EP2494239A1 - Levier de vitesses comportant un amortissement adaptatif - Google Patents

Levier de vitesses comportant un amortissement adaptatif

Info

Publication number
EP2494239A1
EP2494239A1 EP10827237A EP10827237A EP2494239A1 EP 2494239 A1 EP2494239 A1 EP 2494239A1 EP 10827237 A EP10827237 A EP 10827237A EP 10827237 A EP10827237 A EP 10827237A EP 2494239 A1 EP2494239 A1 EP 2494239A1
Authority
EP
European Patent Office
Prior art keywords
gear
driver
gear lever
damping
counterforce
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Withdrawn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
EP10827237A
Other languages
German (de)
English (en)
Other versions
EP2494239A4 (fr
Inventor
Lasse Ronvall
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.)
Scania CV AB
Original Assignee
Scania CV AB
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 Scania CV AB filed Critical Scania CV AB
Publication of EP2494239A1 publication Critical patent/EP2494239A1/fr
Publication of EP2494239A4 publication Critical patent/EP2494239A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K20/00—Arrangement or mounting of change-speed gearing control devices in vehicles
    • B60K20/02—Arrangement or mounting of change-speed gearing control devices in vehicles of initiating means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/24—Providing feel, e.g. to enable selection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H2059/003—Detecting or using driving style of a driver, e.g. for adapting shift schedules
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/60—Inputs being a function of ambient conditions
    • F16H59/66—Road conditions, e.g. slope, slippery
    • F16H2059/666—Determining road conditions by using vehicle location or position, e.g. from global navigation systems [GPS]
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/24—Providing feel, e.g. to enable selection
    • F16H2061/241—Actuators providing feel or simulating a shift gate, i.e. with active force generation for providing counter forces for feed back
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/02—Selector apparatus
    • F16H59/04—Ratio selector apparatus

Definitions

  • the present invention relates generally to a method and a system for changing gear in a vehicle, particularly for heavy commercial vehicles such as trucks etc.
  • the invention relates in particular to a method and a gear change mechanism which make the gear change process better and more comfortable and which adjust the mechanical movement resistance in the gear lever to the current driving situation, the driver' s driving style and/or the way he/she changes gear so that the gear lever movement is braked/damped if for example the driver operates the gear lever too forcefully or changes gear too quickly .
  • An object of the invention is to solve the above problems and propose a system and a method for control of a gear lever which provides the driver with a good, comfortable and
  • Another object of the invention is to apply to the gear lever a mechanical counterforce or damping which counteracts any excessively quick and/or forceful mechanical manual operation of the gear lever by the driver.
  • a further object of the invention is that the
  • the invention thus relates to a method and a system intended to provide a good and appropriate mechanical sensation when changing gear in a vehicle. This is particularly applicable for vehicles with electrically operated gear changing and with electronic gear levers, as in the case of "EC Shift" (a Scania system) . Achieving this entails the application of a
  • damping/counterforce which may be provided by a hydraulically, pneumatically, electrically or electromagnetically controlled actuator by means of which the magnitude or strength of the damping/counterforce can be adjusted.
  • the counterforce or damping in the gear lever will be relatively large. If on the other hand the vehicle is driven at a relatively constant and low road speed and at a low engine speed and with a limited degree of
  • the driver may be assumed to drive gently, with slow and cautious gear change movements, in which case the damping/counterforce in the gear lever may be relatively limited.
  • the counterforce or damping in the gear lever may also be adjusted to the current driving situation, e.g. the
  • counterforce or damping may be increased somewhat when driving in hilly terrain and/or where there are many bends and/or dense traffic and/or many variations in speed limits.
  • the counterforce or damping in the gear lever may also be reduced somewhat in calmer circumstances, e.g. on level roads and/or where there are few bends and/or less traffic and/or few variations in speed limits.
  • the current driving situation may also be detected on the basis of the vehicle's operating parameters, e.g. large steering wheel deflections may be taken to mean that the current driving situation involves many bends where the counterforce or damping in the gear lever will be increased.
  • Adaptiveness is therefore achievable by taking into account the vehicle's road speed, engine speed, GPS data, traffic information, topology etc.
  • the calculation and the logic for the magnitude of the damping/counterforce may be conducted in a separate ECU for gear lever damping or be integrated in a control unit of some other system situated in the vehicle.
  • the information about vehicle speed, engine speed, accelerator pedal position etc. may for example be obtained via the vehicle's CAN system or via discrete signals from sensors specifically provided for the purpose. Acceleration,
  • retardation etc. may also be calculated by means of existing signals in the vehicle, and certain information such as topology and/or traffic information is obtainable via GPS.
  • the damping/counterforce in the gear lever is particularly intended for drivers who have a more aggressive driving style and who may therefore handle the gear lever too forcefully.
  • Figure 1 is a schematic block diagram of the system according to the invention comprising an actuator/damping unit here controlled by means of a fluid in order to exert a suitable damping/counterforce in a gear lever.
  • FIG. 2 is a further schematic block diagram with an
  • FIG. 3 is a flowchart of the method according to the
  • the present invention thus relates to a method for effecting gear changes and to a gear change mechanism for a vehicle, particularly for a heavy commercial vehicle, e.g. a truck etc.
  • the invention relates in particular to a method and a gear change mechanism which improve the gear change process and which adjust the mechanical resistance in the gear lever to the current driving situation, the driver' s driving style and/or the way he/she changes gear, so that the gear lever movement is braked/damped if, for example, the driver operates the gear lever too forcefully and/or changes gear too quickly.
  • Figure 1 depicts in more detail the general form of a system according to the invention.
  • a gear lever 1 is limitedly pivotable about an articulation 2.
  • a position sensor 3 provided in the lower portion of the gear lever 1 may for example be of inductive configuration. This position sensor 3 detects which position the gear lever 1 is in and hence which gear is engaged in a mechanical or semi-mechanical gearbox 4. If the gear lever 1 is moved in one direction or another, the position sensor 3 therefore indicates which new gear is to be engaged in the gearbox 4 and hence which gear the driver wishes to engage.
  • a control signal SI is transmitted from the position sensor 3 to an electronic control unit 5 which controls a group of electric solenoid valves 6 which, by means of a fluid under pressure in a fluid tank 7, here containing compressed air, govern, via a cylinder 8, which gear is to be engaged in the gearbox 4.
  • the number of solenoid valves in the group of valves 6 depends on how many movements need to be effected in the gear shifter. Two solenoid valves may create a reciprocating movement.
  • a sensor 9 detects the position of the gear shifter 10, making it possible to determine which gear is engaged in the gearbox 4. The technology of engaging a certain gear according to this system is prior art and is not described in more detail here.
  • An actuator 11 here in the form of a pneumatic cylinder, is mechanically connected, via a further articulation 12, to the gear lever 1, more specifically in the region below the articulation 2.
  • the actuator 11 may also comprise other types of units controlled by fluid or by electrical means, and may for example take the form of any positioner available on the market.
  • the cylinder is here connected by fluid lines 13, 14 to a further solenoid valve 15 which in this case is provided with a proportional function and which can, by means of the pressurised fluid in the tank 17, direct the piston rod and cylinder to various positions on the basis of an electrical signal S2, or pulse with variable pulse width, from a
  • detection and/or calculation unit 18 preferably an ECU
  • the proportional solenoid valve 15 may for example deliver from the tank 17 to the actuator 11 a pneumatic pressure, an air pressure, which is directly
  • the ECU 18 may take the form of a separate electronic
  • processor-controlled unit in the vehicle intended for the gear lever damping, but may also be part of, or integrated in, an ECU already present in the vehicle and intended to control one or other of the vehicle's other systems.
  • control systems may be of the COO (Coordinator) type, gearbox control units or the like.
  • COO Coordinator
  • gearbox control units or the like.
  • a throttle valve 19 may also be provided between the lines 13 and 14 to allow the gear lever 1 to be moved against a force even without direct involvement of the solenoid valve 15.
  • the ECU 18 delivers a signal S2 to the solenoid valve 15 which thus determines to what extent the gear lever 1 is damped or acted upon.
  • the signal S2 is calculated on the basis of, for example, current operating parameters Pi-P n for the vehicle. These operating parameters Pi-P n are for example obtained from the vehicle's CAN (controller area network) communication (not depicted) or via discrete signals from various sensors (not depicted) in the vehicle, or in some other suitable known way.
  • Examples of such conceivable operating parameters Pi-P n comprise engine speed, vehicle speed, accelerator pedal position/degree of accelerator pedal depression, how often and how forcefully the brake pedal is depressed, the vehicle's current weight, its levelness, GPS data, ESP information, the steering wheel's movements/steering angle, cooling water temperature, acceleration, retardation etc.
  • One or more of these operating parameters Pi-P n are supplied as input signal S3 to the ECU 18 and used as input data for calculations by means of one or more algorithms in the ECU 18 to produce the output signal S2. Acceleration, retardation etc. may also be worked out from other existing input signals, and certain information is also obtainable via GPS, e.g. if it is
  • the force F indicated in Figure 1 thus represents the force which the system exerts on the gear lever 1, e.g. in the form of a damping or counterforce, in order to achieve correct and comfortable gear change irrespective of the current driving situation, the driver's driving style and/or the way he/she changes gear, i.e. the force F is adjusted and becomes
  • FIG. 2 depicts an alternative embodiment of the invention in which the counterforce or damping in the gear lever 1 is provided by means of an electromagnetic actuator 20 which is electrically connected to the ECU 18.
  • the electromagnetic actuator 20, which may also be an electric positioning motor or the like, thus replaces a hydraulic or pneumatic actuator but is similarly connected mechanically to the gear lever via an articulation 12 situated on the gear lever 1 below the articulation 2.
  • the electromagnetic actuator 20 applies a braking force F by electromagnetic means. It is also possible to use two or more actuators which cooperate mechanically.
  • FIG 3 is a flowchart of the various steps of the method according to the invention.
  • various parameter values needed for the calculation process are obtained via the vehicle's CAN communication or in some other suitable way.
  • examples of such operating parameters are obtained via the vehicle's CAN communication or in some other suitable way.
  • step two the current driving situation, the driver's driving style and/or the way he/she changes gear are
  • identification by supplying to the ECU 18 and using as input data one or more of the parameters obtained at step one.
  • the identification is effected by means of suitable algorithms which are not described in more detail. For example, driving at high engine speed may result in the driver' s current driving style being identified as aggressive.
  • a desired value, a set-point value, for the counterforce/damping which is to be applied to the gear lever is calculated on the basis of the current driving situation, the driver's driving style and/or the way he/she changes gear as identified at step two.
  • the value calculated at step three is supplied, in the form of the control signal S2, to the actuator 11 which thereupon, at step five, exerts the counterforce/damping on the gear lever 1 by mechanical means to adjust the movements of the gear lever 1 in relation to the driver' s driving style and/or the way he/she changes gear.
  • the method and the system according to the invention may exert a negative damping, i.e. an active mechanical auxiliary force, on the gear lever to facilitate the driver's gear change work if he/she changes gear slowly and/or applies little mechanical force.
  • the device will thus help to pull or push the gear lever into position and thereby servo-assist the driver if for any reason he/she cannot exert sufficient force on the gear lever.
  • the invention is of course applicable in all types of vehicles which have electrically operated gear changing, hence also in passenger cars.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Control Of Transmission Device (AREA)
  • Mechanical Control Devices (AREA)

Abstract

L'invention porte sur un procédé et un système pour régler l'amortissement mécanique ou la force antagoniste dans un levier de vitesses (1) utilisé dans un véhicule sur la situation de conduite actuelle, le style de conduite du conducteur et/ou la manière dont il passe les vitesses. L'invention est mise en œuvre par détection de la situation de conduite actuelle, du style de conduite du conducteur et/ou de la manière dont il passe les vitesses, par calcul, sur la base de la situation de conduite actuelle, du style de conduite du conducteur et/ou de la manière dont il passe les vitesses, d'une valeur instantanée pour un amortissement mécanique/une force antagoniste (F) souhaité dans le levier de vitesses (1), et par utilisation de la valeur instantanée calculée comme base pour amener un actionneur (11, 20) à exercer l'amortissement/force antagoniste (F) souhaité dans le levier de vitesses (1) et à régler par ce moyen l'amortissement/force antagoniste (F) du levier de vitesses (1) en rapport avec la situation de conduite actuelle, le style de conduite du conducteur et/ou la manière dont il passe les vitesses.
EP10827237.8A 2009-10-29 2010-10-21 Levier de vitesses comportant un amortissement adaptatif Withdrawn EP2494239A4 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE0950803 2009-10-29
SE1050919A SE534224C2 (sv) 2009-10-29 2010-09-07 Växelspak med adaptiv dämpning
PCT/SE2010/051145 WO2011053229A1 (fr) 2009-10-29 2010-10-21 Levier de vitesses comportant un amortissement adaptatif

Publications (2)

Publication Number Publication Date
EP2494239A1 true EP2494239A1 (fr) 2012-09-05
EP2494239A4 EP2494239A4 (fr) 2013-05-15

Family

ID=43922341

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10827237.8A Withdrawn EP2494239A4 (fr) 2009-10-29 2010-10-21 Levier de vitesses comportant un amortissement adaptatif

Country Status (4)

Country Link
EP (1) EP2494239A4 (fr)
BR (1) BR112012009762A2 (fr)
SE (1) SE534224C2 (fr)
WO (1) WO2011053229A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3086638A1 (fr) 2018-09-28 2020-04-03 Airbus Helicopters Atterriseur a balancier motorise et aeronef
EP3702271A1 (fr) 2019-02-28 2020-09-02 Airbus Helicopters Atterrisseur motorise et aeronef

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101459473B1 (ko) * 2013-08-30 2014-11-10 현대자동차 주식회사 차량용 자동 변속기의 변속 제어 방법
JP7022913B2 (ja) * 2018-04-19 2022-02-21 パナソニックＩｐマネジメント株式会社 レバー入力装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996042078A1 (fr) * 1995-06-09 1996-12-27 Immersion Human Interface Corporation Procede et appareil assurant un retour d'effort fluide passif
DE102008015874A1 (de) * 2008-03-26 2009-10-01 Lemförder Electronic GmbH Betätigungseinrichtung mit Haptikemulation
WO2009138079A1 (fr) * 2008-05-15 2009-11-19 Zf Friedrichshafen Ag Dispositif de commande à rappel de force
WO2010088900A1 (fr) * 2009-02-05 2010-08-12 Zf Friedrichshafen Ag Dispositif de commande à retour de force

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4217393B2 (ja) * 2001-08-10 2009-01-28 アルプス電気株式会社 バイワイヤ方式のギアシフト装置
DE10205041A1 (de) * 2002-02-07 2003-08-21 Bayerische Motoren Werke Ag Bedienelement für ein Stellorgan mit einer Vorrichtung zur Kraftrückkopplung
JP3792586B2 (ja) * 2002-03-12 2006-07-05 本田技研工業株式会社 車両の変速操作装置
SE0400192L (sv) * 2004-01-30 2004-12-14 Volvo Lastvagnar Ab Metod och anordning för att motverka olämplig manuell växling vid förutbestämda fordonstillstånd
SE527630C2 (sv) * 2004-09-07 2006-04-25 Volvo Lastvagnar Ab Dämpmassa för ökad växlingskomfort

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996042078A1 (fr) * 1995-06-09 1996-12-27 Immersion Human Interface Corporation Procede et appareil assurant un retour d'effort fluide passif
DE102008015874A1 (de) * 2008-03-26 2009-10-01 Lemförder Electronic GmbH Betätigungseinrichtung mit Haptikemulation
WO2009138079A1 (fr) * 2008-05-15 2009-11-19 Zf Friedrichshafen Ag Dispositif de commande à rappel de force
WO2010088900A1 (fr) * 2009-02-05 2010-08-12 Zf Friedrichshafen Ag Dispositif de commande à retour de force

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2011053229A1 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3086638A1 (fr) 2018-09-28 2020-04-03 Airbus Helicopters Atterriseur a balancier motorise et aeronef
EP3702271A1 (fr) 2019-02-28 2020-09-02 Airbus Helicopters Atterrisseur motorise et aeronef
FR3093322A1 (fr) 2019-02-28 2020-09-04 Airbus Helicopters Atterrisseur motorisé et aéronef

Also Published As

Publication number Publication date
BR112012009762A2 (pt) 2019-09-24
WO2011053229A1 (fr) 2011-05-05
SE1050919A1 (sv) 2011-04-30
EP2494239A4 (fr) 2013-05-15
SE534224C2 (sv) 2011-06-07

Similar Documents

Publication Publication Date Title
US10647320B2 (en) Method and a system for controlling vehicle speed
US7949455B2 (en) Brake control apparatus for vehicle and brake control method for vehicle
CN101837802B (zh) 车辆转向控制设备
CN108473143A (zh) 用于至少部分自动化驾驶的方法和装置
US20180244247A1 (en) A method and a system for controlling vehicle speed
US8321111B2 (en) Pedal system and vehicle system with the pedal system
CA2642267A1 (fr) Dispositif de commande de vehicule
CN101163618A (zh) 驱动力控制设备和驱动力控制方法
AU7045500A (en) Method and device for assisting a driver of a vehicle
US11161546B2 (en) Work vehicle and control method for work vehicle
CN101134473A (zh) 铰接工程车辆的转向系统及相关的方法
Gerdes et al. Brake system requirements for platooning on an automated highway
WO2011053229A1 (fr) Levier de vitesses comportant un amortissement adaptatif
CN108791474A (zh) 利用主动转向辅助系统产生适合于机动车辆的当前驾驶情况的最终辅助转向扭矩的方法
KR20120018780A (ko) 주차 브레이크 통합체를 갖는 브레이크 시스템
DE10061075A1 (de) Verfahren und Vorrichtung zur Stabilitätsbeeinflussung von Kraftfahrzeugen
JP4941659B2 (ja) 車両用操作反力制御装置
JP4604926B2 (ja) 車両のトラクション制御装置、及び車両のトラクション制御方法
CN101088830B (zh) 车辆转向控制设备
JP5053139B2 (ja) 車両挙動制御装置
JP3728896B2 (ja) 車両用走行制御装置
JP2007112210A (ja) 車両の制動力保持装置、及び車両の制動力保持方法
JP2011051561A (ja) アーティキュレート車両における小旋回制御装置
JP3322084B2 (ja) 電気車両の制動装置
JP7225822B2 (ja) 駆動力制御装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20120529

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20130415

RIC1 Information provided on ipc code assigned before grant

Ipc: F16H 59/04 20060101AFI20130409BHEP

Ipc: G05G 5/03 20080401ALI20130409BHEP

Ipc: F16H 61/24 20060101ALI20130409BHEP

Ipc: B60K 20/02 20060101ALI20130409BHEP

17Q First examination report despatched

Effective date: 20140811

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN

18W Application withdrawn

Effective date: 20200225