DE102019110973A1 - Vehicle and method for controlling a vehicle level of the vehicle - Google Patents

Abstract

The level control of a vehicle is used to hold, lower or raise a vehicle at its height. It is the object of the invention to propose a vehicle which is characterized by an alternative setting of the vehicle level.
For this purpose, a vehicle 1 with at least one active roll stabilizer 5, wherein the roll stabilizer 5 has two stabilizer arms 5a, b that can be pivoted relative to one another, and an actuator 5c for generating a pivoting movement between the two stabilizer arms 5a, b, with at least one control device 9, the control device 9 is designed to control the pivoting movement by controlling the actuator 5c, proposed, the control device 9 being designed to pivot the two stabilizer arms 5a, b relative to one another into a target pivoting position for setting a vehicle level when the vehicle is stationary by controlling the actuator 5c .

Description

The invention relates to a vehicle having the features of the preamble of claim 1. The invention also relates to a method for controlling a vehicle level of the vehicle.

A level control of a vehicle is used to hold, lower or raise a vehicle body at its height in relation to a road surface. The level control can be used to reduce the level of the vehicle to implement an entry and exit aid, so that e.g. Passengers can get on and off more easily. For this purpose, the distance between the vehicle floor and the road surface and thus the entry height for the passengers is reduced. In the case of buses in particular, this level control is also known as a so-called "kneeling function", for which purpose the level on the vehicle side with the vehicle door is lowered on one side. From the prior art, such a level control is usually implemented via an air suspension.

The pamphlet DE 42 34 523 A1 , which probably forms the closest prior art, discloses methods for controlling the level and inclination of a car body for vehicles, in particular rail vehicles, with at least one hydropneumatically controlled suspension damping system, with sensors recording both the level and the inclination of the car body and the signals from the sensors are preferably fed to an electronic control system. A pump works directly against the pressure of the HPF accumulator of the suspension damping system, whereby pressure medium is only taken from the accumulator which is filled up while driving if the delivery volume of the pump is not sufficient to keep the level of the car body constant.

It is an object of the present invention to propose a vehicle which is characterized by an alternative setting of the vehicle level.

This object is achieved by a vehicle with the features of claim 1 and by a method with the features of claim 7. Preferred or advantageous embodiments emerge from the subclaims, the following description and the attached figures.

The invention relates to a vehicle with at least or precisely one active roll stabilizer. In particular, the roll stabilizer is used to monitor, in particular control, dampen and / or compensate for a rolling movement and / or rolling movement while the vehicle is traveling about its longitudinal axis. The vehicle is preferably a multi-lane vehicle, particularly preferably a two-lane vehicle. In particular the vehicle is a motor vehicle, e.g. a car, truck or bus. In particular, the vehicle is designed as a passenger transportation vehicle, in particular as an autonomous passenger transportation vehicle.

The active roll stabilizer has two stabilizer arms which can be pivoted relative to one another, in particular about a common pivot axis. Here, “pivotable” is to be understood as a torsional movement of the two stabilizer arms relative to one another. The two stabilizer arms are preferably each in operative connection with a vehicle wheel of a vehicle axle. For this purpose, a free end of the stabilizer arm can be arranged on a chassis of the vehicle, in particular a wheel suspension, and / or connected to it. Furthermore, the one stabilizer arm can be connected to a vehicle frame of the vehicle and a body of the vehicle that is pivotably mounted on the vehicle frame can be connected to the housing of the roll stabilizer. The stabilizer arms are preferably each designed as a torsion bar section.

The roll stabilizer has an actuator which is designed and / or suitable for generating a pivoting movement between the two stabilizer arms. In particular, the actuator pivots the two stabilizer arms relative to one another about the pivot axis in order to implement the pivoting movement. For this purpose, the actuator can be coupled in motion to one of the two stabilizer arms or to both stabilizer arms. The actuator is preferably designed as an electromechanical actuator. Alternatively, however, the actuator can also be designed as a hydraulic actuator, for example.

The vehicle has a control device which is designed and / or suitable for controlling the pivoting movement of the actuator. In principle or as is customary in practice, the control device is designed to control the actuator while the vehicle is in motion. In the case of a pivot control, the control device controls the actuator in order to pivot the stabilizer arms from a neutral position into a pivot position. The neutral position describes in particular the position of the actuator in which the two stabilizer arms are aligned with one another. The pivot position describes in particular each position of the actuator in which the two stabilizer arms are pivoted with respect to one another at an angle of rotation about the pivot axis. The swivel control can, for example, during the Driving on a curve and / or on a bump in the road can be carried out in order to implement a compensating movement for the vehicle wheels. In the case of an optional feedback control, the control device controls the actuator in order to rotate the stabilizer arms back from the pivoted position into the neutral position. For example, the feedback control is performed when the vehicle is stopped. The control device is preferably designed as an electronic control unit (ECU) for the actuator. The control device is particularly preferably designed and / or suitable for carrying out the method, as described further below.

In the context of the invention, it is proposed that the control device is designed to pivot the two stabilizer arms relative to one another into a target pivot position for setting a vehicle level when the vehicle is stationary by activating the actuator. By activating the actuator, a height and / or an inclination of a body of the vehicle is preferably changed when the vehicle is stationary. The setting of the vehicle level is used in particular to implement a so-called "kneeling" function. The desired pivot position is preferably a position in which the two stabilizer arms are pivoted out of a rest position. The target pivot position can particularly preferably be stored in the control device. The desired pivot position can be a fixed angle of rotation for the two stabilizer arms. Alternatively or optionally in addition, however, the target swivel position can also depending on the situation, e.g. for different entry heights, calculated and / or adjusted.

In principle, the control device can be operated manually, in particular remotely controlled. Alternatively, the control device can automatically control the actuator when the vehicle comes to a standstill and / or on the basis of a triggered event. The control device can be designed, for example, as a software module or, alternatively, as a hardware module. Particularly preferably, the control device can be retrofitted in a vehicle with a corresponding roll stabilizer, e.g. by a software update or by replacing an existing hardware module.

The advantage of the invention is therefore that by activating the roll stabilizer when the vehicle is stationary, an alternative to setting the vehicle level is proposed. This means that vehicles with active roll stabilizers can easily be expanded to include the "kneeling" function. Another advantage is, in particular, that the use of an active roll stabilizer to adjust the vehicle level means that the vehicle can be manufactured significantly more cost-effectively, since there is no need to install an expensive air suspension.

In a preferred embodiment of the invention it is provided that the control device is designed to pivot the two stabilizer arms relative to one another to change the vehicle level on one side of the vehicle from a neutral position. In particular, “unilateral change” is understood to mean a reduction or an increase in the vehicle level on a longitudinal side of the vehicle. For this purpose, the control device particularly preferably carries out the swivel control. The vehicle is preferably lowered on one side when the vehicle level is reduced. For this purpose, the stabilizer arms are pivoted out of the neutral position by the actuator in such a way that at least the vehicle wheel is deflected on the longitudinal side to be lowered and a distance between the roadway and the vehicle floor is thus reduced. The vehicle is preferably raised on one side when the vehicle level is increased. For this purpose, the stabilizer arms are pivoted out of the neutral position by the actuator in such a way that at least the vehicle wheel is rebounded on the longitudinal side to be lifted and a distance between the roadway and the vehicle floor is thus increased.

Thus, a control device is proposed which is characterized by an extended functionality so that the vehicle can optionally be lowered or raised on one side.

In a preferred embodiment it is provided that the vehicle has at least or precisely one vehicle door. The vehicle door is preferably a side door of the vehicle, which enables entry into the vehicle or exit from the vehicle. In principle, the vehicle can have at least two of the vehicle doors, one vehicle door in each case being arranged on a longitudinal side of the vehicle. However, the vehicle preferably has the at least one, preferably two, vehicle doors, the vehicle doors being arranged on a common longitudinal side, preferably a longitudinal side near the roadside, or on opposite longitudinal sides.

According to this embodiment, the control device is designed to control the actuator when opening and closing the vehicle door, preferably automatically. In particular, the pivot control is carried out when the vehicle door is opened. If the vehicle door is opened, the actuator is activated by the control device in such a way that the two stabilizer arms are pivoted relative to one another. The vehicle level is preferred when opening the Vehicle door changed on one side on the side of the open vehicle door, preferably lowered. In particular, the feedback control is performed when the vehicle door is closed. If the vehicle door is closed, the actuator is activated by the control device in such a way that the two stabilizer arms are returned to the neutral position. When the vehicle door is closed, the vehicle level is preferably changed back to the original vehicle level, preferably raised.

A control device is thus proposed which is characterized by controlling the actuator as a function of the state of the vehicle door. A particularly simple control of an entry or exit aid can thus be implemented.

In a preferred specification it is provided that the vehicle has at least or precisely one door actuator which is designed and / or suitable for actuating the vehicle door. In particular, the door actuator is used to electrically open and close the at least one vehicle door. For this purpose, the door actuator is preferably operatively connected to the at least one vehicle door, the door actuator pivoting the vehicle door about a door hinge when it is actuated.

According to this embodiment, the vehicle has a door control device which is designed and / or suitable for controlling the door actuator. In addition to controlling the door actuator, the door control device can optionally be used to control other components in the door area, such as Lighting, door lock, etc., are used. In particular, the door control device is designed as an electronic door control device for the door actuator. The door control device is designed to control the control device when the vehicle door is actuated. The control device and the door control device are preferably connected to one another for signaling purposes. The control device can be indirectly at least via a vehicle bus, e.g. CAN bus system or communicate directly with the door control device. For example, when the vehicle door is actuated, the door control device can transmit a control command to the control device, the control device controlling the actuator on the basis of the control command. Optionally, however, it can also be provided that the vehicle has a central vehicle control device, the door control device and the control device communicating with one another indirectly via the vehicle control device.

It is therefore a consideration of the invention to propose a control device which is characterized by a particularly reliable control of the roll stabilizer when the vehicle door is actuated.

In a preferred development it is provided that the vehicle has at least or precisely one further active roll stabilizer and at least or precisely one further control device for controlling the further roll stabilizer. In particular, one roll stabilizer is installed on a front axle of the vehicle and the other roll stabilizer on a rear axle of the vehicle. The further roll stabilizer and the further control device are preferably designed as already described above.

According to this embodiment, the control device and the further control device are designed and / or suitable to control the associated roll stabilizer for setting the vehicle level when the vehicle is stationary. A "coordinated control" is to be understood as meaning that the two roll stabilizers work together in such a way that an intensified desired effect occurs, e.g. increased one-sided lowering of the vehicle body, compared to the control of only one roll stabilizer. For this purpose, the two roll stabilizers are preferably activated simultaneously by the corresponding control device when the vehicle is stationary and / or when the vehicle door is actuated. Particularly preferably, both control devices execute the swivel control when the vehicle door is opened and, optionally, the return control when the vehicle door is closed, preferably at the same time. In particular, in the case of the swivel control, the respective opposing stabilizer arms of the two roll stabilizers are moved synchronously and / or in the same direction.

Thus, a vehicle is proposed which is characterized by a uniform lowering or raising of the vehicle wheels on a longitudinal side of the vehicle. In addition, the load applied when lowering or raising the vehicle can be divided between the two roll stabilizers.

In a preferred embodiment of the invention it is provided that the vehicle has several, preferably four, wheel modules. The wheel modules are designed as wheel-selective units, one wheel module each being assigned to a vehicle wheel. The wheel modules are designed and / or suitable for steering, driving and suspending a vehicle wheel. Each of the wheel modules preferably includes a wheel hub drive, a wheel suspension and a steering actuator. The vehicle preferably has a vehicle frame, with two each Wheel modules for forming a vehicle axle are arranged opposite one another on the vehicle frame and / or are connected to it. The steering of the wheel modules can particularly preferably be designed as an electromechanical steer-by-wire system.

According to this embodiment it is provided that one stabilizer arm is assigned at least indirectly to one of the wheel modules. In particular, the at least one roll stabilizer connects the wheel modules of a vehicle axle to one another. The stabilizer arms are preferably each connected to the wheel suspension of the associated wheel module and / or act at least on the wheel suspension and / or the vehicle frame. The stabilizer arms are particularly preferably connected in an articulated manner to the respective wheel module, in particular the wheel suspension.

Another object of the invention relates to a method which is used to set a vehicle level when the vehicle is stationary. The vehicle is preferably designed as already described above or according to one of the preceding claims. In a first possible process step, the actuator of the roll stabilizer is controlled by the control device, the actuator generating the pivoting movement between the two stabilizer arms of the roll stabilizer and pivoting the two stabilizer arms relative to one another about the pivot axis for setting the vehicle level by the pivoting movement.

It is particularly preferably provided that the control device is activated when the vehicle door is actuated, in particular when it is opened and closed. The control device is particularly preferably controlled by the door control device and / or the vehicle control device. The vehicle level is preferably lowered when the vehicle door is opened and raised again when the vehicle door is closed. In particular, when the vehicle door is opened to an entry level, e.g. Curb to be aligned.

In a further specification, it is provided that the two stabilizer arms are pivoted relative to one another from a neutral position by the actuator, so that the vehicle level is changed on one side on one longitudinal side of the vehicle. Particularly preferably, the at least one, preferably both, roll stabilizers is controlled by the control device in such a way that the pivoting movement between the two stabilizer arms inclines the vehicle in the direction of the entry side.

• 1 eine schematische Darstellung eines Fahrzeugs mit zwei Wankstabilisatoren als ein Ausführungsbeispiel der Erfindung;
• 2a, b jeweils das Fahrzeug aus 1 mit dem Wankstabilisatoren in einer Neutralstellung und in einer Schwenkstellung.

Further features, advantages and effects of the invention emerge from the following description of preferred exemplary embodiments of the invention. Show:

• 1 a schematic representation of a vehicle with two roll stabilizers as an embodiment of the invention;
• 2a, b each time the vehicle off 1 with the roll stabilizers in a neutral position and in a pivot position.

1 shows a vehicle in a highly schematic representation 1 . The vehicle 1 is designed, for example, as a two-lane motor vehicle which is designed and / or suitable for passenger transport. The vehicle 1 has four wheel modules 2 on which on a vehicle frame 3 of the vehicle 1 are arranged. The wheel modules 2 each serve to drive, steer and suspend a vehicle wheel 4th of the vehicle 1 . The wheel modules form this 2 each a wheel-selective unit, which z. B. includes an electric wheel hub drive, an electromechanical steering actuator and a wheel suspension including damper and spring.

The vehicle 1 has a roll stabilizer 5 and another roll stabilizer 6 on, with the two roll stabilizers 5 , 6 two of the wheel modules each 2 connect with each other. There is a front axle 7th of the vehicle through the roll stabilizer 5 and a rear axle 8th through the further roll stabilizer 6 Are defined. The two roll stabilizers 5 , 6 each have two stabilizer arms 5a , b ; 6a , b on, with the stabilizer arms 5a , b ; 6a , b each with a free end on a wheel module 2 , in particular its suspension, are connected.

The two roll stabilizers 5 , 6 are each designed as an active roll stabilizer, the two roll stabilizers 5 , 6 one actuator for each 5c , 6c exhibit. For example, the two actuators 5c , 6c each designed as an electromechanical actuator. The stabilizer arms 5a , b ; 6a , b are each with the associated actuator 5 , 6 connected, the actuators 5 , 6 a pivoting movement between the associated stabilizer arms 5a , b ; 6a , b can generate. When the pivoting movement is generated, the two stabilizer arms are each 5a , b around a pivot axis S1 or the two stabilizer arms 6a , b around another pivot axis S2 pivoted relative to each other.

The two roll stabilizers 5 , 6 have the function of rolling and / or rolling the vehicle 1 to balance while driving. The vehicle instructs you to do this 1 a Control device 9 to control the roll stabilizer 5 and another control device 10 to control the further roll stabilizer 6 on. The two control devices 9 , 10 are each used as an electronic control unit for the associated actuator 5 , 6 educated. The two control devices 9 , 10 are set up, the pivoting movement between the two stabilizer arms 5a , b ; 6a , b of the respective associated roll stabilizer 5 , 6 to control.

The vehicle 1 has a first and a second vehicle door 11a , b on, the first and the second vehicle door 11a , b on a common longitudinal side of the vehicle 2 are arranged and jointly provide access to a passenger compartment of the vehicle 1 define. The vehicle 1 has a first door actuator 12a for the first vehicle door 11 a and a second door actuator 12b for the second vehicle door 11b on. The two door actuators 12a , b serve to automatically open and close the vehicle doors 11a , b . To control the two door actuators 12a , b the vehicle has a door control unit 13 on. The door control unit 13 serves to jointly control the first and second door actuators 12a , b , the first and / or the second door actuator depending on requirements 12a , b through the door control unit 13 is controlled.

The vehicle 1 has a vehicle control unit 14th on, the two control devices 9 , 10 as well as the door control unit 13 signaling, for example via a BUS system, with the vehicle control unit 14th are connected. In the exemplary embodiment shown, the two control devices communicate 9 , 10 indirectly via the vehicle control unit 14th with the door control unit 13 . Alternatively, however, it can also be provided that the two control devices 9 , 10 directly to the door control unit 13 communicate.

This makes it easier for passengers to get into the vehicle 1 can get in, it is necessary to reduce the vehicle level on one side on the entry side when the vehicle is stationary. This principle is also known as the so-called "kneeling" function, whereby the vehicle 1 this is lowered on one side or inclined laterally in the direction of the entry side. Compared to the state of the art, this "kneeling" function can be implemented without an air suspension, as not every vehicle has such a suspension system.

To change the vehicle level of the vehicle 1 , is thus at least one, preferably both, roll stabilizers 5 , 6 when the vehicle is stationary 1 by the respective control device 9 , 10 controlled, with the respective associated actuator 5c , 6c the pivoting movement is generated and accordingly the associated stabilizer arms 5a , b ; 6a , b around the respective pivot axis S1 , S2 be pivoted against each other. This is where the stabilizer arms work 5a , b ; 6a , b so on the wheel modules 2 so that the vehicle frame 3 and thus the passenger compartment is inclined to one side.

The two control devices are preferably activated 9 , 10 for changing the vehicle level when opening and closing the vehicle doors 11a , b through the vehicle control unit 14th . For example, the vehicle control unit 14th at the same time a control command to the two control devices 9 , 10 and the door control unit 13 to transfer.

The 2a, b show the vehicle in a simplified schematic representation 1 in a front view, the function for setting the vehicle level below using the roll stabilizer 5 is explained. Analogously to this, the described mode of operation is applied to the further roll stabilizer 6 applied.

2a shows the roll stabilizer 5 in a neutral position. Here are the two stabilizer arms 5a , b preferably aligned with one another, the two stabilizer arms 5a , b in this way on the respective associated wheel module 2 act so that a vehicle floor 15th at least approximately parallel to a road surface 16 is aligned. The vehicle 1 stands in the embodiment shown with its entry side, so with the vehicle doors 11a , b exhibiting long side, on a roadside.

Will at least one of the two vehicle doors 11a , b open as in 2 B shown is the roll stabilizer 5 , preferably both roll stabilizers 5 , 6 , controlled in such a way that the stabilizer arms 5a , b or. 6a , b against each other around the pivot axis S1 or. S2 be pivoted. The control device leads to this 9 or. 10 a swivel control by using the two stabilizer arms 5a , b or. 6a , b be pivoted from the neutral position into a target pivot position. This is where the stabilizer arms work 5a , b or. 6a , b so on the associated wheel modules 2 so that the vehicle wheels 4th be deflected on the long side on the door side and rebounded or at least kept constant on the opposite long side. This creates a space between the vehicle floor 15th and the road surface 16 on the long side of the open vehicle doors 11a , b and thus the entry height for passengers is reduced. For example, entry with a wheelchair can be made easier because z. B. the inclination of a wheelchair ramp can be reduced.

Will the vehicle doors 11a , b closed again, so the roll stabilizer 5 , preferably both roll stabilizers 5 , 6 , controlled in such a way that the stabilizer arms 5a , b or. 6a , b can be returned to the neutral position. The control device leads to this 9 or. 10 a feedback control by the two stabilizer arms 5a , b or. 6a , b be pivoted from the pivot position into the neutral position. The vehicle 1 is now back in the starting position as in 2a shown. This becomes a simple process for an active roll stabilizer 5 , 6 suggested that a "kneeling" of the vehicle 1 , especially the passenger compartment.

List of reference symbols

1

vehicle

2

Wheel modules

3

Vehicle frame

4th

Vehicle wheels

5

Roll stabilizer

5a, b

Stabilizer arms

5c

Actuator

6th

Roll stabilizer

6a, b

Stabilizer arms

6c

Actuator

7th

Front axle

8th

Rear axle

9

Control device

10

Control device

11a, b

Vehicle doors

12a, b

Door actuators

13th

Door control unit

14th

Vehicle control unit

15th

Vehicle floor

16

Road surface

S1, S2

Swivel axes

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 4234523 A1 [0003]

Claims (10)

Vehicle (1) with at least one active roll stabilizer (5), the roll stabilizer (5) having two stabilizer arms (5a, b) which can be pivoted relative to one another and an actuator (5c) for generating a pivoting movement between the two stabilizer arms (5a, b), with at least one control device (9), wherein the control device (9) is designed to control the pivoting movement by controlling the actuator (5c), characterized in that the control device (9) is designed to use the two stabilizer arms (5a, b) To set a vehicle level when the vehicle is stationary by controlling the actuator (5c) to pivot relative to one another into a target pivot position. Vehicle (1) after Claim 1 , characterized in that the control device (5) is designed to pivot the two stabilizer arms (5a, b) to one-sided change of the vehicle level on a longitudinal side of the vehicle (1) from a neutral position towards each other. Vehicle (1) after Claim 2 , characterized in that the vehicle (1) has at least one vehicle door (11a, b), the control device (9) being designed to control the actuator (5) when opening and closing the vehicle door (11a, b). Vehicle (1) after Claim 3 , characterized in that the vehicle (1) has at least one door actuator (12a, b) for actuating the at least one vehicle door (11a, b) and a door control device (13) for controlling the door actuator (12a, b), the door control device (13) is designed to control the control device (9) when the vehicle door (11 a, b) is actuated. Vehicle (1) according to one of the preceding claims, characterized in that the vehicle (1) has at least one further active roll stabilizer (6) and a further control device (10) for controlling the further roll stabilizer (6), the control device (9) and the further control device (10) are designed to control the respective associated roll stabilizer (5, 6) in a coordinated manner in order to adjust the vehicle level when the vehicle is stationary. Vehicle (1) according to one of the preceding claims, characterized in that the vehicle (1) has a plurality of wheel modules (2), each of the wheel modules (2) being designed to suspend, steer and drive a vehicle wheel (4), each of which a stabilizer arm (5a, b) is assigned at least indirectly to one of the wheel modules (2). Method for setting a vehicle level when the vehicle is stationary (1), in which: - an actuator (5c) of at least one active roll stabilizer (5) is controlled by a control device (9), - A pivoting movement between two stabilizer arms (5a, b) of the roll stabilizer (5) is generated by the actuator (5c); - The two stabilizer arms (5a, b) are pivoted relative to each other for setting the vehicle level by the pivoting movement. Procedure according to Claim 7 , characterized in that the vehicle (1) is designed according to one of the preceding claims. Procedure according to Claim 7 or 8th , characterized in that the actuator (5c) is controlled by the control device (9) when actuated, in particular when opening and closing, at least one vehicle door (11a, b). Method according to one of the Claims 7 to 9 , characterized in that the two stabilizer arms (5a, b) for one-sided change of the vehicle level on a longitudinal side of the vehicle (1) are pivoted relative to one another from a neutral position by the actuator (5c)

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