EP3583010A1

EP3583010A1 - Device and method for controlling a vehicle and vehicle

Info

Publication number: EP3583010A1
Application number: EP18702113.4A
Authority: EP
Inventors: Ludger Rake; Hendrik LÖTTER
Original assignee: ZF Friedrichshafen AG
Current assignee: ZF Friedrichshafen AG
Priority date: 2017-02-15
Filing date: 2018-01-15
Publication date: 2019-12-25
Also published as: DE102017202437A1; US20190375392A1; WO2018149571A1; CN110300692A

Abstract

A device (102) for controlling a vehicle (100) has an operator control element (110) which can be moved by an operator of the vehicle (100), a sensor device (112) for making available a position signal (114) representing a position of the operator control element (110), and a movement signal (116) representing a movement of the operator control element (110). In addition, the device (102) has a control device (118) which is designed to make available, while using the movement signal (116), a steering signal (104) for actuating a steering device of the vehicle (100) if the position signal (114) indicates a position of the operator control element (110) which is assigned to a forward drive position of the vehicle (100).

Description

Device and method for controlling a vehicle and vehicle

The present invention relates to an apparatus and method for controlling a vehicle and a vehicle.

Vehicles have steering wheels and selector lever. Using the steering wheel, a direction of travel of the vehicle can be changed. Using the selector lever, a driving mode and / or driving position of the vehicle, in particular with automatic and / or continuously variable transmissions, can be selected.

Against this background, the present invention provides an improved apparatus and method for controlling a vehicle and an improved vehicle according to the main claims. Advantageous embodiments will become apparent from the dependent claims and the description below.

Advantageously, an operating body which can be used to select a driving position of a vehicle, for example in the form of a selector lever, can additionally be used to steer the vehicle during forward travel of the vehicle. In this case, according to one embodiment, the operating body can also be used for steering the vehicle, the vehicle moves quickly, for example, with more than 30km / h or more than 50km / h.

A device for controlling a vehicle has a control body which can be moved by an operator of the vehicle, a sensor device for providing a position signal representing a position of the control body and a movement signal representing a movement of the control body. Further, the apparatus includes control means configured to provide, using the motion signal, a steering signal for driving a steering device of the vehicle when the position signal indicates a position of the operating body associated with a forward driving step of the vehicle.

Among other things, a set status of the operating body can be understood as a position of the operating body. For example, a monostable Selector lever have different positions, which are adjusted by deflecting in one or more directions.

The vehicle was, for example, a vehicle for passenger transport or a commercial vehicle. The vehicle may be powered using an internal combustion engine or an electric drive. It can be an autonomous, partially autonomous or manually controllable vehicle. The operator may be the driver of the vehicle. The operating body can be arranged movably, for example in the region of a dashboard or a console of the vehicle. The operating body can be actuated by a hand of the operator. By actuating the operating body, the same can be switched back and forth between different positions. For example, each position can be assigned a speed step. The movement of the operating body may be an additional operation by which the operating body is not switched back and forth between the different positions. The sensor device may comprise one or more sensors, by which both the different positions of the operating body and the movement of the operating body can be detected. The controller may be an electrical circuit configured to read in and use the position signal and the motion signal to provide the steering signal. Thus, the control device can be designed to process electrical signals, for example sensor signals, and to output control signals in dependence thereon. The device may have one or more suitable interfaces, which may be formed in hardware and / or software. For example, in a hardware implementation, the interfaces may be part of an integrated circuit in which functions of the device are implemented. The interfaces may also be 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. The steering device may be coupled to steerable wheels of the vehicle to effect a change in direction of the vehicle can. The control device may be configured to provide a setting signal for setting a driving position of the vehicle using the position signal. Possible driving steps represent, for example, a forward drive, a reverse drive, a neutral stage, a parking stage or different speed levels. Advantageously, the operator can thus use the device to select a desired gear.

In this case, the control device may be formed, for example, to provide the adjustment signal to an interface to a transmission device of the vehicle. In this case, the device can be used to select a gear.

For example, the control device may be configured to provide a first setting signal for setting the forward drive stage when the position signal represents a first position of the operating body. Furthermore, the control device may be configured to provide a second setting signal for setting a rearward step of the vehicle when the position signal represents a second position of the operating body. In this way, the device may be used to place the vehicle in an operating mode in which the vehicle is traveling forwards, as well as in an operating mode in which the vehicle is backing up.

In this case, the control device may be configured to provide the steering signal for actuating the steering device of the vehicle using the movement signal both when the position signal represents the first position of the operating body and to provide when the position signal represents the second position of the operating body. In this way, the operator can steer the vehicle using the operating body in both a forward drive and a reverse drive of the vehicle.

In this case, the control device may be designed to determine the steering signal from the movement signal using a first transmission rule, when a speed signal is at a first driving speed of the driving signal. represents. Accordingly, the controller may be configured to determine the steering signal from the motion signal using a second translation law when the speed signal represents a second vehicle speed. In this case, the second driving speed can be greater than the first driving speed. By a translation rule, a value of the motion signal can be converted into a value of the left signal. By the translation rule thus a steering characteristic of the vehicle can be displayed. For example, a translation instruction may be realized by a characteristic, a function or a look-up table. By different translation rules, one and the same motion signal can be converted into different link signals. In this way, the response of the steering can be adapted to different speeds of the vehicle.

In one embodiment, the first vehicle speed may represent a speed less than 50km / h and the second vehicle speed may represent a speed greater than 50km / h. Thus, the vehicle may have a different steering behavior at speeds of less than 50km / h than at speeds greater than 50km / h.

The sensor device can be designed to provide a position signal representing a further position and / or further movement of the operating body. In this case, the control device may be configured to provide an acceleration signal for driving an acceleration device of the vehicle using the position signal. Thus, the operating body can also be used to accelerate and decelerate the vehicle.

For example, the control device may be configured to provide a first acceleration signal to an interface to an electric drive of the vehicle when the position signal represents a first further position and / or first further movement of the operating body. Additionally or alternatively, the control device may be configured to provide a second acceleration signal to an interface to a recuperation brake device of the vehicle. when the position signal represents a second further position and / or second further movement of the operating body. Thus, the device can be advantageously used in conjunction with an electric vehicle.

For example, the operating body may be formed as a joystick. Such a control body takes up little space and is intuitive to use.

The sensor device may be configured to provide a touch signal representative of a touch of the operating body by a hand of the operator. This makes it possible to determine whether a hand of the operator rests against the operating body. Furthermore, the sensor device may be configured to identify a touch from the operator and to distinguish the touch of the operator from a touch of another passenger. The identification of the touch of an operator may for example be based on biometric matching.

The control device can be designed to provide an actuating signal representing an actuation of a key of the operating body. In this case, the control device may be configured to provide, using the actuation signal, a switching signal to an interface to a switching device for switching between a manual and an autonomous operating mode of the vehicle. For example, the key can be operated when the operator is ready to take over the control of the vehicle or alternatively wants to submit a driving task.

The operating body may be shaped to be moved to assume different positions along a first trajectory. Additionally or alternatively, the operating body may be formed to be moved to perform the movement along a second trajectory. Thus, the operating body can be moved along different trajectories, on the one hand to set a desired gear and on the other to effect a steering movement of the vehicle. Advantageously, using a unique Both the driving position can be adjusted as well as steering are performed.

The operating body may have a base body and a control element. In this case, the base body may be formed to be moved to take the different positions along a first movement path. The operating element may be shaped to be moved to perform the movement relative to the main body. The operating element can be mounted, for example, displaceable or rotatable on the base body. The operating options can be increased by the operating element.

A corresponding vehicle may have a steering device and a device. In this case, the device and the steering device are coupled to each other via an interface for transmitting the steering signal. The steering device is configured to effect a change in direction of travel of the vehicle using the steering signal.

A corresponding method for controlling a vehicle comprises the following steps:

Providing a position signal representing a position of a control body movable by an operator of the vehicle;

Providing a movement signal representing the movement of the operating body; and

Providing a steering signal for driving a steering device of the vehicle using the motion signal when the position signal indicates a position of the operating body associated with a forward driving step of the vehicle.

The steps of the method may be carried out using said apparatus. The invention will be described by way of example with reference to the accompanying drawings. Show it:

Fig. 1 is a schematic representation of a vehicle according to an embodiment;

FIG. 2 is a flowchart of a method of controlling a vehicle according to an embodiment; FIG.

3 shows a device for controlling a vehicle according to an exemplary embodiment;

4 shows an operating body of a device for controlling a vehicle according to an exemplary embodiment; and

5 shows a device for controlling a vehicle according to an exemplary embodiment.

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 similar acting, wherein a repeated description of these elements is omitted.

1 shows a schematic representation of a vehicle 100 according to an exemplary embodiment. The vehicle 100 has a device 102 for controlling the vehicle 100. By way of example, the vehicle 100 is a passenger transport vehicle. Using the device 102, the vehicle 100 may be steered, among other things. In this case, the device 102 can be used to steer the vehicle 100, in particular even at higher driving speeds that exceed the walking speed. For steering the vehicle 100, the device 102 is configured to provide a steering signal 104 to a steering device 106 of the vehicle 100. According to one exemplary embodiment, the steering device 106 has an actuator which is designed to adjust, as a result of the steering signal 104, a position of steerable wheels 108 of the vehicle 100. In this way, the direction of travel of the vehicle 100 can be changed. The device 102 has an operating body 110 which can be operated by an operator while the vehicle 100 is traveling. For example, the operating body 110 is designed as a lever or as a joystick. The operating body 110 is movable, for example, attached to a dashboard of the vehicle 100. The operating body 110 can be adjusted by actuation in different positions. According to one embodiment, each of the positions is associated with a drive level of the vehicle 100. For example, at least two different positions are provided, a position for a forward gear and a position for a reverse gear. In the forward gear, the vehicle 100 is in a forward driving mode. In the reverse gear, the vehicle 100 is in a reverse driving mode. Furthermore, the operating body 110 can be moved along an additional movement path. A movement of the operating body 110 along the additional movement path can be converted by the device 102 into the steering signal 104. Thus, the function of a steering wheel of the vehicle 100 can be represented by the operating body 110. In this case, using the device 102, a complete steering functionality can be realized by which the vehicle 100 can be steered by the operator even at higher speeds, for example at speeds of more than 50 km / h.

The device 102 comprises a sensor device 112, which is designed to detect a current position of the operating body 110 and a current movement of the operating body 110 along the additional movement path. The sensor device 112 is designed to provide a position signal 114 that indicates a current position of the operating body 110. Further, the sensor device 112 is configured to provide a motion signal 116 indicative of an actual movement of the operating body 110 along the additional trajectory. For this purpose, the sensor device 112 according to one embodiment has a plurality of suitable sensors.

Furthermore, the device 102 comprises a control device 118. The control device 118 is designed to control the position signal 114 and the movement signal 116 read. The device 102 is configured to determine the steering signal 104 using the motion signal 16 and to provide it to an interface to the steering device 106. According to one embodiment, the control device 1 18 is designed to map a course or value of the movement signal 1 16 to the steering signal 104.

The control device 118 is configured to provide the steering signal 104 using the movement signal 16 when the position signal 14 indicates that the operating body 110 is in a position that is associated with a forward driving step of the vehicle 100. In this way, the steering functionality may be activated in response to a selection of the forward speed. According to one embodiment, the control device 1 18 is further configured to the

Steering signal 104 using the motion signal 1 16 provide when the position signal 1 14 indicates that the control body 1 10 is in a position that is associated with a Rückwärtsfahrung the vehicle 100.

According to one embodiment, the control device 1 18 is designed to provide an adjustment signal 120 to an interface to a driving stage setting device 122, for example a transmission of the vehicle 100 or a drive of an electric motor 124 of the vehicle 100, using the position signal 1 14. By using the setting signal 120, a speed of the vehicle 100 can be adjusted. This can be done, for example, by setting a suitable gear or gear stage or by setting a suitable voltage for operation of the electric motor 124. In this case, the control device 1 18 is formed according to an embodiment to provide the adjustment signal 120 with a first value by which the Fahrstufeneinstelleinrichtung 122 is controlled so that the vehicle 100 moves forward. The setting signal 120 having the first value is provided when the operating body 110 is in a first position associated with the forward driving stage. Accordingly, the controller 1 18 is then configured to provide the adjusting signal 120 with a second value by which the driving stage setting device 122 is driven so that the vehicle 100 travels backwards. The adjustment signal 120 with the second value is provided when the operating body 1 10 is in a second position, which is assigned to the Rückwärtsf ertstufe.

According to one embodiment, the control device 1 18 is designed to provide the steering signal 104 exclusively when the operating body 1 10 is in a position associated with a forward driving stage. According to one embodiment, the control device 1 18 is additionally designed to provide the steering signal 104 even when the control body 1 10 is in a position which is associated with a Rückwärtsf ertstufe.

In one embodiment, the controller 1 18 is configured to determine the steering signal 104 from the motion signal using a translation law. By the translation rule is given according to an embodiment, which steering angle change of the wheels 108 is effected by a certain movement of the operating body 1 10 along the additional path of movement. According to one embodiment, different translation regulations are provided, each of which is assigned a speed interval. In this way, the steering behavior of the vehicle 100 can be adapted to a current speed of the vehicle 100. By way of example, the sensor device 118 is configured to determine the steering signal 104 using a first gear ratio when the speed of the vehicle 100 is at a first interval, and configured to use the steering signal 104 using a second one different from the first gear ratio To determine translation rule when the speed of the vehicle 100 is in a second interval that is different from the first interval. For example, a limit between the two translation regulations is 1 km / h, 30 km / h, 50 km / h, 80 km / h or 100 km / h. More than two speed intervals can thus also be provided for more than two translation instructions and used to determine the steering signal 104.

In one embodiment, the controller 1 18 is configured to read in a speed signal 144 indicative of a current vehicle speed of the vehicle Vehicle 100 represents. For example, the control device 1 18 is designed to read in the speed signal 144 via an interface to a speed detection device 146. The controller 1 18 is configured to select, using the speed signal 144, a translation instruction associated with a vehicle speed indicated by the speed signal 144.

According to one embodiment, the operating body 1 10 is also used for accelerating. Accelerating can be understood as meaning both an increase in speed and a reduction in speed as braking. In this case, the sensor device 1 12 is designed to provide a position signal 126 that images a further position and / or further movement of the operating body 1 10. The further movement or the further position can be realized by the operating body 1 10 is guided by the operator along a further trajectory, which is used neither for setting the positions provided for the driving steps nor for performing the movement used to steer the vehicle 100. In this case, the controller 1 18 is configured to use the position signal 126 to determine at least one acceleration signal 128, 129. The control device 118 is configured to provide the acceleration signal 128, 129 to an interface to an acceleration device of the vehicle 100. For example, the controller 1 18 is configured to provide an acceleration signal 128 suitable for increasing the speed of the vehicle 100 to the drive 124 of the vehicle 100 when the position signal 126 indicates that the control body 1 10 has been moved to a position or makes a movement which is associated with an increase in speed. Accordingly, the control device 1 18 is configured, for example, to provide an acceleration signal 129 to be brought about reducing the speed of the vehicle 100 to a braking device 130 of the vehicle 100 when the position signal 126 indicates that the operating body 1 10 has been moved to a position Performs motion associated with a reduction in speed. The braking device 130 may be, for example, a mechanical brake or a recuperation brake device. According to one embodiment, the sensor device 1 12 is designed to sen a touch of the control body 1 10 sen by a hand of the operator sen sen. For this purpose, the sensor device 1 12, for example, have a capacitive sensor. The sensor device 1 12 is designed to provide a touch signal 132 in response to a touch of the operating body 1 10 that indicates the touch.

According to one embodiment, a button 134 is arranged on the operating body 1 10. The sensor device 12 is configured to detect an actuation of the button 134 and to provide an actuation signal 136 in response to a detected actuation of the button 134. The controller 1 18 is configured to read in the actuation signal 136 and to provide, using the actuation signal 136, a switching signal 138 to an interface to a switching device 140 for switching between a manual and an autonomous operating mode of the vehicle 100. Thus, the driver of the vehicle 100 is enabled to take over control of the vehicle 100 by an operation of the key 134 or deliver.

The control body 1 10 has a shape that allows the driver of the vehicle 100 to operate the control body 1 10 well. According to one embodiment, the operating body 1 10 is movably mounted. Different trajectories are given along which the operating body 1 10 can be moved. According to one exemplary embodiment, a first movement path is predetermined, along which the operating body 1 10 can be actuated or moved in order to be able to assume the different positions, to which different driving states are assigned. For this purpose, the operating body 1 10 can be operated according to a known gear selector lever. For carrying out the movement of the operating body 1 10, which is used for steering the vehicle 100, the operating body 1 10 according to an embodiment along a second movement path is movable. At least one of the movement path is predetermined according to an embodiment by a backdrop, within which the operating body 1 10 can be moved. Further trajectories may be given to further to implement additional functionalities. For example, a movement path can be predetermined along which the operating body 1 10 can be moved for accelerating the vehicle 100.

According to one embodiment, the operating body 1 10 has a base body and an operating element 142. The operating element 142 is movably attached to the base body relative to the base body. The sensor device 1 12 is formed in this embodiment, to represent different positions of the control body 1 10 through the position signal 1 14 and to detect a movement of the control element 142 relative to the base body and by the motion signal 1 16 map.

2 shows a flowchart of a method for controlling a vehicle according to an exemplary embodiment. The method may be carried out using the apparatus shown in FIG.

In a step 201, a setting signal is provided which represents a position of a control body movable by an operator of the vehicle. In a step 203, a movement signal is provided which represents a movement of the operating body. In step 205, using the movement signal, a steering signal is provided which is suitable for driving a steering device of the vehicle. In this case, the steering signal is provided when the position signal indicates a position of the operating body, which is assigned to a forward stage of the vehicle. The steps 201, 203, 205 of the method can be repeated continuously and executed in different orders

FIG. 3 shows a device 102 for controlling a vehicle according to an exemplary embodiment. This may be an embodiment of the device described with reference to FIG. 1.

The device 102 has an operating body 1 10, which is movable along a first movement path 350 and along a second movement path 352. The first movement path 350 is associated with a selection operation by which an operator can select different driving levels. According to this exemplary embodiment, three speed steps "D", "N", "R" are provided, each of which is assigned a position of the operating body 110. By actuating the operating body 110 along the first movement path 350, a desired driving level can be selected by the driver Operating body 1 10 is moved by the operation in the position assigned to the desired gear position.

The second movement path 352 is associated with a steering operation by which the operator can steer the vehicle. For example, an actuation of the operating body 1 10 along the second movement path 352 in a first direction can be converted into a first steering movement of the vehicle. Correspondingly, a movement of the operating body 110 along the second movement path 352 in a direction opposite to the second direction in the second direction can be converted into a second steering movement of the vehicle opposite the first steering movement.

According to this embodiment, the operating body 1 10 has a handle or selector lever movably arranged in an element of the vehicle and an angled extension or knob arranged at a free end of the handle or selector lever. In the region of the extension or knob two keys 134, 354 are arranged according to this embodiment.

According to one embodiment, the device 102 represents a functional integration, in which the operating body 1 10 is combined in the form of a Lenkjoysticks with a selector lever. It is thus realized a selector lever as a joystick with steering wheel.

The approach described with reference to the figures can be used for example in a vehicle with a higher degree of automation. For vehicles with higher degrees of automation, permanent steering of the vehicle is no longer necessary. Often, these vehicle concepts no longer have a conventional steering wheel and, among other things, are also equipped with separate steering joysticks. The approach described here allows integration of the operating element "Steer-by-wire steering" in the dial using the operating body 1 10 executable 350.

The integration of a control element for steering a vehicle in a selection operation has several advantages. Thus, a functional integration into an existing component for the selection operation 350 is possible. An ergonomic arrangement in the vehicle is given. In addition, there is a reduction of the controls. An improvement in driving safety is given by a quick accessibility of the control body 1 10, for example in the form of a joystick, in the assumption of the driving task in critical situations. In addition, there is an increase in driving safety due to the optional integration of the hands-on detection in the operating body 1 10. Furthermore, an optional integration of the key 134 in the form of a transfer key for AD (autonomous driving) in the joystick is possible. An intuitive operation of the steer-by-wire steering is given. Optionally, different steering characteristics depending on the speed, for example, depending on whether the vehicle is driving on the highway or when maneuvering, can be displayed.

The vehicle steering control may be integrated with the device 102 usable for the selector actuator 350. This can be z. B. by the operating body 1 10 in the form of a central joystick, in which the functionality of a selector lever is associated with a movement of the control body 1 10 in the X direction and the functionality of a steering movement of the control body 1 10 in the Y direction.

Variants can also be realized in conjunction with a rotary circuit.

The approach described here is based on an integration of a steering function in a selector lever, which is shown in Fig. 3 as the operating body 1 10. It may be at the operating body 1 10 is a one-piece body. Alternatively, the control body 1 10, as shown in FIG. 4, be divided into a base body and at least one control elements. According to one embodiment, the control body can be used in addition to the selection of a drive level and the provision of the steering function for accelerating and braking the vehicle. Consequently is realized by the control body 1 10 also an "accelerator pedal function" and a "brake pedal function". The acceleration can be based on an electric drive. Braking can be recuperative. The steering function may be performed, in particular, when the vehicle is in a forward drive mode of operation.

4 shows an operating body 1 10 of a device for controlling a vehicle according to an exemplary embodiment. This may be an embodiment of the device described with reference to FIG. 1. The operating body 1 10 has a base body 460 with a ball-bearing handle or selector lever and a control element 142. The base body 460 is movably arranged along a first movement path 350, which is assigned the functionality of a selection operation as described with reference to FIG. The operating element 142 is arranged movable relative to the main body 460. According to this embodiment, the operating element 142 is formed as a ring, which is arranged circumferentially around the spherically shaped main body 460. The operating element 142 can be rotated along a second movement path 354. In this case, a rotational movement of the main body 460, as described with reference to FIG. 3, associated with the functionality of a steering operation.

According to one embodiment, the operating body 1 10 represents a functional integration, in which the main body 460 is combined in the form of a selector lever with the operating element 142 in the form of a steering wheel

5 shows a device 102 for controlling a vehicle according to an exemplary embodiment. This may be an embodiment of the device described with reference to FIG. 1. The device 102 has an operating body 1 10, which has a base body 460 and an operating element 142. On the main body 460, a key 134 is arranged. The operating body 1 10 is movable along a first trajectory in a console 570 of the vehicle operable. The first trajectory is given by a here exemplarily linear backdrop 572, along which the control body 1 10 can be moved. By moving the operating body 1 10 along the first trajectory can the operating body 110 are moved to different positions associated with different driving steps "P", "R", "N", "D", "S." The operating member 142 is fixed as a knob to an upper side of the main body 460 The control element can be moved along a second movement path, in this case a circular path. <br/> By moving the operating element 142 by an operator, the operator can steer the vehicle.

According to one exemplary embodiment, a steering signal depicting the rotational movement of the operating element 142 is provided when the operating body 110 is in a position associated with one of the driving steps "N", "D", "S." According to a further embodiment, the steering signal also becomes then provided when the operating body 110 is in a position associated with the driving gear "R".

According to one exemplary embodiment, the device 102 represents a functional integration, in which the main body 460 is combined in the form of a steering joystick with the operating element 142 in the form of a Rotatronic, the Rotatronic being used to select the different driving levels "P, R, N, D, S". serves.

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.

REFERENCE CHARACTERS

100 vehicle

102 device

104 steering signal

106 steering device

108 wheels

1 10 basic body

1 12 sensor device

1 14 position signal

1 16 motion signal

1 18 control device

120 setting signal

122 speed adjustment device

124 drive

126 position signal

128 acceleration signal

129 acceleration signal

130 braking device

132 touch signal

134 button

136 actuation signal

138 switching signal

140 switching device

142 controls

144 speed signal

146 speed detecting device

201 step of providing a position signal

203 Step of providing a motion signal

205 step of providing a steering signal

350 first trajectory 352 second trajectory

354 button

460 basic body

570 console

572 scenery

Claims

claims

A device (102) for controlling a vehicle (100), the device

(102) a control body (110) which can be moved by an operator of the vehicle (100), sensor means (112) for providing a position signal (114) representing a position of the control body (110) and a movement signal (110) representing a movement of the control body (110). 116), characterized in that the device (102) comprises control means (118) arranged to provide, using the motion signal (116), a steering signal (104) for driving a steering device of the vehicle (100) when the position signal (114) indicates a position of the operating body (110) associated with a forward driving step of the vehicle (100).

2. Device (102) according to claim 1, characterized in that the control device (118) is designed to provide a setting signal for adjusting a driving position of the vehicle (100) using the position signal.

A device (102) according to claim 2, characterized in that the control means (118) is arranged to provide a first setting signal for setting the forward drive stage when the position signal represents a first position of the operating body (110) and is adapted to provide a second adjustment signal for adjusting a reverse speed stage of the vehicle (100) when the position signal represents a second position of the control body (110).

The apparatus (102) according to claim 3, characterized in that the control means (118) is adapted to provide, using the motion signal (116), the steering signal (104) for actuating the steering device of the vehicle (100) both when the position signal (114) represents and provides the first position of the operating body (110) when the position signal (114) represents the second position of the operating body (110).

5. Device (102) according to one of the preceding claims, characterized in that the control device (118) is designed to move the steering signal (104) out of the movement path using a first transmission rule. Determining signal (116) when a speed signal (144) represents a first vehicle speed (100) and configured to determine the steering signal (104) from the motion signal (116) using a second translation law when the speed signal (144) represents a second vehicle speed (100).

6. Device (102) according to claim 5, characterized in that the first driving speed represents a speed less than 50km / h and the second driving speed represents a speed greater than 50km / h.

7. Device (102) according to one of the preceding claims, characterized in that the sensor device (112) is designed to provide a further position and / or further movement of the operating body (110) representing position signal, and the control device (118) is formed is to provide an acceleration signal for driving an acceleration device of the vehicle (100) using the position signal.

8. Device (102) according to claim 7, characterized in that the control device (118) is designed to provide a first acceleration signal to an interface to an electric drive of the vehicle (100) when the position signal is a first further position and / or first further movement of the operating body (110) is represented, and / or configured to provide a second acceleration signal to an interface to a Rekuperationsbremseinrichtung the vehicle (100), when the position signal is a second further position and / or second further movement of the operating body (110 ).

9. Device (102) according to one of the preceding claims, characterized in that the operating body (110) is formed as a joystick.

Device (102) according to one of the preceding claims, characterized in that the sensor device (112) is designed to provide a touch signal (132) representing a contact of the operating body (110) by a hand of the operator.

1 1. Device (102) according to one of the preceding claims, characterized in that the sensor device (1 12) is designed to provide an actuating signal (136) representing an actuation of a button (134) of the operating body (1 10), and the control device (1 18) is adapted to provide, using the actuation signal (136), a switching signal to an interface to a switching means for switching between a manual and an autonomous operating mode of the vehicle (100).

12. Device (102) according to one of the preceding claims, characterized in that the operating body (1 10) is shaped to be moved to take different positions along a first movement path and / or is formed to perform the movement along a second movement path to be moved.

13. Device (102) according to one of the preceding claims, characterized in that the operating body (1 10) has a base body and an operating element, wherein the base body is formed to be moved to take the different positions along a first movement path, and wherein the operating member is formed to be moved to perform the movement relative to the main body.

14. A vehicle having a steering device and a device according to claim 1, wherein the device and the steering device are coupled to one another via an interface for transmitting the steering signal and the steering device is configured to change the direction of travel of the vehicle Vehicle (100) using the steering signal (104) to effect.

15. A method of controlling a vehicle (100), comprising the steps of:

Providing a position signal representing a position of an operator of the vehicle (100) movable operating body (1 10) position signal (1 14); Providing a movement signal (116) representing a movement of the operating body (110); and

Providing a steering signal (104) for driving a steering device of the vehicle (100) using the motion signal (116) when the position signal (114) indicates a position of the operating body (110) associated with a forward driving step of the vehicle (100) ,