EP4025439A1 - Unité de commande paramétrable pour un dispositif d'attelage de remorque - Google Patents

Unité de commande paramétrable pour un dispositif d'attelage de remorque

Info

Publication number
EP4025439A1
EP4025439A1 EP20761220.1A EP20761220A EP4025439A1 EP 4025439 A1 EP4025439 A1 EP 4025439A1 EP 20761220 A EP20761220 A EP 20761220A EP 4025439 A1 EP4025439 A1 EP 4025439A1
Authority
EP
European Patent Office
Prior art keywords
parameter
functional
function
control device
test
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.)
Pending
Application number
EP20761220.1A
Other languages
German (de)
English (en)
Inventor
Torsten Kranz
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.)
Westfalia Automotive GmbH
Original Assignee
Westfalia Automotive GmbH
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 Westfalia Automotive GmbH filed Critical Westfalia Automotive GmbH
Publication of EP4025439A1 publication Critical patent/EP4025439A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/01—Traction couplings or hitches characterised by their type
    • B60D1/06—Ball-and-socket hitches, e.g. constructional details, auxiliary devices, their arrangement on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/246—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for actuating the hitch by powered means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/48—Traction couplings; Hitches; Draw-gear; Towing devices characterised by the mounting
    • B60D1/54—Traction couplings; Hitches; Draw-gear; Towing devices characterised by the mounting collapsible or retractable when not in use, e.g. hide-away hitches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like

Definitions

  • the invention relates to a control device for a trailer coupling provided for a motor vehicle, which has a coupling arm, at one end area of which a coupling body, in particular a coupling ball for attaching a trailer or coupling a load carrier to the motor vehicle, is arranged, the control device having a memory in which a functional software module and a parameter set with at least one functional parameter for the functional software module are stored, a processor for executing program code of the functional software module and an interface for connecting an electrical functional component, in particular a drive and / or a trailer socket and / or a sensor that has a trailer coupling, wherein the control device executes at least one function when executing the program code of the functional software module using the parameter set, the at least one function being a control function and / or detection function and / or communication function, in particular via the interface in
  • Interaction with the electrical functional component of the trailer coupling includes.
  • Parameterization interface are entered, the control unit must be checked to see whether it is working properly, in particular whether it meets safety requirements. This is the only way to ensure that, for example, the The coupling arm is only released or the coupling arm is only moved when no trailer is attached.
  • a control device of the type mentioned at the outset that at least one test device is provided for checking whether the at least one functional parameter has a parameter value that is permissible for the functional software module.
  • the control unit preferably forms part of the trailer coupling or a trailer coupling is provided which the control unit has.
  • Method for operating a control device for a trailer coupling provided for a motor vehicle which has a coupling arm, at one end region of which a coupling body, in particular a coupling ball for attaching a trailer or coupling a load carrier to the motor vehicle, is arranged, the control device having a memory in which a functional software module and a parameter set with at least one functional parameter for the functional software module are stored, a processor for executing program code of the functional software module and an interface for connecting an electrical functional component, in particular a drive and / or a trailer socket and / or a sensor that has a trailer coupling, wherein the control device executes at least one function when executing the program code of the functional software module using the parameter set, the at least one function being a control function and / or sensing Ssungsfunktion and / or communication function, in particular via the interface in cooperation with the electrical functional component of the trailer coupling, includes.
  • the method provides for a check to determine whether the at least one Function parameter has a permissible parameter value for
  • control device is advantageously designed to execute them, for example on the basis of program code that can be executed by a processor of the control device.
  • the at least one functional parameter is preferably a permanently stored functional parameter or a functional parameter provided for permanent storage, on the basis of which the functional software module operates.
  • the function software module can execute the at least one function using the parameter set and also using variable values and / or status signals of the motor vehicle and / or the trailer coupling.
  • the variable values and the status signals of the motor vehicle and / or the trailer coupling can dynamically influence the functional software module.
  • the control device advantageously has at least one status signal input for the at least one status signal of the motor vehicle and / or the trailer coupling, in particular at its interface.
  • the functional software module can be controlled using at least one control signal.
  • a control signal can, for example, be a control command or comprise a control command and thus be a variable value.
  • the control command or the control signal is used, for example, to control the functional component, for example a drive for the trailer coupling, to control the trailer socket or the like.
  • the control signal can be used, for example, to send a control command to the control unit Adjustment of the coupling arm between the use position and the non-use position, to unlock the coupling arm or the like are given.
  • a function test of the trailer socket can also be triggered by such a control command.
  • the at least one status signal can also have variable values.
  • an operational readiness signal in particular an ignition-on signal and / or a terminal 15 signal, the operational readiness signal signaling that the motor vehicle is operationally ready for a ferry operation, and / or
  • a speed signal of the motor vehicle which signals a driving speed of the motor vehicle, and / or
  • an opening signal which signals an open position or a closed position of a body closure element of the motor vehicle, in particular a door and / or patch flap of the motor vehicle.
  • the status signal can, however, also be a status signal of the trailer coupling, for example a signal from a sensor of the trailer coupling.
  • the sensor can be provided and / or designed, for example, to determine an end position of the coupling arm, e.g. the position of use or non-use position, and / or to detect a movement of the coupling arm and / or to detect an actuation of at least one drive of the trailer coupling.
  • control device only uses the at least one functional parameter to execute the at least one function if the parameter value of the at least one functional parameter is permissible.
  • control device and / or the test device changes the at least one functional parameter to a permissible parameter value.
  • test device or the control device modifies the parameter value to an upper or lower, permissible limit value of the parameter value. If this limit value is then specified as a parameter value, the previous measure can take effect, for example, namely that the control device uses the functional parameter to carry out the at least one function.
  • the functional software module in itself is already a tested functional software module, i. H. that its basic functions are checked using one or more tests, so that when a permissible parameter value is specified, a reliable and safe function of the functional software module is also guaranteed. If several functional parameters are provided, it is advantageous if the test device is designed to check several functional parameters, in particular all functional parameters, as to whether the respective functional parameter for the functional software module has a respective permissible parameter value.
  • the test device is designed to check a parameter value of a first functional parameter as a function of a parameter value of a second functional parameter, the permissibility of the parameter value of the second functional parameter depending on a parameter value of the functional parameter of the first functional parameter. If, for example, the first functional parameter defines a maximum running time of a drive of the trailer coupling and the second functional parameter defines the length of individual current pulses with which the drive can be controlled, there is an interaction between these functional parameters. If the parameter value of the first functional parameter is smaller than the parameter value of the second functional parameter, this is determined by the testing device.
  • the test device determines that the parameter value of the second functional parameter is not permissible. If, however, the second function parameter is defined with a parameter value of 10 seconds, the test device enables the second function parameter or defines it as permissible.
  • More complicated checks by the test device and / or logical dependencies between parameter values of functional parameters can also be provided, so that, for example, the parameter value of the second functional parameter may only be a maximum of 10% of the parameter value of the first functional parameter, in the above example, for example, only a maximum of 1 second may. This means that several current pulses can be generated during the entire running time of the drive.
  • the functional software module can be adapted to the respective motor vehicle and / or the respective trailer coupling to be controlled with little effort, namely only by specifying suitable parameters.
  • the functional software module as such remains unchanged.
  • the adjustment is made via the parameters.
  • the control unit has an interface for connecting an electrical functional component, e.g. a drive and / or a trailer socket and / or a sensor, of the trailer coupling.
  • an electrical functional component e.g. a drive and / or a trailer socket and / or a sensor
  • an electrical component which is not part of the trailer coupling for example an LED, a button or the like, can also be connected to this interface for the functional component or a further interface.
  • the interface of the control device can be or comprise a wired and / or wireless interface.
  • this communication function can be or include, for example, communication via the wired or wireless interface.
  • control device can be operated wirelessly using an operating device, for example via radio, etc.
  • the wireless interface can comprise a Bluetooth interface, a WLAN interface, a cellular radio interface or the like.
  • the operating device can be a separate component from the control device or form part of the control device.
  • the bus interface can be part of the interface for connecting the electrical functional component.
  • the interface of the control device can also be provided and / or designed for connecting electrical components of the motor vehicle, for example for connecting electrical control lines and / or signaling lines.
  • a line can be connected to the control unit via which the control unit receives an analog or digital speed signal.
  • the interface is designed to connect a line via which the control device receives information about whether the motor vehicle is ready for a ferry operation, for example its ignition is switched on or not.
  • the line is, for example, the so-called terminal 15 line.
  • the functional software module can be provided and / or designed for a wide range of functions, but also only for a single function.
  • the functional software module is preferably such a functional software module which is used for Provision of several functions is designed. It is also possible for the control device to have several function software modules which are provided for providing different functions.
  • the functional software module can also include an operating system for operating the control device.
  • the at least one function preferably comprises a control of the functional component of the trailer coupling and / or a detection of at least one piece of information, in particular generated by the functional component.
  • the at least one function can, however, also include the operation of an electrical component, for example an acoustic and / or optical output interface, for example a loudspeaker or an LED or other light of the control device.
  • This electrical component can, for example, form part of the control device or can be connected to the control device via the interface.
  • the electrical component is arranged within a housing or on a housing of the control device.
  • the electrical component can also be provided outside the housing.
  • a control switch or control element for operating the control device for example for controlling the drive of the trailer coupling, can be provided away from the housing of the control device.
  • the function of the functional software module detects, for example, an actuation of the control switch or control element.
  • a sensor for example a temperature sensor, brightness sensor, motion sensor or the like, can also be an electrical component with which the functional software module performs the or a function, for example, detects a sensor value.
  • a control of an electrical component of the control device or of an electrical component connected to the control device is also advantageously provided as a function provided by the functional software module.
  • a component can be, for example, an acoustic or optical output means.
  • Function parameters are, for example, electrical switching limit values, for example at least one current limit value and / or at least one voltage limit value.
  • a function parameter can define, for example, an undervoltage limit which must not be undershot for the control device to function properly. It is also possible for a functional parameter to define an upper voltage limit for operating the control device, above which the control device is not allowed to work.
  • the at least one functional parameter can include a functional parameter that defines the quality of an optical and / or acoustic output on the electrical functional component or another electrical component connected to the control device, for example whether an optical output in a first switching sequence or a second switching sequence, for example with different switching frequencies, is to be controlled.
  • the function software module can trigger an LED to blink or to light it continuously, depending on which parameter value the function parameter provided for this purpose has.
  • the at least one test device is designed to check the at least one functional parameter as to whether its parameter value lies within a permissible parameter value range that includes a first and at least one second parameter or is formed thereby. It can thus be provided that the function software module functions with exactly two different parameter values. It is also possible that the parameter value Range has a lower limit and an upper limit. Furthermore, permissible parameter values can be stored in a table, for example a so-called look-up table.
  • the at least one test device is designed to check whether the parameter value is below an upper limit value and / or above a lower limit value. It is thus possible that a whole series of parameter values is permissible within the limit values.
  • the test device is designed to check a parameter value as to whether the parameter value has a format that is permissible for the at least one functional parameter, e.g. a number format or a letter format (character).
  • This check can, for example, provide whether the parameter value has a number format or a letter format (character) as a permissible format.
  • the test device is designed to check a type of number format. For example, the test device can recognize parameter values as integers or as decimal numbers as permissible parameters.
  • the test device carries out at least one follow-up reaction after an admissibility test of the parameter set.
  • the at least one test device is designed to transfer or provide a parameter set recognized as permissible during the check to the functional software module for use, in particular to write it into the memory of the control device.
  • the test device can write the parameter set directly to a flash memory in the control unit.
  • the at least one test device is designed to block the use of a parameter set recognized as inadmissible during the check by the functional software module and / or to output an error message when an inadmissible parameter set is recognized.
  • the test device can, for example, control an LED or other optical display and thus signal the case of an error.
  • the functional software module is validated for the or at least one parameter value of the at least one functional parameter on the basis of at least one functional test, in particular a software test and / or hardware test.
  • the parameter value or several parameter values have already been checked beforehand in a test run of the control unit. A renewed check is not necessary if the parameter set made available to the control unit contains parameters that have already been checked by the software test and / or hardware test.
  • Such a software check and / or hardware check provides, for example, that the control device performs a proper function with the respective parameter value, for example recognizes fault cases that the functional component, for example the at least one drive of the trailer coupling, is properly controlling and / or its Messages recorded.
  • ASIL Automotive Safety Integrity Level
  • the function software module is validated for at least two parameter values and / or a parameter value range with several parameter values as permissible parameter values of the at least one function parameter.
  • several permissible parameter values can be made available for selection. If one of these permissible parameter values is selected for the parameter set of the functional software module, it is recognized as permissible by the at least one test device.
  • the at least one function test advantageously comprises a simulation test, in particular a hardware-in-the-loop test and / or software-in-the-loop test, or is formed as a result.
  • the control unit is connected with its interface to an adapted test system, for example a HiL simulator.
  • the test system emulates the real environment of the control unit during operation or simulates this real environment.
  • the test system can provide different input voltages for the control unit.
  • an electrical load for example a load caused by the drive or the trailer socket during real operation of the control device, can be provided by the test system.
  • a software test for example a software-in-the-loop test (SiL), is also advantageous.
  • a test system or a test simulator is not absolutely necessary for this.
  • the software test is preferably carried out before the hardware test.
  • the at least one function test comprises at least one incremental test or change test in which the parameter value of the at least one function parameter and / or an input value assigned to the at least one function parameter is changed at the interface of the control device, in particular incrementally, and checked whether in Depending on the respective parameter value or input value, a reaction of the function software module corresponds to an expected and permissible reaction. For example, several parameter values can be run through, so to speak, in a software test and / or hardware test. But the input side, so to speak, namely default values, for example voltage values that the control unit or functional software module has to process in connection with a respective parameter value, can be variably predefined on the basis of the functional test, for example incremental.
  • a test report of the at least one functional test is assigned to the control device.
  • the test report documents that the functional software module and / or control device is validated with the respective parameter values for the at least one functional parameter.
  • the functional software module is checked and validated in sub-functions. It is advantageously provided, for example, that at least one partial function of the functional software module is validated for the parameter value of the at least one functional parameter in isolation from at least one other function of the functional software module or from all functions of the functional software module. For example, this sub-function can be called up by a test master function with a respective parameter value to be checked of the at least one function parameter.
  • control device or a system comprising the control device it is then checked whether a result, for example a return value or output value, of this sub-function corresponds to an expected result. It is possible for the control device or a system comprising the control device to include only one test device or a plurality of test devices. A test device can be on board the control device or can also be provided outside the control device.
  • control unit test module Forms part of the control unit, the control unit test module being advantageously stored in the memory of the control unit, the control unit test module having program code that can be executed by the processor of the control unit to check the parameter value of the at least one functional parameter for admissibility. If, for example, a parameter value is not permitted, the control unit test module triggers a corresponding warning message, for example an acoustic message.
  • the control device test module is, for example, a software module that is separate from the functional software module and / or upstream of the functional software module.
  • the control unit test module forms part of the functional software module. It is possible that both are provided, namely a control unit test module which is upstream of the functional software module and a further control unit test module which forms part of the functional software module.
  • the control unit test modules check, for example, different parameters of the parameter set or the same parameters of the parameter set.
  • the at least one test device comprises or is formed by an external test module separate from the control device, which has program code that can be executed by a processor of a provision device for checking the parameter value of the at least one functional parameter for admissibility, the Provision device for providing the at least one functional parameter for the control device is provided and designed.
  • This external test module can for example be written in a script language.
  • the external test module can store an input data set, for example a table, which contains the parameter values of the parameter set, at its input interface and output a test message at an output interface.
  • the external test module is designed to generate the parameter set on the basis of the input data set or an input data set, for example starting from a table, a text file or the like which contains the parameters of the parameter set.
  • control device forms part of a system which comprises the or a provision device for providing the parameter set with the at least one functional parameter and / or the at least one test device.
  • the at least one test device is designed to generate a piece of test information assigned to the parameter set as to whether the at least one functional parameter is one for the Function software module has permissible parameter value, and that the function software module or a test module upstream of it is designed to allow processing of the parameter set by the function software module in the case of valid verification information and to block it in the case of invalid verification information.
  • the provision device can provide a valid or permissible parameter set with the verification information, for example a quality identifier, a checksum or the like.
  • the functional software module can determine that the parameter set is valid and can then use it.
  • Check information or quality code can also be checked, for example, by the control unit test module already mentioned, which transfers the respective parameter set to the functional software module if the check information or quality code is valid, for example, writes it into the memory of the control unit for further processing.
  • the control device is advantageously designed to control a coupling arm drive of the trailer coupling with which the coupling arm can be driven between a position of use provided for hanging a trailer or coupling a load carrier to the coupling arm and a position of use provided for not using the coupling arm, and / or a To control a fixing drive of a fixing device of the trailer coupling for fixing the coupling arm in the position of use.
  • the coupling arm drive or the fixing drive forms, for example, the functional component of the trailer coupling mentioned at the beginning.
  • the control device is also advantageously designed to control at least one optical and / or acoustic output means for outputting a message from the control device.
  • the functional component can also be or comprise, for example, a trailer socket that is controlled and operated by the control device. So if, for example, lights of the motor vehicle are activated, the control unit controls the corresponding contacts of the trailer socket depending on the Activation of the motor vehicle lights, so that lights of the trailer, if it is electrically connected to the trailer socket, are activated or deactivated synchronously with the lights of the motor vehicle.
  • a preferred concept which represents an independent invention in itself, provides that the control device is designed in such a way that the coupling arm drive only performs a predetermined maximum number of drive movements within a predetermined time. If the operator gives more control commands within the predetermined time than is defined by the maximum number, the control device blocks further actuation. The operator cannot, so to speak, play with the trailer coupling. This prevents the clutch arm drive from overheating, for example.
  • This concept is also advantageous if there are other malfunctions, for example an operating element for activating the control device for the coupling arm movement is defective, for example has a loose contact.
  • the following concept which represents an independent invention per se, is also advantageous. Provision is advantageously made for different movement speeds for the coupling arm drive to be adjustable or set for one-way operation and normal operation. This is because a slow movement speed is provided for normal operation, in particular to avoid injuries or damage, while a high movement speed is advantageous for set-up operation, for example during assembly in the factory.
  • the control device is set to one-way operation upon delivery so that, for example, for a function test after the trailer coupling has been attached to the motor vehicle, the coupling arm is moved at a high speed of movement. The control unit then automatically switches over to normal operation, in which the coupling arm is driven at a slower speed of movement than in the one-way operation.
  • the set-up mode can be resumed through a reset or some other operator action can be switched on.
  • an operating element is to be operated in a predetermined operating sequence in order to switch from normal operation to set-up operation.
  • the respective end positions can be approached very quickly, so that the control device, in particular its obstacle detection means, can learn the end positions, so to speak.
  • the control unit advantageously controls the coupling arm drive and / or the fixing drive at predetermined or adjustable time intervals, for example cyclically, after a certain operating time of the motor vehicle or the like, and / or as a function of at least one sensor information for adjusting the coupling arm in the direction of the respectively assumed use position or non-use position or the fixed position. If, for example, a sensor reports that the fixation has partially loosened and / or the coupling arm has moved a predetermined amount away from the respective use position or non-use position, the respective coupling arm, drive or fixation drive is activated by the control unit in the sense of readjustment .
  • the control device is designed for an oscillating control or impulse control of the coupling arm drive when it is or is to be moved out of the non-use position or the use position.
  • This oscillating control or impulse control is preferably carried out when a fixing device provided for fixing the coupling arm in the position of use and / or non-use position is released, i.e. the coupling arm is no longer fixed or locked in the position of use or non-use position, i.e. in principle in the other Position is adjustable.
  • the oscillating control or impulse control provides a kind of shaking movement, for example in the manner of a hammer drill.
  • the pulse control can include, for example, an oscillating, in particular pulsed, current supply to the coupling arm drive, in which the coupling arm alternates in the sense of a movement the respective position of use or non-use position and is then energized again in the sense of a movement into this position.
  • a pulse control is preferred in such a way that the coupling arm drive is switched on at short intervals in the sense of an adjustment from the position of use to be left or the position of non-use.
  • Impulse control or oscillating control can, for example, remove dirt, ice or the like. Even if the coupling arm is fixed in a respective end position for a long time, it can be stuck there and can be effectively released by the aforementioned measure.
  • an operating element for actuating the control device in the sense of leaving the use position or the non-use position is difficult to access and / or is arranged in a recess.
  • an actuation switch is arranged in a recess in such a way that it cannot be inadvertently actuated by an object, for example an object located in the luggage compartment of the motor vehicle.
  • a further independent invention or an advantageous embodiment is when a light source controlled by the control unit or forming part of the control unit, for example an LED, is controlled with a first brightness for signaling purposes, for example when an operating message or warning message is to be output , and is otherwise controlled with a second brightness that is lower than the first brightness.
  • a current pulse control for example, is provided for control with the respective brightness.
  • the lighting means is arranged on an operating element for activating the control device for an adjustment of the coupling arm from the use position or from the non-use position, in particular a component of the Control element forms.
  • a pushbutton switch can be equipped with such a light source. The operator can find the control element in the dark luggage compartment, so to speak, even at night when it is illuminated with low brightness.
  • control device stores diagnostic data in its memory, for example documenting the number of actuations of a respective drive, for example the fixing drive and / or the coupling arm drive.
  • diagnostic data for example documenting the number of actuations of a respective drive, for example the fixing drive and / or the coupling arm drive.
  • Currents required for energizing or actuating a respective drive, which can simultaneously give an indication of a wear situation, are preferably stored by the control device in order to be available for later diagnostic purposes.
  • trailer socket in the present description and the claims is an example of an electrical connection device for connecting electrical components, for example lights, of the trailer or load carrier.
  • a connection device can have the shape of a trailer socket.
  • any other contact arrangement with which the trailer or load carrier can be electrically connected should be understood by the term trailer socket.
  • control unit has suitable means for executing process features or process steps, for example software modules, in particular test modules, functional software modules, etc., which contain program code that can be executed by the processor of the control unit, so that when the program code is executed, the control unit can perform the respective process features or process steps .
  • process features or process steps for example software modules, in particular test modules, functional software modules, etc., which contain program code that can be executed by the processor of the control unit, so that when the program code is executed, the control unit can perform the respective process features or process steps .
  • electronic means or electrical means are necessary to carry out method steps, for example Signal inputs or signal outputs, power electronic components or the like, these are provided in the control unit.
  • RAM Random Access Memory
  • One or more functional parameters and / or the parameter set for the at least one functional software module are preferably stored in one or this non-volatile memory.
  • the functional software module which executes at least one function using the parameter set, is also advantageously stored in this non-volatile memory.
  • the non-volatile memory is, for example, a memory different from a RAM or a memory different from a volatile memory.
  • the non-volatile memory can also be referred to as permanent memory or permanently storing memory.
  • the coupling arm is movably mounted with respect to the flalter by means of the bearing device, for example mounted so as to be pivotable and / or displaceable.
  • the coupling arm can be manually adjustable between the use position and the non-use position. It is also possible that the coupling arm can be driven between these two positions by the coupling arm drive.
  • the fixing drive can fix and / or release the fixation.
  • the fixing drive can, for example, have at least one form-locking element in the direction of a position fixing the coupling arm with respect to the holder drive.
  • the fixing drive can be a release drive, for example.
  • the fixing device is preferably spring-loaded in the direction of the fixing position in which the coupling arm is fixed in place with respect to the holder.
  • the fixing device comprises, for example, at least one form-locking element provided for fixing the coupling arm with respect to the holder.
  • the at least one form-fit element is loaded, for example, in the direction of the fixing position by a spring arrangement.
  • the at least one form-fit element can be driven by the fixing drive.
  • the fixing drive can release the fixing device preferably against the force of the spring load or spring.
  • control device or the control means first control the fixation drive in the sense of releasing the fixation of the coupling arm and then control the coupling arm drive in the sense of understanding the coupling arm in the direction of the respective subsequent use position or non-use position or for such a control are designed.
  • the control device or the control means further control the fixing drive in such a way that the fixing device can fix the coupling arm when the coupling arm has then reached the respective subsequent use position or non-use position.
  • the coupling arm can be releasably attachable to the holder and fixable by the fixing device.
  • the coupling arm When the coupling arm is attached to the holder, for example inserted into a holding receptacle of the holder, it can be fixed by the fixing device.
  • FIG. 1 is a schematic side view of a motor vehicle with a trailer coupling
  • FIG. 2 shows the trailer coupling of the motor vehicle according to FIG. 1 with a control unit and connected motor vehicle bus modules in a schematic representation
  • Figures 3a-3h different positions of a coupling arm of the trailer coupling with respect to the holder
  • FIG. 4 shows a course of a test voltage for testing the control device according to FIG. 2,
  • FIG. 5 a schematic representation of a test routine with variable parameter values
  • FIG. 6 a schematic representation of a software test function
  • FIG. 7 shows a flow diagram of a validation function of a validation device.
  • a motor vehicle 80 having a body 81 is driven by an engine 82, for example an electric motor, an internal combustion engine, or a combination thereof.
  • the motor 82 drives wheels 83 in a manner known per se.
  • a trailer 180 can be attached to the motor vehicle 80 using a trailer coupling 10.
  • the trailer coupling 10 comprises, for example, a carrier arrangement 11 which is fastened to the body 81 of the motor vehicle 80, for example screwed, welded or the like.
  • a holder 12 of the trailer coupling 10 is attached to the carrier arrangement 11, in particular a cross member of the same, which is designed, for example, to hold a coupling arm 14 firmly or to detachably hold the coupling arm 14, for example, having a plug-in receptacle (not shown) for inserting a coupling arm 14 can.
  • a bearing device 13 is present on the holder 12, which in particular comprises a swivel bearing, sliding bearing or swiveling / sliding bearing or thereby is formed, provided with which the coupling arm 14 is adjustable between a position of use G shown in solid lines in Figure 2 and a non-use position N shown in dashed lines.
  • the coupling arm 14 can be driven between the use position G and the non-use position N by means of a coupling arm drive 18.
  • the coupling arm 14 carries at its free end a coupling ball 15, which exemplarily stands for different types of coupling bodies 15A, for example polygonal coupling elements or the like.
  • the coupling ball 15 and the section of the coupling arm 14 carrying the coupling ball 15 is advanced in the use position G in front of a bumper 84 so that the trailer 180 can be coupled.
  • a ball coupling 181 of the trailer 180 which is arranged on a drawbar 182, can be coupled to the coupling element or the coupling ball 15.
  • the trailer 180 has a base body 183, for example a loading trough, a caravan body or the like, which can be rolled on wheels 184 on a ground.
  • the trailer 180 also has a plug connector 185 via which a lighting device 186 of the trailer 180 can be supplied with power.
  • Lights, not shown in detail, for example rear lights, brake lights, turn signals or the like, of the lighting device 186 can be supplied with power and controlled via a corresponding control or energization of the connector 185, which preferably has individual contacts.
  • a trailer socket 19 is used to plug in the plug connector 185 of the trailer 180. This can be arranged, for example, on the coupling arm 14 or a separate holder 14a.
  • the coupling arm 14 can be fixed by means of a fixing device 16 at least in the position of use G, for example fixable and / or clamped in a form-fitting manner.
  • a fixing drive 17 is advantageously provided for releasing and / or closing or locking the fixing device 16.
  • the fixing device 16 is expediently spring-loaded into the position that locks the coupling arm 14 in the position of use G, so that the fixing drive 17 represents a release drive.
  • the fixing drive 17 When the fixing drive 17 is activated, the fixing of the coupling arm 14 with respect to the holder 12 is released, so that the coupling arm 14 can be adjusted from the position of use G to the non-use position N, for example it can be pivoted or can also be removed from the holder 12 if the Embodiment not shown in the drawing, in which the coupling arm 14 can be releasably attached to the holder 12, is realized.
  • the motor vehicle 80 has an on-board network 86 with a digital data bus 85, for example a CAN bus.
  • Motor vehicle bus modules 90A, 90B, 90C are connected to data bus 85 and are also referred to generally as “motor vehicle bus modules 90” below.
  • the motor vehicle bus module 90C is an engine control device for controlling the motor 82.
  • the motor vehicle bus module 90B in turn is a control device for a driving stability program of the motor vehicle 80 a movement space behind the motor vehicle 80 (at the rear in the direction of travel).
  • the lighting device 87 comprises brake lights, rear driving lighting devices, reversing lights, indicators or the like.
  • the distance measuring device 88 has, for example, contactless distance sensors, in particular ultrasonic sensors.
  • a processor 93 of a respective motor vehicle bus module 90A-90C executes one or more control programs in order to implement the respective functionality of the motor vehicle bus module 90A-90C, for example driving stabilization, motor control of the motor 82 or the like.
  • the trailer socket 19 and the drives 17, 18 are connected to a control unit 30 via the line arrangement 20.
  • the control unit 30 controls the functions of the trailer coupling 10 via the line arrangement 20, for example the respective connection contacts of the trailer socket 19 and / or the drive 17 and / or the drive 18 and the drive 18 for pivoting or adjusting the coupling arm 14 to move out of the use position G, preferably also to move out of the non-use position N.
  • An interface 32 is provided for the trailer socket 19.
  • the interface 32 forms a coupling means for coupling the trailer socket 19.
  • the control unit 30 has a processor 33 which communicates with a memory 34.
  • a function software module 38 for example a control program, for controlling and / or monitoring the trailer coupling 10, as well as a function software module 39, for example a communication program, whose program code can be executed by the processor 33, is stored in the memory 34.
  • the memory 34 is advantageously a non-volatile memory, for example a so-called flash memory, an EPROM or EEPROM.
  • the control device 30 can digitally send or receive data on the data bus 85 via a bus interface 36. This will be explained in more detail.
  • the control device 30 communicates via the data bus 85 with the motor vehicle bus modules 90A-90C, for example in such a way that it reports the current operating status of the trailer coupling 10 on the data bus 85. If so For example, the trailer socket 19 is occupied, the plug connector 185 is plugged in, the control unit 30 reports this on the data bus 85 to the motor vehicle bus modules 90A-90C.
  • the motor vehicle bus module 90B responsible for driving stabilization of motor vehicle 80 will select a different operating mode than when no trailer 180 is coupled to motor vehicle 80.
  • the engine control unit or motor vehicle bus module 90C for example, also reacts differently when a trailer is being driven, for example by operating other load programs or control programs for controlling the engine 82.
  • the functional software module 38 controls, for example, the functions of the trailer socket 19 in such a way that the lighting device 186 of the trailer 180 works synchronously with the lighting device 87 of the motor vehicle 80, that is to say that, for example, turn signal lights 87A of the motor vehicle 80 and turn signal lights 186A of the trailer 180 are activated on the same side, the brake lights are activated and the like.
  • the functional software module 38 controls one or both of the drives 17, 18.
  • the function of the drive 17 and the function of the drive 18 can be deactivated.
  • the coupling arm 14 cannot be adjusted between the use position G and the non-use position N when the motor vehicle 80 is driving.
  • the control device 30 thus also reacts with its control program 38 to the respective operating state of the motor vehicle 80.
  • the functional software module 38 is also connected to a sensor 21 of the trailer coupling 10.
  • the sensor 21 includes, for example, a swivel angle of the trailer 180 relative to the motor vehicle 80.
  • the sensor 21 is connected or can be connected to the interface 32 via the line arrangement 20, for example.
  • the drives 17, 18, the trailer socket 19 and the sensor 21 form functional components 22 with which the control device 30 interacts and in connection with which the control device 30 performs control functions and / or detection functions when the program code of the functional software module 38 is executed.
  • the functional software module 38 is also designed to control output means 44, for example optical and / or acoustic output means.
  • the output device or devices 44 comprise, for example, lighting devices, in particular at least one LED, a loudspeaker or the like.
  • an interface 37 is provided for components to be electrically connected that are not directly part of the trailer coupling 10.
  • an operating element 45A for example an operating switch, in particular a pushbutton switch, can be connected to the interface 37 as an electrical component 45.
  • the control device 30 for actuating the drives 17, 18 is configured for actuation from the use position G in the direction of the non-use position N or vice versa.
  • an operator can give switching commands to component 45 or operating element 45A, for example.
  • wireless operation is also readily possible, for example using a remote control 48, which can communicate with the control device 30 via a wireless interface 49, for example a Bluetooth interface.
  • a wireless interface 49 for example a Bluetooth interface.
  • the remote control 48 it is possible to control the control device 30 in a manner analogous to the electrical component 45 or operating element 45A.
  • control via the bus interface 36 is also possible, for example from the cockpit of the motor vehicle 80, so that the user of the motor vehicle 80, for example sitting in the driver's seat, can control the control device 30 to actuate one or both drives 17 or 18.
  • the interface 37, the wireless interface 49 and the bus interface 36 each represent a control input 57 via which a control signal SA can be sent, with which the control device 30 to control the coupling arm drive 18 and / or the fixing drive 17 in the sense of a Leaving the use position G or the non-use position N or understanding in the direction of the use position G or non-use position N can be controlled.
  • the operating element 45A is preferably illuminated, for example by means of the output means 44. It is advantageous if the control device 30 controls a lamp 44A normally to illuminate with a lower brightness, so that the operating element 45A is easy to find. In contrast, the control device 30 controls the lighting means 44A with a greater brightness, for example to output warning messages, status messages or the like.
  • connections 46, 47 for supplying power to the control device 30 are provided on the same.
  • the motor vehicle 80 provides a supply voltage U, for example, at the connections 46, 47.
  • the functional software modules 38, 39 can be produced specifically for the control device 30, so to speak, i.e. that, for example, minimum voltage values and maximum voltage values for the supply voltage U are permanently programmed into the functional software modules 38, 39.
  • the control unit 30 can only be used to a limited extent, namely with trailer couplings of the same type as the trailer coupling 10 and / or with motor vehicles of the same type as the motor vehicle 80, at least those motor vehicles that provide the same typical supply voltages U.
  • the invention provides a remedy here.
  • the function software modules 38, 39 are, so to speak, parameterizable or configurable, namely with function parameters 41 to 43.
  • the function parameters 41 and 42 belong, for example, to a parameter set 40, with which the functional software module 38 can be programmed.
  • the control device 30 has, for example, a parameterization interface 35 for receiving functional parameters, for example the parameter set 40.
  • the function parameters 41 to 43 are only examples of different types of function parameters that can be processed by function software modules and, as will become clearer below, can be provided, for example, by a provision device 100 for the control device 30.
  • the provision device 100 comprises, for example, a personal computer, a notebook or the like.
  • the provision device 100 has a processor 103 and a memory 104.
  • input means 105 for example a keyboard
  • an operator can specify an input data record 107, for example an input table, with parameter values for the function parameters 41 to 43.
  • the processor 103 can execute the program code of an external test module 102 and, for example, output to output means 106 of the provision device 100 whether the input data record 107 contains valid parameter values.
  • the external test module 102 forms a test device 100 for checking parameter values of the functional parameters 41 to 43.
  • the provision device 100 If the input data set 107 contains permissible parameter values for the function parameters 41 to 43, i.e. parameter values with which the function software modules 38, 39 can work properly, the provision device 100 generates the parameter set 40, which contains the function parameters 41 to 43 and advantageously further function parameters.
  • the provision device 100 adds checking information 108 to the parameter set 40, on the basis of which, for example, the functional software modules 38, 39 or the test device 51 explained below can determine that the parameter set 40 is a checked and suitable parameter set.
  • a parameter check, so to speak, on the input side is advantageously provided for the control device 30.
  • a control device test module 50 the program code of which can be executed by the processor 33, serves as the test device 51.
  • the control device test module 50 checks the parameter set 40 to the effect that its parameter values are permissible parameter values for the respective function parameters 41 to 43.
  • the parameter set 40 advantageously contains the name and its parameter value for at least one, preferably each, function parameter 41 to 43.
  • the control device test module 50 can be provided independently of the external test module 102 or in addition to it.
  • the control device test module 50 can form a component, for example, of one or both of the functional software modules 38, 39.
  • the control device test module 50 checks the parameter set 40 for valid parameter values, i.e. that, for example, a parameter value for the functional parameter 41 is within a predetermined value range that has been previously checked as permissible.
  • the function software modules 38, 39 are namely checked to the effect that they function properly and / or safely with permissible parameter values for the function parameters 41 to 43.
  • the function parameter 41 defines an undervoltage limit Umin for the supply voltage UV.
  • the supply voltage UV must not be below a parameter value Uminl of the undervoltage limit Umin so that the control device 30 works properly.
  • the parameter value Uminl for the function parameter 41 that is to say the undervoltage limit Umin, is set to a value of 10 V. If a higher supply voltage UV than the undervoltage limit Umin is now present at the connections 46, 47, the control program 38 is working properly. Otherwise, the output means 44 outputs, for example, an error message, for example lets a light-emitting diode light up. However, it must be ensured that the control program 38 exceeds the undervoltage limit reliably detects, ie detects an undervoltage that is below the undervoltage limit Umin, which is specified by the function parameter 41.
  • the functional software module 38 is checked, so to speak, with the parameter value Uminl for the undervoltage limit Umin.
  • an undervoltage limit of 10 V is specified as the parameter value Uminl of the functional parameter 41.
  • test device 51 it is also possible for the test device 51 to change the parameter value of the functional parameter 41 to a valid value, for example to a valid undervoltage limit of, for example, 12 V.
  • the test device 51 may check the parameter value of the functional parameter 41 in connection with and / or in interaction with the parameter value of another functional parameter, for example a functional parameter 41A, which defines a maximum current for energizing one of the drives 17 or 18. If the function parameter 41 defines a low minimum voltage, on the other hand the maximum current defined by the function parameter 41 A is too low to ensure reliable operation of the drive 17 or 18 at a low voltage according to function parameter 41, the test device 51 detects at least one of the function parameters 41 or 41 A as impermissible. It can be seen from this example that, for example, with a larger parameter value of the functional parameter 41, that is to say a higher minimum voltage, the maximum current according to the functional parameter 41A would be sufficient. In this case, the testing device 51 would qualify both function parameters 41 and 41 A as permissible.
  • a functional parameter 41A which defines a maximum current for energizing one of the drives 17 or 18.
  • a test device 200 is electrically connected to the connections 46, 47 and provides different supply voltages UV at these, which are above and below the undervoltage limit Umin, which is specified as function parameter 41, for example as test voltage Utest. Only if the Undervoltage limit Um in is not undershot, the control device 30 may drive the drives 17 or 18, for example. If the voltages are too low, there is a risk of errors, that is to say that the drives 17, 18 can no longer be operated properly. In this case, the function software module or control program 38 must output an error message.
  • the parameter value 10 V is therefore, for example, a first parameter value Uminl, which is valid as a default value for the function parameter value.
  • the test device 200 provides a variable supply voltage Utest at its connections connected to the connections 46, 47, which is initially 11 V, for example, and then incrementally or gradually, for example in 0.1 V steps, over time t is reduced until it falls below the parameter value Uminl. In any case, the drives 17, 18 should then no longer be operable.
  • This test routine is a so-called flardware-in-the-loop test routine or the test is referred to as a flardware-in-the-loop test.
  • the following test is also a flardware test of this type, but in this case, for example, the function parameter 41 is varied while the supply voltage UV is set permanently to a value Utest. If the parameter value Umin for the function parameter 41 is 13 V, the drives 17, 18 must be controllable.
  • a test method can provide that, for example, the parameter value for the function parameter 41 is initially set below, in particular significantly below, the supply voltage Utest, for example to 8V, and then increased.
  • the provision device 100 can successively specify larger function parameter values Um intest for the function parameter 41, for example initially 8V, 10V or the like, and then gradually, for example in 0.1 V steps, larger parameter values. This is also an incremental test or a change test. It can be seen that these tests are very complex and time-consuming, but on the other hand also ensure that the control device 30 functions reliably.
  • permissible parameter values for the function parameters 41, 43 are determined, which can then be specified, for example on the basis of the input data record 107.
  • the test devices 101 and 51 ensure that the parameter values specified via the input data record 107 are permissible, that is to say that they are parameters checked within the framework of the aforementioned tests.
  • a software test i.e. a test of the functional software modules 38, 39, has also advantageously already been carried out for at least one parameter value of a functional parameter, preferably all parameter values permissible for a functional parameter.
  • individual functions of the control program of the software module 38 for example functions for controlling the drive 17, are checked separately from the functions for controlling the drive 18.
  • current limits that may not be exceeded by the drive 17 or 18 are specified as functional parameters.
  • Software-side input variables are compared with software-side output variables and only if correct results are available, the respective software part or the sub-function of the software is released as checked.
  • Such a test is known as a software-in-the-loop test. It is also possible here for parameter values for the function parameters to be varied and, in this way, to ensure that the respective software part is able to work properly with the function parameter.
  • a control of the output means 44 can be specified. If, for example, the coupling arm 14 is driven between the use position G and the non-use position N by the coupling arm drive 18, the output means 44 provide information, for example an optical one and / or acoustic information.
  • the function parameter 42 for example, a lighting frequency of a light-emitting diode of the output means 44 can be set. In this context, too, it is advantageous to check the respective parameter value for the functional parameter 42. If the parameter value would, for example, specify a frequency that is too low for the light-emitting diode to flash, this parameter value is recognized by the test devices 51 and / or 101 as invalid.
  • frequencies can be selected from a frequency range as parameter values for the functional parameter 42, for which the control device 30 and / or the functional software module 38 is checked using a test like the aforementioned test.
  • parameter values for the respective frequency can be checked using a test in the manner of the test explained in connection with FIG. whether the output means 44 function properly with a respective frequency value for the function parameter, that is to say, for example, the optical or acoustic information is output correctly.
  • the bus communication on the data bus 85 can be influenced with the function parameter 43.
  • a software test of the functional software module 39, the communication program, in particular a check of parameter values of the functional parameter 43 in connection with the functional software module 39, is advantageous.
  • a parameter value for the function parameter 43 can be used to define whether a bus message 98, which contains speed information 99 from the motor vehicle 80, is received by the function software module 39 and transmitted to the function software module 38, or whether it is ignored or discarded by the function software module 39.
  • a test program 120 is provided which transfers various parameter values for the functional parameter 43 to the communication program or functional software module 39, see FIG. 6.A sub-function 39A of the functional software module 39 is connected to the bus interface 36 and operates the same .
  • the sub-function 39A forwards the speed information 99 or a speed value generated from it to a sub-function 39B, which transmits the speed information 99 or the speed value is transmitted to the functional software module 38.
  • the test checks whether the sub-function 39A does not pass the speed information 99 on to the sub-function 39B, as expected, or to the sub-function 39B passes on what is recognized as an error.
  • the aforementioned test checks the functional software module 39 as a whole. However, it is also possible for the test program 120 to only check the sub-function 39A, which is then checked in what is called an isolated test environment.
  • the sub-function 39A tested alone and in isolation must output the speed information 99 or a speed value generated from it as a transfer value or return value as a function of the set parameter value for the function parameter 43, with the transfer value or return value forming the input value for the sub-function 39B.
  • Control means 59 of the functional software module 38 for example a corresponding control function, the program code of which can be executed by the processor 33, are used to control the coupling arm drive 18.
  • the control unit 30 receives a switching command SA at one of the control inputs 57 to adjust the coupling arm 14 between the use position G and the non-use position N, it activates the drives 17, 18 accordingly and, for example, initially releases a fixation of the coupling arm 14 with the drive 17 and then pivots or adjusts the coupling arm 14 with the aid of the drive 18 in order to again control the fixing device 16 for fixing the coupling arm 14 after the adjustment movement has been reached in the respectively reached use position G or non-use position N.
  • This sequence of movements is indicated schematically in FIG. 3a.
  • the control unit 30 has obstacle detection means 58 in order to detect a strike of the coupling arm 14 on an obstacle.
  • the obstacle detection means 58 include, for example, a current measuring device, in particular a current sensor 56, as well as a movement signal input 55, e.g. at the interface 31, as well as a software function or sub-function of the control program 38, which evaluates information from the current sensor 56 and the information received at the movement signal input 55 in order to use it recognize whether the coupling arm 14 hits an obstacle or not.
  • a current measuring device in particular a current sensor 56
  • a movement signal input 55 e.g. at the interface 31, as well as a software function or sub-function of the control program 38, which evaluates information from the current sensor 56 and the information received at the movement signal input 55 in order to use it recognize whether the coupling arm 14 hits an obstacle or not.
  • the current sensor 56 and / or the movement signal input 55 and / or the movement sensor 23 form components of a sensor arrangement 24, which form part of the control device 30 with respect to the current sensor 56 of the movement signal input 55, and form part of the trailer coupling 10 with respect to the movement sensor 23 for example a measuring resistor.
  • the movement signal input 55 is designed to receive a movement signal BS from a movement sensor 23, for example a rotation sensor, in particular a Hall sensor, of the coupling arm drive 18.
  • the movement sensor 23 outputs, for example, a pulse signal which correlates with the rotary movement of the drive 18 and thus signals a respective position of the drive 18.
  • the control unit 30 receives the movement signal BS as a pulse sequence at the movement signal input 55. If, however, the coupling arm 14 can no longer move or rotate, for example strikes an obstacle, the signal level of the movement signal BS no longer changes.
  • the coupling arm 14 strikes the obstacle H1 (FIG. 3b)
  • a current flow through the coupling arm drive 18, for example its electric motor increases, which can be seen from the current sensor 56.
  • the movement signal BS shows that the drive 18 and thus the coupling arm 14 no longer move, that is to say that the coupling arm 14, for example, assumes an intermediate position Z1.
  • a corresponding software routine of the functional software module 38 which forms part of the control means 59 or the obstacle detection means 58, thus detects the standstill of the coupling arm 14.
  • control means 59 regularly or in normal operation control the coupling arm drive 18 in the sense of a movement of the Coupling arm 14 back into the starting position, in the present case in the direction of the non-use position N, from which the coupling arm 14 has been moved out according to FIGS. 3a, 3b. This is indicated in Figure 3c.
  • the control means leave the coupling arm 14 in the intermediate position Z2, so to speak.
  • the operator then has the opportunity, for example, to move the obstacle H2 out of the way.
  • a further control signal SA is required so that the control means 59 control the coupling arm drive 18 for further adjustment of the coupling arm 14 past the location of the obstacle H2.
  • control means 59 then continue to control the clutch arm drive 18 after a predetermined waiting time in the sense of overcoming the obstacle H2 and / or in the direction of the starting position, in this case the non-use position N, without a further control signal SA is required and / or is evaluated by the control means 59, similar to that indicated in FIG. 3c.
  • Another scenario provides that the control means 59 actuate the coupling arm 14 starting from the intermediate position Z2 (FIG. 3d) for a movement reversal again in the direction of the use position G, that is towards the obstacle H1.
  • control means 59 control the coupling arm drive 18 again to reverse the movement in the direction of the obstacle H2 or the non-use position N, so that the coupling arm 14 is moved away from the obstacle H1. It could be the case here again that the obstacle H2 is then no longer in the path of movement or the path of movement BB to the non-use position N, for example because an operator has moved his foot, which previously represented the obstacle H2, out of the path of movement BB of the coupling arm 14 removed.
  • a scenario is also possible in which the control means 59 control the coupling arm drive 18 for an oscillating movement OZ of the coupling arm 14 between the obstacles H1 and H2 (indicated in FIG. 3d). It is possible that this oscillating movement OZ is carried out several times, for example twice or three times, so that each of these movements represents, so to speak, an attempt to remove or overcome the obstacle H1 or H2 in the way. It is possible, for example, that the coupling arm 14 hits a relatively soft obstacle H1 or H2, for example a bush, a branch or the like, and this obstacle gives way, so to speak, when the coupling arm 14 tries several times to get past the obstacle.
  • a relatively soft obstacle H1 or H2 for example a bush, a branch or the like
  • Figures 3g-3h show schematically comparable movement sequences during the adjustment movement of the coupling arm 14 from the position of use G to the non-use position N.
  • the obstacle H2 is in the path of the coupling arm 14 and the control means 59 is the coupling arm drive 18 for a movement reversal in the direction of the position of use G back.
  • the coupling arm 14 is moved back into the position of use G and does not remain in an intermediate position.
  • the control means 59 in the situation according to FIG. 3g leave the coupling arm 14, so to speak, for a predetermined waiting time, that is to say switch off the coupling arm drive 18 for a predetermined time, for example a few seconds.
  • the control means 59 then make another attempt, so to speak, to move the coupling arm 14 into the non-use position N, that is to say, for example, continue to control the coupling arm drive 18 in the sense of a movement in the direction of the non-use position N.
  • FIG. 3h shows a similar scenario to FIG. 3d, namely that the coupling arm 14 strikes an obstacle H4 on the path of movement or the path of movement BB from the position of use G to the position of non-use N and assumes an intermediate position Z4, which the obstacle detection means 58 recognize.
  • the control means 59 then control the coupling arm drive 18 to reverse the movement in the direction of the position of use G, but where there is in the meantime another obstacle, for example an obstacle H3, so that the coupling arm 14 can only be moved to an intermediate position Z3 and at the obstacle H3 strikes.
  • control means 59 it is possible for the control means 59 to control the coupling arm drive 18 to reverse its movement, so that it moves the coupling arm 14 in the direction of the non-use position N starting from the intermediate position Z3.
  • the coupling arm 14 reaches this non-use position N when there is no obstacle H4 in its path of movement. Otherwise, the control means 59 control the coupling arm drive 18 again to reverse the movement in the direction of the position of use G.
  • An oscillatory movement OZ is therefore also present here.
  • the number of such oscillation movements OZ can, for example, be adjustable.
  • control means 59 control the coupling arm drive 18 in the event of an obstacle, for example whether there is a waiting time before In an attempt to overcome the obstacle, it is observed whether the coupling arm 14 is regularly actuated in the event of an obstacle to reverse the movement in the direction of the starting position or only for a short movement away from the obstacle. This list is not exhaustive and complete.
  • the obstacle detection means 58 evaluate the current values of the current sensor 56 as a function of the supply voltage UV. When the supply voltage UV is low, a higher current flows to operate the clutch arm drive 18 than when the supply voltage UV is higher. It is therefore advantageous if the
  • Obstacle detection means 58 are designed for a dynamic evaluation of the current values of the current sensor 56.
  • control means 59 do not analyze current values for a predetermined, in particular very short, period of time when the clutch arm drive 18 starts running, so that the breakaway torques necessary for starting can be applied. For example, it does not matter for a period of a few 100 ms which current flows through the coupling arm drive 18 when the coupling arm 14 is moved out of the use position G or the non-use position N. It is also possible that different directions of movement of the
  • Coupling arm and / or different sections of the path of movement BB of the coupling arm between the use position and the non-use position are assigned different maximum current values for obstacle detection. So two or more movement sections BB1, BB2 of the
  • Movement path BB of the coupling arm 14 can be assigned different current limit values Imaxl and Imax2, in which the obstacle detection means 58 detect the impact of the coupling arm 14 on an obstacle.
  • the movement section BB1 is essentially in a free one Area in front of the bumper 84 (behind the motor vehicle 80), the movement section BB2, however, essentially in the area between the body 81 and the bumper 84.
  • the obstacle detection means 58 are preferably more sensitive on the movement section BB1, e.g. because in this free area of the movement path BB the Probability of an obstacle is greater. Accordingly, the current limit value Imaxl is smaller than the current limit value Imax2.
  • the current limit values can, for example, be stored in the memory 34 and / or provided by the provision device 100 as parameter values for corresponding functional parameters which the obstacle detection means 58 evaluate.
  • factors can be stored as parameter values with which the corresponding current limit values can be calculated, for example as a function of the path covered by the coupling arm 14 along the movement path BB and / or as a function of the supply voltage UV and / or as a function of the direction of movement of the coupling arm 14 from the non-use position N to the use position G or vice versa from the use position G to the non-use position N.
  • Further influencing factors are, for example, the weight of the coupling arm 14 or mechanical resistance of a drive of the coupling arm 14, for example a transmission
  • a respective current limit value can be dynamically determined.
  • control means 59 regularly control the drives 17, 18 for adjusting the coupling arm 14 into the respectively subsequent use position G or non-use position N. on, but only after a check of at least one state, preferably several states, in particular of motor vehicle 80.
  • the control device 30 has status signal inputs 52, 53, 54 and 60 for detecting the status of the motor vehicle 80.
  • the status signal 96 is present at the status signal inputs 52 and 53, which signals the operational readiness of the motor vehicle 80, for example whether its ignition for the engine 82 is switched on or the like.
  • the status signal 96 thus forms an operational readiness signal.
  • a status signal 97 is present at the status signal input 54, which signals the driving speed of the motor vehicle 80 and is therefore a speed signal.
  • a status signal 95 is present at the status signal input 60, which is an opening signal which signals an open position or a closed position of a body closure element of the motor vehicle 80, for example a tailgate 89 of the same.
  • the movement signal input 55 can also be a status signal input and / or be assigned to the validation device 61. If the movement signal BS at the movement signal input 55 signals a movement of the coupling arm 14, but the signal from the current sensor 56 does not correlate with it, the validation device 61 can, for example, qualify the movement signal BS as an invalid or invalid signal.
  • the control means 59 check for the control command SA, before it and thus before the actuation of the drives 17, 18, the status signals 95-97. Only when, for example, the tailgate 89 is open, the status signal 96 signals that the ignition of the motor vehicle 80 is off or the motor vehicle 80 is in any case not ready for operation and the status signal 97 also signals that the motor vehicle 80 is stationary or not more than a predetermined one If the maximum speed is traveling, the control means 59 enable the actuation of the drive 17 and / or 18.
  • the control means 59 thus perform a logical combination, for example, of the state signals 95 and 96, preferably several or all of the state signals 95-97, in order to control the Enable drive 17 and / or 18. Otherwise, the control means 59 block such activation.
  • the aforementioned status signals are exemplary, i. H. that a check, for example, only the status signal 96 may be sufficient or that further statuses are checked by the control means 59, for example the speed information 99 of the bus message 98 is evaluated in order to determine that the motor vehicle 80 is stationary.
  • the status signal 96 typically has the value logic zero and / or its voltage is approximately zero volts. However, when the ignition is switched on and / or the motor vehicle 80 is basically ready to drive, the status signal 96 has a predetermined minimum value or signal level, for example logic 1 or a corresponding analog value, in particular a voltage value.
  • the status signal 96 also has the value of logic zero or no signal level or only a low signal level when an electrical line providing the status signal 96 and connected to the control unit 30 is interrupted.
  • the control device 30 then erroneously assumes, so to speak, that the motor vehicle 80 is not ready to drive. In this situation, the control means 59 could enable activation of the drives 17 and / or 18, even if the motor vehicle 80 is actually ready for operation and is driving.
  • a validation device 61 provides a remedy here.
  • the validation device 61 comprises, for example, program code of the functional software module 38 and / or a partial function of the functional software module 38, e.g. a validation function 62.
  • the validation device 61 comprises, for example, the status signal inputs 52-54 and 60.
  • the status signal inputs 52-54 and 60 are provided or, for example, on the processor 33 and / or an analog-digital converter (not shown) of the control device 30 like that.
  • the processor 33 can also have an analog / digital converter, for example at the status signal input 52.
  • the status signal input 53 is a digital input of the processor 33.
  • the status signal 96 is redundantly applied to both status signal inputs 52, 53. Only if the same input value or input values that correlate with one another can be determined for the status signal 96 at both status signal inputs 52, 53 is the status signal 96 generally recognized as valid.
  • the motor vehicle 80 is typically moved at least from time to time, at least typically more frequently than the trailer coupling 10 is adjusted between the use position G and the non-use position N.
  • the processor 33 executes program code of the validation function 62 of the validation device 61.
  • the validation function 62 reads in, for example, the respective signal values at the status signal inputs 52, 53 and checks whether these correlate with one another. It is possible, for example, for the validation function 62 to be woken up by the processor 33 or an operating system 64 of the control unit 30 whenever the status signal 96 changes, and / or after a predetermined time, so to speak, and to carry out step 601.
  • the validation function 62 checks whether the signal values of the status signal 96 have changed between a previous reading in of the state signal inputs 52, 53 and the current reading of the same, that is, for example, have changed from logic zero to logic 1. If this is the case, the validation function 62 runs through a transition 603 up to a step 604 in which a validation value VAL is incremented or set to a fixed value, for example a value greater than 1.
  • step 604 the validation function 62 proceeds in a transition
  • step 605 goes back to step 601, so reads the status signal inputs 52, 53 again or waits for it again from the processor 33 or the operating system
  • step 606 to step 601 takes place without changing the validation value VAL.
  • the control means 59 decrement the validation value VAL every time they control the drives 17, 18 for adjusting the coupling arm 14 from the use position G to the non-use position N or vice versa.
  • control means 59 not only check, as already mentioned above, the status signals 95-97 before a respective activation of the drives 17, 18, but also check whether the validation value VAL is greater than 0. This is because it is then ensured that the status signal 96 is a valid status signal, ie that there is no cable break, for example. If, however, the validation value VAL is equal to 0 when the drives 17, 18 are to be actuated, the control device 30 outputs a warning message, for example at the output means 44, in particular the lighting means 44A. From this, the operator recognizes that he has to switch the motor vehicle 80 to ready for operation at least once, i.e.
  • the above routine represents a kind of backlash protection or a protection against incorrect operation or unintentional multiple operation. Namely, if the operator, after switching on and then switching off the operational readiness of the motor vehicle 80, controls the control device 30 several times to adjust the coupling arm 14, i.e. the drives 17, 18 is activated the validation value VAL is reduced in each case, ie the number of options for activating the drives 17, 18 decreases with each operating action or each time the switching command SA is given.
  • the validation value VAL is set to a value 10 by the validation function 62 when the state signal 96 changes. Then he has to switch the operational readiness of the motor vehicle 80 on and off at least once by actuating an ignition of the motor vehicle 80, for example. This prevents incorrect operation, that is to say that, for example, the drives 17, 18 cannot be overheated by too frequent switching sequences.
  • the status signal 97 for the driving speed of the motor vehicle 80 can also be subjected to a validation.
  • the status signal 96 is an analog signal, the voltage level and / or voltage frequency or switching frequency of which represents a driving speed of the motor vehicle 80.
  • the status signal 97 must change, for example, within a predetermined time when the status signal 96 signals that the motor vehicle is ready for operation, so that it is recognized as a valid signal by the validation device 61.
  • the validation device 61 It is also possible for the validation device 61 to carry out a plausibility check.
  • control device 30 it is advantageously possible for the control device 30 to have a movement sensor 63, for example. If the movement sensor 63 reports a movement of the motor vehicle 80, but at the same time the status signal 97 signals the standstill of the motor vehicle 80, the status signal 97 is not valid or valid.
  • the validation device 61 can also use the speed information 99 to recognize whether the status signal 96 is valid. If the state signal 96 is, for example, logic zero, that is, signals that the motor vehicle 80 is not ready for operation or is switched off, but at the same time the speed information 99 indicates a driving speed significantly greater than 0, the state signal 96 is not valid or valid. Such a plausibility check can for example be carried out cyclically by the validation device 61.
  • the invention thus relates to a control device for a trailer coupling provided for a motor vehicle, which has a coupling arm, at one end region of which a coupling body, in particular a coupling ball for attaching a trailer or coupling a load carrier to the motor vehicle, is arranged, the control device having a memory in which a functional software module and a parameter set with at least one functional parameter for the functional software module are stored, a processor for executing the program code of the functional software module and an interface for connecting an electrical functional component, in particular a drive and / or a trailer socket and / or a sensor that has a trailer coupling , wherein the control device executes at least one function when executing the program code of the functional software module using the parameter set, the at least one function being a control function and / or Erf Assembling function and / or communication function, in particular via the interface in cooperation with the electrical functional component of the trailer coupling includes. At least one test device is provided for checking whether the at least one functional parameter has a parameter value that

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Programmable Controllers (AREA)

Abstract

L'invention concerne une unité de commande pour un dispositif d'attelage de remorque (10) mis en œuvre pour un véhicule automobile (80), le dispositif d'attelage de remorque ayant un bras d'attelage (14) sur la région d'extrémité duquel se trouve un corps d'attelage (15A), en particulier une boule d'attelage (15), servant à des fins d'attache d'une remorque (180) ou d'attelage d'un support de charge au véhicule à moteur (80), l'unité de commande (30) ayant une mémoire (34) dans laquelle un module logiciel fonctionnel (38, 39) et un ensemble de paramètres (40) avec au moins un paramètre fonctionnel (41-43) pour le module logiciel fonctionnel (38, 39) sont stockés, un processeur (33) servant à exécuter un code de programme du module logiciel fonctionnel (38, 39), et une interface servant à connecter un composant fonctionnel électrique (22), en particulier un entraînement (17, 18) et/ou une rotule de remorque (19) et/ou un capteur, du dispositif d'attelage de remorque (10), l'unité de commande exécutant au moins une fonction quand le code de programme du module logiciel fonctionnel (38, 39) est exécuté en utilisant l'ensemble de paramètres (40), ladite au moins une fonction comprenant une fonction d'actionnement et/ou une fonction de détection et/ou une fonction de communication, en particulier par le biais de l'interface en coopération avec le composant fonctionnel électrique (22) du dispositif d'attelage de remorque (10). Au moins un dispositif de test (51, 101) est mis en œuvre pour vérifier si ledit au moins un paramètre fonctionnel (41-43) présente une valeur de paramètre admissible pour le module logiciel fonctionnel (38, 39).
EP20761220.1A 2019-09-06 2020-08-21 Unité de commande paramétrable pour un dispositif d'attelage de remorque Pending EP4025439A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102019124025 2019-09-06
DE102019133791.7A DE102019133791A1 (de) 2019-09-06 2019-12-10 Parametrierbares Steuergerät für eine Anhängekupplung
PCT/EP2020/073545 WO2021043603A1 (fr) 2019-09-06 2020-08-21 Unité de commande paramétrable pour un dispositif d'attelage de remorque

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EP4025439A1 true EP4025439A1 (fr) 2022-07-13

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EP (1) EP4025439A1 (fr)
DE (1) DE102019133791A1 (fr)
WO (1) WO2021043603A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102020132561A1 (de) 2020-12-08 2022-06-09 Audi Aktiengesellschaft Kraftfahrzeug, umfassend eine Anhängerkupplung und einen Aktor zur Bewegung einer Kupplungskomponente
CN114084084B (zh) * 2021-11-17 2023-12-26 一汽解放汽车有限公司 挂车连接状态判断方法、装置计算机设备和存储介质

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3617426C1 (en) * 1986-05-23 1987-09-10 Audi Ag Hitching (coupling) device
EP2589504B2 (fr) * 2011-11-03 2021-03-10 WESTFALIA - Automotive GmbH Attelage doté d'un dispositif d'évaluation
DE102011120649A1 (de) * 2011-12-09 2013-06-13 Westfalia-Automotive Gmbh Steuergerät für eine Anhängekupplung und damit ausgestattete Anhängekupplung
EP2862732B2 (fr) * 2013-10-18 2021-10-06 ConWys AG Module de commande
DE102014000859B4 (de) * 2014-01-15 2020-03-12 Audi Ag Anhängerkupplung, Kraftfahrzeug mit einer derartigen Anhängerkupplung und zugehöriges Betriebsverfahren
DE102014002677A1 (de) * 2014-02-28 2015-09-03 Westfalia-Automotive Gmbh Anhängekupplung mit einer Auswerteeinrichtung, Auswerteeinrichtung und Auswerteverfahren
DE102014219151A1 (de) * 2014-09-23 2016-03-24 Zf Friedrichshafen Ag Verfahren zur Betätigung einer Anhängerkupplung und Anhängerkupplung
DE102015204902A1 (de) * 2015-03-18 2016-09-22 Zf Friedrichshafen Ag Kugelschwenkmodul und Verfahren zum Betreiben eines Kugelschwenkmoduls
DE102016221695A1 (de) * 2016-11-04 2018-05-09 Audi Ag Steuereinrichtung für ein Kraftfahrzeug, Kraftfahrzeug und Gespann
DE102017221972A1 (de) * 2017-12-05 2019-06-06 Continental Automotive Gmbh Verfahren zur Anpassung eines Fahrzeugregelsystems

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WO2021043603A1 (fr) 2021-03-11

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