingerichtet, den Geradeausfahrmodus nur während der Betätigung des Tasters aufrecht zu erhalten. Der Fahrer kann somit den Geradeausfahrmodus durch Freilassen des Tasters deaktivieren und die zuvor eingegebene Fahrervorgabe wieder wirksam werden lassen.Preferably, the switching means for Akti The straight-ahead driving mode is configured as a push-button and the reverse-drive assistance system is set up to maintain the straight-ahead driving mode only while the push-button is being actuated. The driver can thus deactivate the straight-ahead driving mode by releasing the button and let the previously entered driver default take effect again.
Der Geradeausfahrmodus erweist sich insbesondere in einer Ausgestaltung des Rückfahrhilfesystems als vorteilhaft, bei der die Eingabeeinrichtung Mittel zur Eingabe einer zeitbezogenen oder fahrstreckenbezogenen Änderungsrate eines Anhängerlenkwinkels des Anhängers als Fahrervorgabe aufweist. Unter zeitbezogener oder fahrstreckenbezogener Änderungsrate des Anhängerlenkwinkels wird hierbei die relative Änderung des Anhängerlenkwinkels bezogen auf die Zeit bzw. Länge der gefahrenen Strecke verstanden.Of the Straight-ahead mode proves to be particularly in one embodiment of the reverse drive system as advantageous, in which the input device means for input a time-related or distance-related rate of change of a trailer steering angle of the trailer has as driver specification. Under time-related or route-related rate of change of the trailer steering angle here the relative change the trailer steering angle based on the time or length understood the route traveled.
Bei einem Verfahren zur Regelung der Rückwärtsfahrt eines Zugfahrzeug-Anhänger-Gespanns in Abhängigkeit einer von einem Fahrer des Zugfahrzeugs vorgegebenen Fahrervorgabe wird eine die aktuelle Position des Anhängers relativ zum Zugfahrzeug beschreibende Anhänger-Zugfahrzeug-Winkellage erfasst, in Abhängigkeit der Fahrervorgabe und der Anhänger-Zugfahrzeug-Winkellage ein Soll-Lenkwinkel berechnet, ein Lenkeingriff entsprechend dem Soll-Lenkwinkel durchgeführt und dem Fahrer die Möglichkeit geboten, durch Betätigung eines Schaltmittels einen Geradeausfahrmodus zu aktivieren, in dem der Soll- Lenkwinkel derart berechnet wird, dass die Anhänger-Zugfahrzeug-Winkellage bei Fortsetzung der Rückwärtsfahrt in eine Geradeausstellung für eine Fahrt in Geradeausrichtung gebracht wird.at a method for controlling the reverse of a towing vehicle-trailer combination in dependence a driver specified by a driver of the towing vehicle driver becomes a current position of the trailer relative to the towing vehicle descriptive trailer towing vehicle angle location recorded, depending on the driver default and the trailer towing vehicle angular position a desired steering angle calculated, performed a steering intervention according to the target steering angle and the driver the opportunity commanded, by operation a switching means to activate a straight-ahead driving mode in which the target steering angle is calculated such that the trailer-traction vehicle angular position at continuation the reverse drive in a straight-ahead exhibition for a ride in straight ahead is brought.
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 Lenkeinschlagwinkels 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, wherein the proportionality factor the 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, the in turn is adjusted by controlling the steering angle δ.
Das
Rückfahrhilfesystem
muss den Lenkwinkel δ
Der Fahrer gibt seinen die Querbewegung des Fahrzeuggespanns betreffenden Fahrerwunsch über geeignete Eingabemittel, beispielsweise über ein Potentiometer oder einen Joystick oder Drivestick als Fahrervorgabe vor. Die Fahrervorgabe kann dabei einen gewünschten Wert des Anhängerlenkwinkels κ2 oder eine gewünschte Änderung dieses Winkels κ2 bezogen auf die Zeit oder die Länge der gefahrenen Strecke, d.h. eine zeitbezogene oder fahrstreckenbezogene Änderungsrate des Anhängerlenkwinkels κ2, repräsentieren.The driver gives his driver's wish concerning the transverse movement of the vehicle combination via suitable input means, for example via a potentiometer or a joystick or drive stick as the driver default. The driver specification may represent a desired value of the trailer steering angle κ2 or a desired change of this angle κ2 relative to the time or the length of the distance traveled, ie a time-related or distance-related rate of change of the trailer steering angle κ2.
Nachdem
das Fahrzeuggespann A, B die gewünschte
Kurve durchfahren hat, kann es, wie in
Im Geradeausfahrmodus wird der Soll-Lenkwinkel δsoll derart berechnet, dass das Fahrzeuggespann durch Einregelung des Lenkwinkels δ auf den Soll-Lenkwinkel δsoll nach und nach „gerade gezogen" wird, d.h. in eine Geradeausstellung gebracht wird, und die Rückwärtsfahrt dann in Geradeausrichtung fortgesetzt wird. Die beiden Knickwinkel κ1 und κ2 werden somit durch die Regelung des Lenkwinkels δ nach und nach auf den Wert 0° gebracht und auf diesen Wert eingeregelt.in the Straight-driving mode, the target steering angle δsoll is calculated such that the vehicle combination by adjusting the steering angle δ to the target steering angle δsoll after and after "straight pulled, i. e. in a straight-ahead position, and the reverse drive then continue in straight ahead direction. The two bending angles κ1 and κ2 become thus by the control of the steering angle δ gradually to the value 0 ° brought and adjusted to this value.
Der Geradeausfahrmodus wird solange aufrechterhalten, solange der Fahrer den Taster zur Aktivierung dieses Modus betätigt hält.Of the Straight-ahead mode is maintained as long as the driver presses the button to activate this mode.
Lässt der Fahrer den Taster los, wird die davor eingegebene Fahrervorgabe wieder wirksam und das Fahrzeuggespann wird wieder auf den zuvor vom Fahrer gesetzten Kurvenkurs gebracht. Der Fahrer kann damit auf einfache Weise eine Kurvenfahrt kurzzeitig durch eine Geradeausfahrt unterbrechen und anschließend wieder fortsetzen, ohne dass hierzu aufwendige Fahrereingaben erforderlich werden. Dies entlastet den Fahrer beim Rangieren in unübersichtlichen Verkehrssituationen und in engen Verkehrsbereichen.Leaves the Driver releases the button, the previously entered driver default effective again and the vehicle combination will be back on the previously from Driver brought cornering course. The driver can handle it easy way cornering briefly by a straight ahead interrupt and then resume without requiring elaborate driver input become. This relieves the driver when maneuvering in confusing Traffic situations and in narrow traffic areas.
Der Geradeausfahrmodus erweist sich als besonders vorteilhaft in Fällen, in denen der Fahrer die von ihm gewünschte zeitbezogene oder fahrstreckenbezogene Änderungsrate des Anhängerlenkwinkels κ2 als Fahrervorgabe vorgibt. Bei einem Joystick oder Potentiometer als Eingabemittel für die gewünschte Änderungsrate entspricht die Nullstellung des Joysticks bzw. Potentiometers einer unveränderten Aufrechterhaltung des aktuellen Kurvenradius. Der Fahrer kann das Fahrzeuggespann A, B daher nicht dadurch auf einen Geradeausfahrkurs bringen, dass er den Joystick bzw. das Potentiometer in eine Nullstellung betätigt. Um das Fahrzeuggespann in einem solchen Fall durch Vorgabe der Änderungsrate des Anhängerlenkwinkels κ2 von seinem aktuellen Kurvenkurs auf einen Geradeauskurs zu bringen, müsste der Fahrer zunächst eine zur bisherigen Fahrervorgabe gegensinnige Änderungsrate eingeben, den Zeitpunkt, zu dem die Geradeausstellung erreicht ist, genau erkennen und zu diesem Zeitpunkt einen Nullwert für die Änderungsrate fordern. Eine solche aufwendige Fahrereingabe lässt sich bei dem erfindungsgemäßen System und Verfahren durch den auf einfache Weise aktivierbaren Geradeausfahrmodus vermeiden.Of the Straight-ahead mode proves to be particularly advantageous in cases where where the driver wants the one he wants time-related or distance-related rate of change of the trailer steering angle κ2 as driver default pretends. With a joystick or potentiometer as input means for the desired rate of change corresponds to the zero position of the joystick or potentiometer one unchanged Maintaining the current curve radius. The driver can do that Vehicle combination A, B therefore not on a straight-ahead driving course bring him to the joystick or the potentiometer in a zero position actuated. In such a case, by specifying the rate of change of the vehicle Trailer steering angle κ2 from his would bring the current curve course on a straight course, the Driver first enter a rate of change in the opposite direction to the previous driver specification, the Time, at which the straight-ahead exhibition is reached, exactly recognize and at that time request a zero rate of change. Such elaborate driver input leaves in the system according to the invention and method by the easily activatable straight-ahead driving mode avoid.
Die Erfindung lässt sich selbstverständlich auch bei einem Fahrzeuggespann mit einem Anhänger mitungelenkter Achse anwenden, beispielsweise bei einem Fahrzeuggespann mit einem als Sattelauflieger ausgeführten Anhänger. In einem solchen Fall vereinfacht sich die Regelung, da die beiden Knickwinkel κ1 und κ2 zu einem Anhängerlenkwinkel zusammengefasst werden und nur noch dieser eine Anhängerlenkwinkel erfasst und bei der Berechnung des Soll-Lenkwinkels δsoll berücksichtigt werden muss.The Invention leaves of course, too apply to a vehicle combination with a trailer with a steered axle, for example, in a vehicle combination with a semitrailer executed Pendant. In such a case, the scheme simplifies, since the two Bending angle κ1 and κ2 too a trailer steering angle be summarized and only this one trailer steering angle detected and taken into account in the calculation of the target steering angle δsoll must become.
Claims (4)
Priority Applications (1)
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DE200510043468 DE102005043468A1 (en) | 2005-09-13 | 2005-09-13 | Reverse drive assistance system for vehicle combination, has evaluating unit evaluating actual steering angle in straight driving mode so that trailer-vehicle-angle position is brought to straight route for drive in straight direction |
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DE200510043468 DE102005043468A1 (en) | 2005-09-13 | 2005-09-13 | Reverse drive assistance system for vehicle combination, has evaluating unit evaluating actual steering angle in straight driving mode so that trailer-vehicle-angle position is brought to straight route for drive in straight direction |
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