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

Info

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
Authority
DE
Germany
Prior art keywords
trailer
straight
steering angle
towing vehicle
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.)
Withdrawn
Application number
DE200510043468
Other languages
German (de)
Inventor
Christian David Remy
Andreas Dr.-Ing. Schwarzhaupt
Gernot Prof. Dr.-Ing. Spiegelberg
Jan Dr.-Ing. Wirnitzer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daimler AG
Original Assignee
DaimlerChrysler AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by DaimlerChrysler AG filed Critical DaimlerChrysler AG
Priority to DE200510043468 priority Critical patent/DE102005043468A1/en
Publication of DE102005043468A1 publication Critical patent/DE102005043468A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D13/00Steering specially adapted for trailers
    • B62D13/06Steering specially adapted for trailers for backing a normally drawn trailer
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027Parking aids, e.g. instruction means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D6/00Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002Arrangements 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

Abstract

The system has an input device for inputting a route determining preset driver parameter, and a detection unit for detecting a trailer-towing vehicle-angle position that describes an actual position of a trailer (B) relative to a towing vehicle (A). The input device has a switching unit for actuating a straight driving mode, and an evaluating unit is arranged to evaluate an actual steering angle in the mode in such a manner that the position is brought to a straight route for a drive in straight direction during continuation of the reverse drive. An independent claim is also included for a method for regulating a reverse driving of a towing vehicle-trailer-combination.

Description

  • 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.
  • A generic Rückfahrhilfesystem is for example from the DE 103 22 828 A1 known. The known system assists the driver of a towing vehicle-trailer combination during a reverse drive by detecting a trailer steering angle of a wheel axle serving to steer the trailer and steering intervention on the towing vehicle equipped with an electronically controllable drive train in such a way that the trailer steering angle is maintained when the vehicle is moving a setpoint set by the driver is set. In other words, the rear wheel assist system takes into account the complex kinematics between towing vehicle and trailer and generates a steering operation on the towing vehicle, which leads to the driver's desired steering operation on the trailer while driving the vehicle. The driver provides the setpoint via a setpoint generator, which may be designed, for example, as a steering wheel or adjusting lever (joystick, drive stick).
  • From the DE 198 34 752 A1 Another device for controlling the reverse travel of a tractor-trailer combination is known. The stabilization is based here on the regulation of the steering angle of the steerable wheels of the towing vehicle as a function of the driving speed and the position of the trailer relative to the towing vehicle. With stable forward travel, the steering angles of the steerable wheels, the relative positions of the towing vehicle relative to the trailer and the associated speeds are recorded and stored at short intervals. When driving backwards, a power steering device of the towing vehicle is controlled on the basis of the stored values in such a way that the combination stably follows a predetermined curve radius. The curve radius is specified by the driver via a potentiometer.
  • Furthermore, from the DE 198 06 655 A1 an electronic maneuvering aid for reversing a towing vehicle-trailer combination known in which the towing vehicle is connected via a drawbar to the trailer and in which the reverse is stabilized by an active steering engagement on the steering wheel of the towing vehicle by means of a servomotor. The stabilization is based on the determination of the angle between the trailer and drawbar at the beginning of the reverse drive and the control of the steering intervention such that this angle during the reverse drive maintains its initial value unchanged. The towing vehicle and the trailer must therefore be brought into a stable starting position by the driver before the start of the reverse drive, in which the angle between towing vehicle and drawbar has already assumed the value required for the desired curve radius.
  • 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.
  • 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.
  • The The object is achieved by the Characteristics of the independent claims solved. advantageous Refinements and developments emerge from the dependent claims.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • The Invention will now be described with reference to an embodiment with reference closer to the figures described. Showing:
  • 1 a schematic representation of a vehicle combination consisting of a towing vehicle and trailer,
  • 2 a schematic representation of a realizable with the system according to the invention driving course.
  • In the embodiment according to 1 The vehicle combination comprises a towing vehicle A and a trailer B coupled thereto via a drawbar B1. The front axle of the trailer B is designed to be steerable. For this purpose, the trailer B has a turntable coupled to the drawbar B1. The front axle of the trailer B can thus be pivoted about the drawbar B1 to a trailer steering angle κ2, which corresponds to a bending angle between the longitudinal axes of the trailer B and the drawbar B1, relative to the rear wheel axle of the trailer B. The relative position of the trailer B with respect to the towing vehicle A, ie the trailer-traction vehicle angular position of the vehicle combination is determined by the trailer steering angle κ2 and another, in the following referred to as drawbar angle κ1 kink angle between the longitudinal axes of the towing vehicle A and the drawbar B1.
  • 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.
  • 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.
  • The reverse drive system must have the steering angle δ Now set so that the vehicle combination A, B is gradually brought to a desired driver of the track. For this purpose, it comprises corresponding regulators and adjusting means acting on the drive train and the steering system of the towing vehicle A, as well as detection means for detecting the current values of the driving speed, the steering angle δ and the bending angle κ1, κ2 and calculating means for calculating a target steering angle δsoll as a default value for the steering angle δ. The target steering angle δsoll is recalculated cyclically depending on the current values of the driving speed and the bending angles κ1, κ2, the calculation being based on the evaluation of equations of motion describing the movement behavior of a model of the vehicle combination.
  • 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.
  • After the vehicle combination A, B has passed the desired curve, it can, as in 2 indicated to be brought to a straight line a by a straight-ahead driving mode is activated by pressing a button.
  • 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.
  • Of the Straight-ahead mode is maintained as long as the driver presses the button to activate this mode.
  • 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.
  • 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.
  • 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)

  1. A reverse drive assisting system for controlling the reversing of a vehicle combination comprising a towing vehicle (A) and a trailer (B), the system comprising an input device for inputting a course-determining driver specification, detection means for detecting a trailer / towing vehicle describing the current position of the trailer relative to the towing vehicle. Angular position (κ1, κ2), calculation means for calculating a target steering angle (δsoll) as a steering control command for an automatic steering intervention and adjusting means for performing the steering control command, characterized in that the input device comprises switching means for activating a straight-ahead driving mode and that the calculation means are arranged, in the straight-ahead driving mode to calculate the target steering angle (δsoll) such that the trailer-traction vehicle angular position (κ1, κ2) is brought in continuation of the reverse drive in a straight ahead position for a drive in straight ahead.
  2. Reversing aid system according to claim 1, characterized in that the switching means is designed to activate the straight-ahead driving mode as a button and that the straight-ahead driving mode only during the operation of the Buttons is active.
  3. Reversing aid system according to claim 1 or 2, characterized in that the input device Means for entering a time or distance related rate of change a trailer steering angle (κ2) of the trailer (B) has as driver specification.
  4. Method for controlling the reversing of a towing vehicle-trailer combination as a function of a driver of the towing vehicle (A) Prescribed driver specification, in which a trailer-towing vehicle angular position (κ1, κ2) describing the current position of the trailer relative to the towing vehicle is detected, a desired steering angle (δsoll ) and a steering intervention is carried out in accordance with the desired steering angle (δsoll), characterized in that a driving mode that can be activated by the driver via switching means is provided as the operating mode in which the desired steering angle (δsoll) is calculated in such a way that the trailer Tractor angular position (κ1, κ2) is brought in continuation of the reverse drive in a straight-ahead position for a drive in straight ahead.
DE200510043468 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 Withdrawn DE102005043468A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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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DE102010021052A1 (en) * 2010-05-19 2011-11-24 Audi Ag Reversing aid device for controlling a reverse drive of a vehicle combination
DE102012006207A1 (en) * 2012-03-27 2013-10-02 Volkswagen Aktiengesellschaft Assistance devices and method for operating an assistance device for driving control of a towing vehicle with trailer
US8755984B2 (en) 2011-04-19 2014-06-17 Ford Global Technologies Managing jackknife enabling conditions during backing of a trailer by reducing speed of a vehicle backing the trailer
US8825328B2 (en) 2011-04-19 2014-09-02 Ford Global Technologies Detection of and counter-measures for jackknife enabling conditions during trailer backup assist
WO2014174037A1 (en) * 2013-04-26 2014-10-30 Jaguar Land Rover Limited System for a towing vehicle
US8909426B2 (en) 2011-04-19 2014-12-09 Ford Global Technologies Trailer path curvature control for trailer backup assist
US8972109B2 (en) 2011-04-19 2015-03-03 Ford Global Technologies Rotatable driver interface for trailer backup assist
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EP2388180B1 (en) * 2010-05-19 2014-10-01 Audi AG Reversing aid device for regulating a reverse motion of a road vehicle train
EP2388180A3 (en) * 2010-05-19 2012-06-13 Audi AG Reversing aid device for regulating a reverse motion of a road vehicle train
DE102010021052A1 (en) * 2010-05-19 2011-11-24 Audi Ag Reversing aid device for controlling a reverse drive of a vehicle combination
US9037350B2 (en) 2011-04-19 2015-05-19 Ford Global Technologies Detection of and counter-measures for jackknife enabling conditions during trailer backup assist
US8825328B2 (en) 2011-04-19 2014-09-02 Ford Global Technologies Detection of and counter-measures for jackknife enabling conditions during trailer backup assist
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US8909426B2 (en) 2011-04-19 2014-12-09 Ford Global Technologies Trailer path curvature control for trailer backup assist
US8972109B2 (en) 2011-04-19 2015-03-03 Ford Global Technologies Rotatable driver interface for trailer backup assist
US8755984B2 (en) 2011-04-19 2014-06-17 Ford Global Technologies Managing jackknife enabling conditions during backing of a trailer by reducing speed of a vehicle backing the trailer
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US9248858B2 (en) 2011-04-19 2016-02-02 Ford Global Technologies Trailer backup assist system
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