DE102021125914A1 - Approach control method, powertrain apparatus and vehicle - Google Patents

Abstract

The invention relates to a method (46) for carrying out an approach process (12) of a vehicle (10) in relation to an obstacle (14) by influencing the introduction of a torque to a vehicle output (16) in order to move the vehicle (10), the vehicle ( 10) when approaching the obstacle (14) depending on a distance (28) between the vehicle (10) and the obstacle (14) is moved by a torque value (M) provided on the vehicle output (16) of the torque directly dependent on a distance value (d) of the distance (28). The invention also relates to a drive train device and a vehicle (10).

Description

The invention relates to a method according to the preamble of claim 1.

In DE 10 2010 021 718 A1 describes a vehicle with a starting clutch. As the vehicle approaches an obstacle, an inching mechanism of the launch clutch, which regulates the transmitted torque to move the vehicle at a slow speed, is used. The controlled variable is a target speed that is calculated from the reduced distance between the vehicle and the obstacle.

In DE 10 2005 035 883 A1 a method is described in which a clutch torque of an automated clutch of a vehicle is reduced when the vehicle falls below a minimum distance from an obstacle.

In DE 10 2008 003 050 A1 a method for controlling a clutch of a vehicle is described. A clutch torque of the clutch is adjusted depending on a relative speed between the vehicle and an obstacle.

The object of the present invention is to carry out an approach process of the vehicle to an obstacle more accurately and without error.

At least one of these objects is solved by a method having the features of claim 1. As a result, the approach process can be carried out more precisely and also with fewer errors. The approaching operation can be performed more safely and intuitively.

The vehicle can be an automobile. The vehicle can be an electric vehicle.

The vehicle may include a powertrain device that provides the torque. The powertrain device may include a drive member for generating the torque. The drive element can be an internal combustion engine or an electric motor.

The vehicle output can be an output shaft, a transmission, a vehicle axle and/or at least one vehicle wheel.

The torque provided at the vehicle output can emanate from the drive element. The introduction of the torque to the vehicle output, starting from the drive element, can be influenced via a torque transmission device. The torque transfer device can influence the torque value of the torque introduced to the vehicle output depending on the distance value. The torque transmission device can be a clutch, preferably an automated clutch.

The torque introduced to the vehicle output can also be influenced by the drive element itself.

In a preferred embodiment of the invention, it is advantageous if the distance value is provided by a distance detection device. The distance detection device can measure a distance between the vehicle and the obstacle and provide it as a measured distance value. The distance detection device can determine a position of the vehicle and a position of the obstacle and calculate the distance value as the difference between both positions. The distance detection device may include information of a GPS signal. The distance detection device can take map data into account. The distance detection device can have at least one distance sensor mounted on the vehicle. The distance sensor can be designed as an ultrasonic, radar and/or LIDAR sensor.

In an advantageous embodiment of the invention, it is provided that the torque value is also set as a function of an actuation value of an actuation of a first control element that can be operated by a driver of the vehicle. As a result, the driver can influence the approach process, for example the speed of the approach.

The first operating element can be a brake pedal or an accelerator pedal.

In a specific embodiment of the invention, it is advantageous if the torque value is set as a function of the actuation value of the first control element up to a first distance value and independently of this when the value falls below the first distance value. As a result, a minimum distance can be maintained below which the distance is not controlled via the first control element.

A relationship between the torque value and the actuation value of the first operating element can depend on the distance value. With the same actuation value of the first control element, the torque value can be all the smaller, the smaller the distance value is. The relationship can be non-linear.

In a special embodiment of the invention, it is advantageous if the torque value is set at smaller distance values than the first distance value as a function of an actuation value of a second control element that can be operated by the driver of the vehicle. The second operating element can be a brake pedal or an accelerator pedal. If the first control element is a brake pedal, then the second control element is an accelerator pedal, or vice versa.

In an advantageous embodiment of the invention, it is provided that a relationship between the torque value and the actuation value of the second control element is dependent on the distance value. As a result, the distance can be reduced more precisely by the driver via the variable context of the second operating element. The relationship can be non-linear.

In a special embodiment of the invention, it is advantageous if the torque value is the smaller the smaller the distance value is for the same actuation value of the second control element. This allows the driver to better assess and influence the approach process.

In a preferred embodiment of the invention, it is provided that the behavior of the second control element is dependent on the distance value in relation to a force feedback function. The second operating element can build up a counterforce, which is dependent on the distance value, against the actuating force of the driver. The counter force can implement the force feedback function.

In a preferred embodiment of the invention, it is provided that when a minimum distance corresponding to a minimum distance value is reached, movement of the vehicle to the obstacle is prevented by the introduction of torque. This can prevent the vehicle from hitting the obstacle. When the minimum distance has been reached, the driver can be informed by acoustic and/or visual signals. Reaching the minimum distance can also be conveyed to the driver by vibrations, for example of the first and/or second control element.

A change in the torque value depending on the actuation of the second control element can be omitted when the minimum distance value is reached and/or undershot. The second actuating element can no longer be actuated when the minimum distance value is reached and/or fallen below.

The minimum distance value can correspond to the first distance value. The minimum distance value can be smaller than the first distance value.

The minimum distance value can be predefined by the user.

Furthermore, at least one of the objects specified above is achieved by a drive train device of a vehicle, having a vehicle output for moving the vehicle depending on a torque applied thereto, which can be regulated using a method with at least one of the features described above. The powertrain device may include a drive member for generating the torque. The drive element can be an internal combustion engine or an electric motor.

Furthermore, at least one of the above objects is achieved by a vehicle having a powertrain for providing torque and a powertrain device as previously described. The vehicle can be an automobile. The vehicle can be an electric vehicle.

Further advantages and advantageous configurations of the invention result from the description of the figures and the illustrations.

character list

• 1: Ein Fahrzeug in einer speziellen Ausführungsform der Erfindung bei einem Annäherungsvorgang.
• 2: Ein Ablauf eines Verfahrens in einer speziellen Ausführungsform der Erfindung.

The invention is described in detail below with reference to the figures. They show in detail:

• 1 : A vehicle in a specific embodiment of the invention during an approach process.
• 2 : A sequence of a method in a special embodiment of the invention.

1 shows a vehicle in a special embodiment of the invention during an approach process. The vehicle 10 executes an approach process 12 towards at least one obstacle 14 in front of the vehicle 10 in the direction of travel. The approaching event 12 may be a parking event of the vehicle 10 . The obstacle 14 can be a road boundary, another vehicle, a traffic sign or the like. The vehicle 10 preferably moves at a low speed when the approaching process 12 is carried out.

The approach process 12 is carried out by influencing the introduction of torque to a vehicle output 16 which is set up to move the vehicle 10 . The Vehicle output 16 can be an output shaft, to which at least one vehicle wheel 18 is fixed in a torque-transmitting manner. The torque on the vehicle output 16 can be provided by a drive element 20 , for example an internal combustion engine 22 , and can be transmitted via a torque transmission device 24 , for example a clutch 26 . The introduction of torque to the vehicle output 16 can be influenced via the torque transmission device 24 , for example by changing the torque transmitted between the drive element 20 and the vehicle output 16 .

When approaching obstacle 14 , vehicle 10 is moved as a function of distance 28 between vehicle 10 and obstacle 14 , in that a torque value of the torque provided at vehicle output 16 is controlled directly as a function of a distance value d of distance 28 . This allows the approaching operation 12 to be performed more securely and accurately. The direct control of the torque using the distance value d as the control variable can cause the approach process 12 to be carried out more reliably and with fewer errors.

The distance value d is provided by a distance detection device 30 . The distance detection device 30 can, for example, measure the distance 28 between the vehicle 10 and the obstacle 14 and provide it as a measured distance value d. The distance detection device 30 can have at least one distance sensor 32, for example an ultrasonic sensor.

During the approach process 12, the torque value continues to be changed as a function of an actuation of a first operating element 36 that can be operated by a driver 34 of the vehicle 10. The first control element 36 is, for example, a brake pedal 38 of the vehicle 10. The torque value is set up to a first distance value d1 depending on the actuation of the first control element 36 and falls below the first distance value d1 independently of the actuation of the first control element 36.

If the distance values d are smaller than the first distance value d1, the torque value is set as a function of a second control element 40 that can be operated by the driver 34 of the vehicle 10. The second operating element 40 is, for example, an accelerator pedal 42 of the vehicle 10. When a minimum distance 44 corresponding to a minimum distance value dmin is reached, further movement of the vehicle 10 to the obstacle 14 is prevented. In this way, the vehicle 10 can be prevented from hitting the obstacle 14 .

2 shows a sequence of a method in a special embodiment of the invention. The method 46 for carrying out an approaching process is carried out here by way of example in the case of a vehicle approaching process 1 described.

The approach process takes place by influencing the introduction of torque to the vehicle output, in that the torque value M of the torque provided at the vehicle output is regulated directly as a function of the distance value d of the distance.

The torque value M is also set as a function of an actuation value B1 of an actuation of the first control element if the distance value d is greater than the first distance value d1. The torque value M is set at a distance value d equal to the first distance value d1 and at smaller distance values d depending on an actuation value B2 of the second operating element if the distance value d is greater than the minimum distance value dmin of a predetermined minimum distance between the vehicle and the obstacle.

When the minimum distance value dmin is reached, the vehicle is prevented from moving toward the obstacle by introducing the torque.

A relationship between the torque value M and the actuation value B2 of the second operating element is preferably dependent on the distance value d. As a result, the distance can be reduced more precisely by the driver via the behavior of the second operating element. With the same actuation value B2 of the second control element, the torque value M is the smaller, the smaller the distance value d is. This allows a cautious approach to be implemented as the distance decreases.

Reference List

10

vehicle

12

approach process

14

obstacle

16

vehicle downforce

18

vehicle wheel

20

drive element

22

combustion engine

24

torque transmission device

26

coupling

28

Distance

30

distance detection device

32

distance sensor

34

driver

36

first control

38

brake pedal

40

second control

42

accelerator pedal

44

minimum distance

46

Proceedings

B1

actuation value

B2

actuation value

M

torque value

i.e

distance value

d1

first distance value

dmin

Minimum distance value

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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 102010021718 A1 [0002]
• DE 102005035883 A1 [0003]
• DE 102008003050 A1 [0004]

Claims (12)

Method (46) for carrying out an approach process (12) of a vehicle (10) in relation to an obstacle (14) by influencing the introduction of a torque to a vehicle output (16) in order to move the vehicle (10), characterized in that the vehicle (10 ) when approaching the obstacle (14) depending on a distance (28) between the vehicle (10) and the obstacle (14) is moved by a torque value (M) provided on the vehicle output (16) of the torque directly dependent on a Distance value (d) of the distance (28) is regulated. Method (46) according to claim 1 , characterized in that the distance value (d) is provided by a distance detection device (30). Method (46) according to claim 1 or 2 , characterized in that the torque value (M) is also set as a function of an actuation value (B1) of an actuation of a first control element (36) that can be operated by a driver (34) of the vehicle (10). Method (46) according to claim 3 , characterized in that the torque value (M) is set up to a first distance value (d1) depending on the actuation value (B1) of the first control element (36) and falling below the first distance value (d1) independently thereof. Method (46) according to claim 3 or 4 , characterized in that the torque value (M) is set at smaller distance values (d) than the first distance value (d1) depending on an actuation value (B2) of a second operating element (40) that can be operated by the driver (34) of the vehicle (10). . Method (46) according to claim 5 , characterized in that a relationship between the torque value (M) and the actuation value (B2) of the second operating element (40) depends on the distance value (d). Method (46) according to claim 6 , characterized in that the torque value (M) with the same actuation value (B2) of the second operating element (40) is all the smaller, the smaller the distance value (d) is. Method (46) according to one of the preceding claims, characterized in that the behavior of the second operating element (40) is dependent on the distance value (d) in relation to a force feedback function. Method (46) according to one of the preceding claims, characterized in that when a minimum distance (44) corresponding to a minimum distance value (dmin) is reached, movement of the vehicle (10) to the obstacle (14) is prevented by the introduction of torque. Method (46) according to any one of Claims 5 until 8th and claim 9 , characterized in that there is no change in the torque value (M) depending on the actuation of the second control element (40) when the minimum distance (44) is reached. Drive train device of a vehicle (10), having a vehicle output (16) for moving the vehicle (10) depending on a torque applied thereto, which can be regulated using a method (46) according to one of the preceding claims. A vehicle (10) having a powertrain for providing torque and a powertrain device claim 9 .

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