DE102012207648A1 - Driver assistance system for semi-automatic coupling of two-lane motor car with trailer, has sensor device, where system enables longitudinal guiding of motor car provided close to trailer by interventions in drive and brake system of car - Google Patents

Driver assistance system for semi-automatic coupling of two-lane motor car with trailer, has sensor device, where system enables longitudinal guiding of motor car provided close to trailer by interventions in drive and brake system of car Download PDF

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Publication number
DE102012207648A1
DE102012207648A1 DE201210207648 DE102012207648A DE102012207648A1 DE 102012207648 A1 DE102012207648 A1 DE 102012207648A1 DE 201210207648 DE201210207648 DE 201210207648 DE 102012207648 A DE102012207648 A DE 102012207648A DE 102012207648 A1 DE102012207648 A1 DE 102012207648A1
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Germany
Prior art keywords
trailer
motor car
driver assistance
assistance system
motor vehicle
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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Withdrawn
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DE201210207648
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German (de)
Inventor
Thomas Toelge
Robert Grömansberger
Moritz Werling
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Priority to DE201210207648 priority Critical patent/DE102012207648A1/en
Publication of DE102012207648A1 publication Critical patent/DE102012207648A1/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits or the like

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The system has a sensor device for determining a position of a drawbar tip and/or a trailer coupling in relation to a trailer coupling of a motor car. The system enables transverse guiding of a motor car driving backwards of a trailer by automatic adjustment of a suitable vehicle steering angle under evaluation of signals of a sensor device. The system enables longitudinal guiding of the motor car provided close to the trailer by suitable interventions in a drive and brake system of the motor car. The system is activated by a person provided outside the motor car.

Description

Die Erfindung betrifft ein Fahrerassistenzsystem zum teilautomatischen Kuppeln eines zweispurigen Kraftfahrzeugs mit einem Anhänger, welches die Querführung des rückwärts zum Anhänger hin fahrenden Kraftfahrzeugs durch selbsttätige Einstellung eines geeigneten Fahrzeug-Lenkwinkels unter Auswertung der Signale einer Sensoreinrichtung übernimmt. Zum Stand der Technik wird auf die DE 10 2010 004 920 A1 verwiesen.The invention relates to a driver assistance system for the semi-automatic coupling of a two-lane motor vehicle with a trailer, which takes over the lateral guidance of the vehicle going backwards to the trailer by automatically setting a suitable vehicle steering angle by evaluating the signals of a sensor device. The prior art is on the DE 10 2010 004 920 A1 directed.

Aus der genannten Schrift ist eine Vorrichtung zur Unterstützung des Ankuppelns eines Anhängers eines Kraftfahrzeugs und ein entsprechendes Verfahren mit den im Oberbegriff des vorliegenden Anspruchs 1 angegebenen Merkmalen bekannt. Mittels einer in dieser Schrift näher beschriebenen Sensorvorrichtung kann die Position der Deichselspitze bzw. Anhängerkupplung des Anhängers in Relation zur Anhängerkupplung des Kraftfahrzeugs bestimmt werden und es wird beim Rückwärtsfahren des Kraftfahrzeugs vom Fahrerassistenzsystem die sog. Querführung des Fahrzeugs übernommen, indem dessen Lenksystem gesteuert durch eine elektronische Steuereinheit vorzugsweise durch den elektrischen Servomotor des Lenksystems solchermaßen eingestellt wird, dass die Anhängerkupplung des Kraftfahrzeugs in diejenige Position geführt wird, in der sie mit der Anhängerkupplung des Anhängers gekuppelt werden kann.From the cited document, a device for supporting the coupling of a trailer of a motor vehicle and a corresponding method with the features specified in the preamble of the present claim 1 is known. By means of a sensor device described in more detail in this document, the position of the tiller tip or trailer hitch of the trailer can be determined in relation to the trailer hitch of the motor vehicle and it is taken when reversing the motor vehicle from the driver assistance system, the so-called. Transverse guidance of the vehicle by its steering system controlled by an electronic Control unit is preferably adjusted by the electric servomotor of the steering system such that the trailer hitch of the motor vehicle is guided in the position in which it can be coupled to the trailer hitch of the trailer.

Hiermit soll eine Maßnahme zur weiteren Steigerung des Komforts in Verbindung mit dem Kuppeln eines Anhängers an ein Kraftfahrzeug aufgezeigt werden (= Aufgabe der vorliegenden Erfindung).This is a measure to further increase the comfort in connection with the coupling of a trailer to a motor vehicle be shown (= object of the present invention).

Die Lösung dieser Aufgabe ist für ein Fahrerassistenzsystem nach dem Oberbegriff des Anspruchs 1 dadurch gekennzeichnet, dass das Fahrerassistenzsystem auch die Längsführung des sich dem Anhänger näherenden Fahrzeugs durch geeignete Eingriffe in das Antriebssystem und Bremssystem des Kraftfahrzeugs übernimmt. Nach einer vorteilhaften Weiterbildung kann das Fahrerassistenzsystem auch von einer sich außerhalb des Kraftfahrzeugs befindlichen Person aktivierbar sein.The solution to this problem is for a driver assistance system according to the preamble of claim 1, characterized in that the driver assistance system also takes over the longitudinal guidance of the vehicle approaching the trailer by suitable interventions in the drive system and braking system of the motor vehicle. According to an advantageous development, the driver assistance system can also be activated by a person outside the motor vehicle.

Im Stand der Technik muss der Fahrer des Kraftfahrzeugs mit dessen Annäherung an den Anhänger das Fahrzeug zunächst geringfügig abbremsen und dann exakt in dem Moment zum Stillstand bringen, in dem sich die Anhängerkupplungen des Fahrzeugs und des Anhängers in einer für das Aneinander-Kuppeln geeigneten Position befinden. Dies mag manch einen Fahrer überfordern, insbesondere jedoch unterscheiden sich die Reaktionszeiten verschiedener Fahrer auf ein in der DE 10 2010 004 920 A1 vorgeschlagenes akustisches Signal zur Anzeige des Zeitpunkts, in dem der Fahrer im Stand der Technik das Fahrzeug zum Stillstand bringen muss, voneinander. Die Wahrscheinlichkeit, dass das Kraftfahrzeug in der für ein erfolgreiches Aneinander-Kuppeln erforderlichen Position zum Stillstand kommt, ist somit relativ gering.In the prior art, the driver of the motor vehicle with its approach to the trailer must first brake the vehicle slightly and then bring it to a standstill exactly at the moment in which the trailer hitches of the vehicle and the trailer are in a suitable position for coupling together , This may overwhelm a driver, but in particular, the response times of different drivers differ in one in the DE 10 2010 004 920 A1 proposed acoustic signal for indicating the time in which the driver in the prior art has to bring the vehicle to a standstill, from each other. The probability that the motor vehicle comes to a standstill in the position required for a successful mutual coupling is thus relatively small.

Mit der vorliegenden Erfindung hingegen wird der Fahrer nicht nur weiter entlastet, sondern es kann das Kraftfahrzeug vorteilhafterweise in der exakten Soll-Position zum Stillstand gebracht werden, wenn auch die sog. Längsführung des Kraftfahrzeugs, d. h. dessen Fortbewegung zum Anhänger hin sowie insbesondere dessen Abbremsvorgang zum Stillstand exakt in der gewünschten Position ebenso wie die Querführung vom Fahrerassistenzsystem übernommen wird. Dies ist bei modernen Kraftfahrzeugen einfach möglich, da diese bereits mit anderen Systemen ausgerüstet sind, die auf die Längsdynamik des Fahrzeugs einwirken, d. h. die das Fahrzeug beschleunigen und bis zum Stillstand abbremsen können.By contrast, with the present invention, the driver is not only further relieved, but the motor vehicle can advantageously be brought to a standstill in the exact desired position, even if the so-called. Longitudinal guide of the motor vehicle, d. H. whose locomotion to the trailer and in particular its deceleration to standstill exactly in the desired position as well as the lateral guidance is taken from the driver assistance system. This is easily possible with modern motor vehicles because they are already equipped with other systems that affect the longitudinal dynamics of the vehicle, i. H. which accelerate the vehicle and can decelerate to a stop.

Was ein neben den soeben genannten und dem Fachmann bekannten Systemen zur Längsführung des Fahrzeugs weiterhin im Rahmen der vorliegenden Erfindung erforderliches System zur Querführung des Fahrzeugs sowie eine geeignete Sensoreinrichtung zum Ermitteln derjenigen Zielposition des Kraftfahrzeugs, in welcher die Anhängerkupplung des Anhängers mit derjenigen des Fahrzeugs kuppelbar ist, betrifft, so kann hierfür auf die in der besagten DE 10 2010 004 920 A1 genannten Systeme zurückgegriffen werden. Es sind jedoch auch andere dem jeweils relevanten Fachmann bekannte Systeme zur Querführung des Fahrzeugs bzw. zur Ermittlung einer Trajektorie einsetzbar, die es ermöglichen, dass die beiden Anhängerkupplungen schließlich die gewünschte Position zueinander einnehmen.What is in addition to the systems just mentioned and known to those skilled in the longitudinal guidance of the vehicle in the present invention required system for lateral guidance of the vehicle and a suitable sensor device for determining that target position of the motor vehicle in which the trailer hitch of the trailer with that of the vehicle can be coupled , in this regard, may be referred to in the said DE 10 2010 004 920 A1 recourse to these systems. However, other systems known to the respective relevant expert can also be used for the transverse guidance of the vehicle or for determining a trajectory which make it possible for the two trailer hitches to finally assume the desired position relative to one another.

Zur weiteren Steigerung des Komforts kann ein erfindungsgemäßes Fahrerassistenzsystem von einer sich außerhalb des Kraftfahrzeugs befindlichen Person aktiviert werden und somit die Positionierung des Kraftfahrzeugs in einer Ziel-Position, in der die Anhängerkupplung des Anhängers mit derjenigen des Fahrzeugs kuppelbar ist, von außerhalb des Fahrzeugs in Gang gesetzt werden. Wenn ein Fahrer an sein Kraftfahrzeug einen abgestellten Anhänger ankuppeln möchte, so muss er das Fahrzeugs lediglich eine geringe Distanz zum Anhänger annähern und kann danach aussteigen, beispielsweise um die Anhängerkupplung des Anhängers vorzubereiten oder indem eine Diebstahl-Verhinderungsvorrichtung entfernt wird. Danach kann der Fahrer mit einer geeigneten Fernbedienung, die sich vorzugsweise an bzw. in seinem Fahrzeugschlüssel befinden kann, die exakte Positionierung des Kraftfahrzeugs durch das erfindungsgemäße Fahrerassistenzsystem starten, um schließlich, wenn das Fahrzeug in der Zielposition zum Stillstand gekommen ist, sofort die beiden Anhängerkupplungen miteinander zu verbinden.To further enhance comfort, a driver assistance system according to the invention can be activated by a person located outside the motor vehicle and thus the positioning of the motor vehicle in a target position, in which the trailer hitch with that of the vehicle can be coupled, from outside the vehicle in motion be set. When a driver wants to couple a parked trailer to his motor vehicle, he only has to approach the vehicle a short distance from the trailer and can then get out, for example, to prepare the trailer hitch or by removing a theft prevention device. Thereafter, the driver with a suitable remote control, which may preferably be located on or in his vehicle key, the exact positioning of the motor vehicle by the driver assistance system according to the invention start to finally, when the vehicle in the Target position has come to a standstill, immediately connect the two trailer hitches.

Nach einer vorteilhaften Erweiterung kann durch ein Niveauregulierungs-System des Kraftfahrzeugs dessen Anhängerkupplung für ein Unterfahren der Anhängerkupplung des Anhängers zunächst abgesenkt und nach erfolgtem Positionieren für den Kuppelvorgang zur Anhängerkupplung des Anhängers hin angehoben werden. Damit ist ein automatisches Ankuppeln möglich, wonach der Fahrer lediglich noch das Bugrad hochziehen und den elektrischen Anhängerstecker verbinden muss.According to an advantageous extension can be lowered by a level control system of the motor vehicle whose trailer hitch for underrunning the trailer hitch of the trailer first and raised after successful positioning for the coupling process to the trailer hitch of the trailer. This automatic coupling is possible, after which the driver only has to pull up the nose wheel and connect the electric trailer plug.

ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION

Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Zitierte PatentliteraturCited patent literature

  • DE 102010004920 A1 [0001, 0005, 0007] DE 102010004920 A1 [0001, 0005, 0007]

Claims (3)

Fahrerassistenzsystem zum teilautomatischen Kuppeln eines zweispurigen Kraftfahrzeugs mit einem Anhänger, welches die Querführung des rückwärts zum Anhänger hin fahrenden Kraftfahrzeugs durch selbsttätige Einstellung eines geeigneten Fahrzeug-Lenkwinkels unter Auswertung der Signale einer Sensoreinrichtung übernimmt, dadurch gekennzeichnet, dass das Fahrerassistenzsystem auch die Längsführung des sich dem Anhänger näherenden Fahrzeugs durch geeignete Eingriffe in das Antriebs- und Bremssystem des Kraftfahrzeugs übernimmt.Driver assistance system for semi-automatic coupling of a two-lane motor vehicle with a trailer, which takes over the lateral guidance of the rearward to the trailer moving motor vehicle by automatically setting a suitable vehicle steering angle by evaluating the signals of a sensor device, characterized in that the driver assistance system and the longitudinal guide of the trailer approaching vehicle by appropriate intervention in the drive and braking system of the motor vehicle takes over. Fahrerassistenzsystem nach Anspruch 1, dadurch gekennzeichnet, dass das Fahrerassistenzsystem auch von einer sich außerhalb des Kraftfahrzeugs befindlichen Person aktivierbar ist.Driver assistance system according to claim 1, characterized in that the driver assistance system can also be activated by a person located outside the motor vehicle. Fahrerassistenzsystem nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass mittels eines Niveauregulierungssystems des Kraftfahrzeugs dessen Anhängerkupplung für ein Unterfahren der Anhängerkupplung des Anhängers absenkbar und nach erfolgtem Positionieren für den Kuppelvorgang zur Anhängerkupplung des Anhängers hin anhebbar ist.Driver assistance system according to claim 1 or 2, characterized in that by means of a level control system of the motor vehicle whose trailer hitch lowerable for underrunning the trailer hitch of the trailer and after successful positioning for the coupling process to the trailer hitch of the trailer can be raised.
DE201210207648 2012-05-08 2012-05-08 Driver assistance system for semi-automatic coupling of two-lane motor car with trailer, has sensor device, where system enables longitudinal guiding of motor car provided close to trailer by interventions in drive and brake system of car Withdrawn DE102012207648A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE201210207648 DE102012207648A1 (en) 2012-05-08 2012-05-08 Driver assistance system for semi-automatic coupling of two-lane motor car with trailer, has sensor device, where system enables longitudinal guiding of motor car provided close to trailer by interventions in drive and brake system of car

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DE201210207648 DE102012207648A1 (en) 2012-05-08 2012-05-08 Driver assistance system for semi-automatic coupling of two-lane motor car with trailer, has sensor device, where system enables longitudinal guiding of motor car provided close to trailer by interventions in drive and brake system of car

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014110498A1 (en) 2014-07-25 2016-01-28 Dr. Ing. H.C. F. Porsche Aktiengesellschaft A method of assisting a hitching operation of a motor vehicle to a trailer
DE102014221077A1 (en) 2014-10-16 2016-04-21 Bayerische Motoren Werke Aktiengesellschaft Location system on a motor vehicle with a trailer hitch
DE102017208991A1 (en) 2017-05-29 2018-11-29 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system for at least partially automatic coupling of a two-lane motor vehicle with a trailer
US11117430B2 (en) 2019-05-21 2021-09-14 Volvo Truck Corporation Interface system of a transfer dump truck

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004008928A1 (en) * 2004-02-24 2005-09-08 Bayerische Motoren Werke Ag Method for coupling a trailer using a vehicle level control
DE102006001059A1 (en) * 2006-01-07 2007-07-12 GM Global Technology Operations, Inc., Detroit Trailer coupling for e.g. passenger car, has spherical bar with ball and socket joint at end, where joint is fastened at passenger car, and joint is designed such that position of joint is changeable relative to sensor system
DE102008034606A1 (en) * 2008-07-25 2010-01-28 Bayerische Motoren Werke Aktiengesellschaft Method for displaying environment of vehicle on mobile unit, involves wirelessly receiving image signal from vehicle, and generating display image signal on mobile unit through vehicle image signal, where mobile unit has virtual plane
DE102010004920A1 (en) 2010-01-19 2011-07-21 ZF Lenksysteme GmbH, 73527 Device for support of coupling trailer to trailer coupling of motor car e.g. passenger car, controls relative movement of trailer coupling of motor car based on determined relative position of trailer coupling of trailer

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004008928A1 (en) * 2004-02-24 2005-09-08 Bayerische Motoren Werke Ag Method for coupling a trailer using a vehicle level control
DE102006001059A1 (en) * 2006-01-07 2007-07-12 GM Global Technology Operations, Inc., Detroit Trailer coupling for e.g. passenger car, has spherical bar with ball and socket joint at end, where joint is fastened at passenger car, and joint is designed such that position of joint is changeable relative to sensor system
DE102008034606A1 (en) * 2008-07-25 2010-01-28 Bayerische Motoren Werke Aktiengesellschaft Method for displaying environment of vehicle on mobile unit, involves wirelessly receiving image signal from vehicle, and generating display image signal on mobile unit through vehicle image signal, where mobile unit has virtual plane
DE102010004920A1 (en) 2010-01-19 2011-07-21 ZF Lenksysteme GmbH, 73527 Device for support of coupling trailer to trailer coupling of motor car e.g. passenger car, controls relative movement of trailer coupling of motor car based on determined relative position of trailer coupling of trailer

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014110498A1 (en) 2014-07-25 2016-01-28 Dr. Ing. H.C. F. Porsche Aktiengesellschaft A method of assisting a hitching operation of a motor vehicle to a trailer
DE102014221077A1 (en) 2014-10-16 2016-04-21 Bayerische Motoren Werke Aktiengesellschaft Location system on a motor vehicle with a trailer hitch
DE102017208991A1 (en) 2017-05-29 2018-11-29 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system for at least partially automatic coupling of a two-lane motor vehicle with a trailer
US11106202B2 (en) 2017-05-29 2021-08-31 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system for at least semi-automatically coupling a two-track motor vehicle to a trailer
US11117430B2 (en) 2019-05-21 2021-09-14 Volvo Truck Corporation Interface system of a transfer dump truck

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