DE102018202396A1 - Gear selector switch for a vehicle and method and control unit for controlling at least one actuator for steering a vehicle combination - Google Patents

Abstract

The invention relates to a gear selector switch (110) for a vehicle. The gear selector switch (110) has adjusting means (112) for setting a target value of a bending angle between the vehicle and a trailer coupled to the vehicle.

Description

The present invention relates to a gear selector switch for a vehicle and a method and a control device for driving at least one actuator for steering a vehicle combination.

For example, the control of a combination of a vehicle and a trailer can be achieved by means of a separate control element in the interior of a vehicle. To determine a drawbar bending angle, for example, a rotation angle sensor in a ball rod or a camera in the rear of the vehicle can be used. The control of the team can be done for example by active steering intervention.

Against this background, the present invention provides an improved gear selector switch for a vehicle, an improved method for controlling at least one actuator for steering a vehicle combination and a corresponding control device according to the main claims. Advantageous embodiments will become apparent from the dependent claims and the description below.

The approach described here is based on the knowledge that a setting device for setting a bending angle for a trailer control function, also called Trailer Assist, can be integrated in a gear selector switch. By such a functional extension of Gangwählschalters, such as a turntable, can be dispensed with the use of separate control elements for trailer control. This can save costs. For example, by using a capacitive sensor surface, a particularly sensitive angle of articulation for reversing a team and thus improving the ease of operation can be achieved.

There is provided a gear selector switch for a vehicle, wherein the gear selector switch comprises adjusting means for setting a target value of a kink angle between the vehicle and a trailer coupled to the vehicle.

A gear selector can be understood to mean a switch for selecting a gear stage of an automatic transmission of the vehicle, for example P, R, N, D or M. For example, the gear selector switch can be mounted rotatably or displaceably. An adjusting device can be understood as a switching or sensor device for detecting an input by an operator. For example, the gear selector can have an electromagnetic detent. An articulated angle can be understood as meaning an angle between a longitudinal axis of the trailer and a longitudinal axis of the vehicle. A setpoint value can be understood as an articulation angle specification or a desired articulation angle. Alternatively, a setpoint value can be understood as a maximum bending angle.

According to one embodiment, the setting device may comprise a capacitive sensor surface for generating a sensor signal representing the desired value. A capacitive sensor surface can be understood as meaning an active surface of a capacitive sensor, for example for measuring distance, angle or pressure. Thereby, the adjustment can be inexpensively integrated into the gear selector.

According to a further embodiment, the sensor surface may have at least one elevation and / or depression for guiding a finger when setting the desired value. This allows the setpoint to be set without eye contact with the gear selector switch.

It is advantageous if the sensor surface is designed annular and / or trench-shaped. As a result, the ease of use when setting the setpoint can be further improved.

The Gangwählschalter can be performed for example as a rotary switch with a lateral surface and a top surface. In this case, the sensor surface can be designed as part of the top surface. A cover surface may, in particular, be understood as meaning an upper side of the gear selection switch which can be viewed by the user. Thereby, the target value can be set independently of a rotational movement of the Gangwählschalters.

Furthermore, the gear selector switch may comprise an electromagnetic unit for generating a plurality of defined detent stages when turning the gear selector, also called solenoid detent. As a result, the gear selector can be executed with a particularly fine and reliable detent.

According to another embodiment, the gear selection switch may include a display area for displaying operation information. In this case, the display surface may be at least partially surrounded by the sensor surface. A display area can be understood, for example, as an LCD or OLED display. By this embodiment, the ease of use of Gangwählschalters can be further improved.

For example, by tapping the sensor surface and / or rotating the gear selector switch, the gear selector can be set to a setting mode for Setting the setpoint be switchable. As a result, operator errors can be avoided.

• Einlesen eines mittels eines Gangwählschalters des Fahrzeugs eingestellten Sollwerts eines Knickwinkels zwischen dem Fahrzeug und dem Anhänger und eines mittels eines Knickwinkelsensors erfassten Istwerts des Knickwinkels; und
• Ausgeben eines Stellwerts zum Ansteuern des Aktors unter Verwendung des Sollwerts und des Istwerts.

The approach presented herein further provides a method for driving at least one actuator to steer a vehicle combination of a vehicle and a trailer coupled to the vehicle, the method comprising the steps of:

• Reading in a target value of an articulation angle between the vehicle and the trailer set by means of a gear selector switch of the vehicle and an actual value of the articulation angle detected by means of a kink angle sensor; and
• Outputting a control value for actuating the actuator using the setpoint and the actual value.

According to one embodiment, in the reading step, the setpoint value can be read in from an interface to a capacitive sensor area of the gear selection switch. In this way, the setpoint can be provided with relatively little effort and high reliability.

The approach presented here also creates a control unit which is designed to execute, to control or to implement the steps of a variant of a method presented here in corresponding devices. Also by this embodiment of the invention in the form of a control device, the object underlying the invention can be achieved quickly and efficiently.

In the present case, a control device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The control unit may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based design, the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the control unit. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

In an advantageous embodiment, the control unit is used to control the vehicle and / or the trailer. For this purpose, the control unit can access, for example, sensor signals such as acceleration, pressure, steering angle or environmental sensor signals. The control takes place via actuators such as brake or steering actuators or an engine control unit of the vehicle or the trailer.

Also of advantage is a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, especially when the program product or program is executed on a computer or a device.

• 1 eine schematische Darstellung eines Fahrzeuggespanns, das durch ein Verfahren gemäß einem Ausführungsbeispiel der vorliegenden Erfindung steuerbar ist;
• 2 eine schematische Darstellung des Gangwählschalters aus 1;
• 3 eine schematische Darstellung des Steuergeräts 1; und
• 4 ein Ablaufdiagramm eines Verfahrens gemäß einem Ausführungsbeispiel der vorliegenden Erfindung.

The invention will be described by way of example with reference to the accompanying drawings. Show it:

• 1 a schematic representation of a vehicle combination, which is controllable by a method according to an embodiment of the present invention;
• 2 a schematic representation of the Gangwählschalters off 1 ;
• 3 a schematic representation of the controller 1 ; and
• 4 a flowchart of a method according to an embodiment of the present invention.

In the following description of preferred embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similarly acting, wherein a repeated description of these elements is omitted.

1 shows a schematic representation of a vehicle combination 100 which is controllable by a method according to an embodiment of the present invention. The vehicle combination 100 includes a vehicle 102 that with a trailer 104 is coupled. A vehicle longitudinal axis 106 and a trailer longitudinal axis 108 are in a bend angle α aligned with each other. The vehicle 102 includes a gear selector 110 for selecting a gear stage such as P . R . N . D . M , The functional scope of the gear selector switch 110 is an adjuster 112 extended to set a setpoint 114 of the bend angle α by a driver of the vehicle 102 is trained. For example, the adjusting device comprises 112 a capacitive sensor for detecting a corresponding input of the driver.

For controlling the vehicle combination 100 includes the vehicle 102 a control unit 116 with trailer control function, for example, to automatically steer the vehicle combination 100 when reversing by means of corresponding actuators of the vehicle 102 or the trailer 104 , Here is the control unit 116 designed, on the one hand, the setpoint 114 from an interface to the gear selector switch 110 , on the other hand, an actual value 118 of the bend angle α from an interface to a kink angle sensor 120 for detecting the bending angle α read about, such as a camera on the rear of the vehicle or a built-in ball rod rotation angle sensor. The control unit 116 determined by determining a deviation between the setpoint 114 and the actual value 118 a suitable control value 122 to approximate the actual value by appropriately activating the actuators 118 to the setpoint 114 to reach.

2 shows a schematic representation of the Gangwählschalters 110 out 1 , An example is the gear selector 110 according to this embodiment as a turntable for adjusting the various gear stages P . R . N . D . M executed. The adjustment device 112 includes according to this embodiment, a capacitive sensor surface 200 , here part of a on a lateral surface 201 adjacent deck area 202 of the gear selector switch 110 is. The sensor surface 200 is exemplary with a recess 204 formed in the form of a trench, which serves to guide a finger when setting the target value. The depression 204 here extends annularly along the sensor surface 200 , In addition, the sensor surface points 200 four rib-shaped elevations 206 to guide the finger up. The surveys 206 ever cross the recess 204 , Exemplary are the surveys 206 aligned in a cross shape. Alternatively, the sensor surface 200 a plurality of depressions 204 or surveys 206 on. For example, the surveys 206 then star-shaped aligned with each other to a particularly fine haptic detent the sensor surface 200 to realize.

According to one embodiment, the gear selector switch 110 with a display area 208 for displaying operating information, such as activation of the trailer control function. As in 2 shown is the display area 208 for example within the sensor area 200 arranged so that the display area 208 at least for the most part of the sensor surface 200 is surrounded.

The gear selector 110 is in one embodiment by one or more times tapping the sensor surface 200 into a setting mode for setting the target value of the bending angle switchable. Alternatively or additionally, the adjustment mode is by pressing the gear selector one or more times 110 or by turning the gear selector 110 can be activated in a defined position.

According to a further embodiment, the gear selector switch 110 an electromagnetic unit configured to generate a plurality of electromagnetic gear stages associated with each gear stage. Optionally, the electromagnetic unit is configured to additionally generate at least one electromagnetic activation detent stage for activating the adjustment mode.

According to an alternative embodiment, the desired value of the bending angle is by turning the gear selector 110 adjustable. For example, the electromagnetic unit is configured to generate, in addition to the gear load stages, a plurality of electromagnetic buckling-indexing stages for setting the target value of the buckling angle. Depending on the number of buckling increment stages, a particularly sensitive adjustment of the desired value can be achieved in this way.

For example, the gear selector switch 110 as a combination of a rotary switch, also called rotary shifter, with electromagnetic detent steps, also called solenoid detents, an actuator based on the magnetorheological effect and the capacitive sensor surface 200 realized for sensing desired bending angle for a steering control of the vehicle combination. Through a topographic finger guide in the form of the trench-like depression 204 or any other topography of the sensor surface 200 is the gear selector 110 operated blind.

By using capacitive sensor technology, the gear selector switch is 110 Can be used independently of a base for controlling the bending angle or for other comfort functions in the vehicle. By integrating a Knickwinkelverstellfunktion in the already existing Gangwählschalter 110 Costs can be reduced because additional controls can be omitted.

3 shows a schematic representation of the controller 116 out 1 , The control unit 116 includes a processing unit 300 that is trained to the setpoint 114 and the actual value 118 read in and this to generate the control value 122 to process in a suitable manner. Further, the processing unit 300 trained to the control value 122 to issue to a suitable interface to the actuators of the vehicle or the trailer.

4 shows a flowchart of a method 400 for driving at least one actuator for steering a vehicle combination from a vehicle and a trailer coupled to the vehicle. The procedure 400 For example, by the above with reference to 3 described control unit to be executed. It will be in one step 410 the setpoint value and the actual value of the bending angle are read in. In one step 420 is output using the setpoint and the actual value of the manipulated variable for driving the actuator or the actuators.

According to a particularly advantageous embodiment, the target value in step 410 read from an interface to a capacitive sensor surface of a gear selector switch of the vehicle.

The embodiments described and shown in the figures are chosen only by way of example. Different embodiments may be combined together or in relation to individual features. Also, an embodiment can be supplemented by features of another embodiment.

Furthermore, method steps according to the invention can be repeated as well as carried out in a sequence other than that described.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, this can be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment, either only the first Feature or only the second feature.

LIST OF REFERENCE NUMBERS

α

bending angle

100

vehicle combination

102

vehicle

104

pendant

106

vehicle longitudinal axis

108

trailer longitudinal axis

110

gear selection switch

112

adjustment

114

setpoint

116

control unit

118

actual value

120

Articulation angle sensor

122

control value

200

capacitive sensor surface

201

lateral surface

202

cover surface

204

deepening

206

survey

208

display area

300

processing unit

400

Method for controlling at least one actuator for steering a vehicle combination

410

Step of reading in

420

Step of spending

Claims (13)

A gear selector switch (110) for a vehicle (102), wherein the gear selector switch (110) includes adjustment means (112) for setting a desired value (114) of a kink angle (a) between the vehicle (102) and a trailer coupled to the vehicle (102) (104). Gear selector switch (110) according to Claim 1 in which the adjusting device (112) comprises a capacitive sensor surface (200) for generating a sensor signal representing the desired value (114). Gear selector switch (110) according to Claim 2 in that the sensor surface (200) has at least one projection (206) and / or depression (204) for guiding a finger when setting the desired value (114). Gear selector switch (110) according to Claim 2 or 3 in which the sensor surface (200) is configured annular and / or trench-shaped. Gear selector switch (110) according to one of Claims 2 to 4 in which the gear selector switch (110) is designed as a rotary switch with a lateral surface (201) and a cover surface (202), the sensor surface (200) being designed as part of the cover surface (202). Gear selector switch (110) according to Claim 5 with an electromagnetic unit for generating a plurality of defined detent steps when turning the gear selector switch (110). Gear selector switch (110) according to one of Claims 2 to 6 , with a display surface (208) for displaying operating information, wherein the display surface (208) is at least partially surrounded by the sensor surface (200). Gear selector switch (110) according to one of Claims 2 to 7 in which the gear selector switch (110) by tapping the sensor surface (200) and / or turning the gear selector switch (110) in a setting mode for setting the set value (114) is switchable. A method (400) of driving at least one actuator to steer a vehicle combination (100) from a vehicle (102) and a trailer (104) coupled to the vehicle (102), the method (400) comprising the steps of: Reading in (410) a desired value (114) of a bending angle (a) between the vehicle (102) and the trailer (104) and an actual value (118) detected by means of a kink angle sensor (120) by means of a gear selection switch (110) of the vehicle (102) ) of the bending angle (a); and Outputting (420) a control value (122) for actuating the actuator using the setpoint (114) and the actual value (118). Method (400) according to Claim 9 in which, in the step of reading in (410), the desired value (114) is read in from an interface to a capacitive sensor surface (200) of the gear selection switch (110). A controller (116) having a unit (300) configured to perform the method (400) Claim 9 or 10 execute and / or control. A computer program configured to perform the steps (410, 420) of the method (400) in accordance with Claim 9 or 10 execute and / or control. Machine-readable storage medium on which the computer program is based Claim 12 is stored.

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