JP3928628B2 - 車両用制御システム - Google Patents
車両用制御システム Download PDFInfo
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- JP3928628B2 JP3928628B2 JP2004148806A JP2004148806A JP3928628B2 JP 3928628 B2 JP3928628 B2 JP 3928628B2 JP 2004148806 A JP2004148806 A JP 2004148806A JP 2004148806 A JP2004148806 A JP 2004148806A JP 3928628 B2 JP3928628 B2 JP 3928628B2
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- Prior art keywords
- trailer
- steering angle
- vehicle
- alw
- soll
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- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
Description
2 牽引車両
3 トレーラ
4、7 操舵可能な車軸
5、6 操舵不可能な車軸
8 回転台
9 第1の垂直回転軸
10 車軸
11 トレーラ結合部
12 第2の垂直回転軸
13、19 トレーラ操舵角実際値センサ
14、15、17 長手方向(長手方向の軸)
16 軸角実際値センサ
18 第5輪
20 駆動伝達系
21 駆動アセンブリ
22 歯車機構
23 操舵装置
24 ブレーキシステム
25 懸架制御装置
26 操作制御装置
27 操作制御要素
2721 加速ペダル
2722 ギアシフト
2723 ステアリングホイール(牽引車両操舵角設定値センサ)
2724 ブレーキペダル
2725 制御要素
28 駆動伝達系バス
29 制御装置
30 後進装置
31 スイッチ
32 トレーラ操舵角設定値センサ
33 遠隔制御装置
34 送受信機構造
35、36 送受信機ユニット 37 経路検出装置
38 運転経路のマーク
39 地域
40 目的地
41 カメラ
42 目的地検出装置(光学経路検出装置)
43 後進カメラ
44 閉鎖された地域
45 第1の比較器
46 案内制御装置
47 第2の比較器
48 追従制御装置
49 監視装置
Claims (12)
- 牽引車両(2)とトレーラ(3)とからなる車両(1)用であって、
運転手の運転操作(FW)を取得して該運転操作(FW)から標準化された移動ベクトル(BV)を生成する操作制御装置(26)と、
該移動ベクトル(BV)から前記牽引車両(2)の制御を行う制御信号(SS)を生成する制御装置(29)と、
該制御信号(SS)により前記牽引車両(2)を作動させる、電子的に作動可能な駆動伝達系(20)、を有する車両用制御システムにおいて、
作動状態と非作動状態との間で切り換えられる後進装置(30)と、
運転者による前記トレーラの設定操舵角(ALW−SOLL)を取得するためのトレーラ用操舵角設定値センサ(32;27 23 )を設け、
前記トレーラ(3)の操舵可能な車軸(7)の実際の操舵角(ALW−IST)を検出するトレーラ用操舵角実際値センサ(13)を前記トレーラ(3)に設け、
取得された前記トレーラ設定操舵角(ALW−SOLL)と前記実際の操舵角(ALW−IST)とから、前記後進装置(30)が、前記移動ベクトル(BV)を修正して、前記トレーラの前記実際の操舵角(ALW−IST)を前記トレーラ設定操舵角(ALW−SOLL)に変更するための修正移動ベクトル(BV’)を決定し、
該修正移動ベクトル(BV’)によって前記牽引車両(2)が制御されることを特徴とする車両用制御システム。 - ステアリングホイール(2723)が設けられ、
前記後進装置(30)の非作動状態においては、該ステアリングホイールによって運転手による前記牽引車両の設定操舵角(ZLW−SOLL)を取得し、
前記後進装置(30)の作動状態においては、該ステアリングホイールによって運転手による前記トレーラ設定操舵角(ALW−SOLL)を取得し、前記現在の移動ベクトル(BV)から現在の前記牽引車両設定操舵角(ZLW−SOLL)を抽出し、そして代わりに、前記修正牽引車両設定操舵角(ZLW−SOLL’)を組み込むことによって修正された前記移動ベクトル(BV’)を生成する請求項1に記載の制御システム。 - 駆動伝達系バス(28)が設けられ、前記操作制御装置(26)、前記制御装置(29)、及び前記後進装置(30)が、前記駆動伝達系バスにより接続される請求項1あるいは2に記載の制御システム。
- 前記車両から遠隔にある遠隔制御装置(33)が設けられ、前記遠隔制御装置(33)が、前記運転者による運転操作(FW)を取得し、前記運転操作(FW)から前記移動ベクトル(BV)を生成し、
送受信機構造(34)が設けられ、該送受信機構造により、前記遠隔制御装置(33)が、前記操作制御装置(26)、前記後進装置(30)、及び前記制御装置(29)も連結された前記駆動伝達系バス(28)に接続され、
前記遠隔制御装置(33)にも、前記牽引車両操舵角設定値センサ(2723 )またはトレーラ操舵角設定値センサ(32)を設けたことを特徴とする請求項1〜3のいずれか一項に記載の制御システム。 - 前記トレーラ操舵角設定値センサが、作動状態において、前記牽引車両操舵角設定値センサ(2723)によって形成され、それにより、前記車両の前記運転者が、前記後進装置(30)の非作動状態において、現在の前記設定値牽引車両操舵角(ZLW−SOLL)を入力し、
前記後進装置が、作動状態において、前記牽引車両設定操舵角(ZLW−SOLL)を前記トレーラ設定操舵角(ALW−SOLL)として使用する請求項1〜4のいずれか一項に記載の制御システム。 - 前記駆動伝達系バス(28)が、少なくともスター接続である請求項3あるいは5に記載の制御システム。
- 前記トレーラ(3)が、車軸(10)と共に回転でき、操舵可能な車軸(7)を有する回転台(8)を有し、前記車軸(10)により前記牽引車両(2)のトレーラ結合部(11)に連結され、
トレーラ操舵角実際値センサ(13)が、前記トレーラ(3)の長手方向(14)と前記トレーラ(3)の長手方向(15)との間の角度(ALW−IST)を判断し、
前記車軸(10)の長手方向(15)と前記牽引車両(2)の長手方向(17)との間の車軸の実際の角度(DW−IST)を判断し、前記車軸の実際の角度(DW−IST)を伝達するために前記後進装置(30)に結合された軸角実際値センサ(16)が設けられ、
前記後進装置(30)が、最初に、前記トレーラの実際の操舵角(ALW−IST)と前記トレーラ設定操舵角(ALW−SOLL)とから車軸設定角(DW−SOLL)を決定し、次いで、前記車軸の実際の角度(DW−IST)と前記車軸設定角(DW−SOLL)とから前記修正牽引車両設定操舵角(ZLW−SOLL’)を決定するように具体化される請求項1〜6のいずれか一項に記載の制御システム。 - 前記後進装置(30)が、前記トレーラの実際の操舵角(ALW−IST)及び/又は前記車軸の実際の角度(DW−IST)から、前記車両(1)のための最大速度を連続的に判断し、
前記車両の速度が、この最大速度に制限される請求項1〜7のいずれか一項に記載の制御システム。 - 前記後進装置(30)は、前記トレーラの実際の操舵角(ALW−IST)及び/又は前記車軸の実際の角度(DW−IST)を監視し、最も許されるトレーラ操舵角又は軸角に到達した時に、前記車両(1)の制動を開始する請求項1〜9のいずれか一項に記載の制御システム。
- 前記車両(1)を目的地(40)に導くための運転経路のマーク(38)を検出する光学経路検出装置(37)が設けられ、前記車両(1)が後進して前記目的地(40)まで前記運転経路のマーク(38)に従うように、前記トレーラ設定操舵角(ALW−SOLL)が設定され、
前記経路検出装置(37)と、前記後進装置(30)と、前記操作制御装置(26)と、前記制御装置(29)とが連結された駆動伝達系バス(28)が設けられた請求項1〜9のいずれか一項に記載の制御システム。 - 前記車両(1)を目的地(40)に導くため、前記トレーラ設定操舵角(ALW−SOLL)を設定するための光学経路検出装置(42)を設けたことを特徴とする請求項1〜10のいずれか一項に記載の制御システム。
- 運転手による運転操作(FW)を取得して、移動ベクトル(BV)を生成し、該移動ベクトル(BV)から制御信号(SS)を生成し、駆動伝達系(20)が前記制御信号(SS)を処理することによって電子的に制御される牽引車両(2)とトレーラ(3)とからなる車両(1)を制御する方法において、
作動状態と非作動状態との間で切り換えられる後進装置(30)と、運転者による前記トレーラの設定操舵角(ALW−SOLL)を取得するためのトレーラ用操舵角設定値センサ(32;27 23 )と、記トレーラ(3)の操舵可能な車軸(7)の実際の操舵角(ALW−IST)を検出するトレーラ用操舵角実際値センサ(13)を設け、
取得された前記トレーラ設定操舵角(ALW−SOLL)と前記実際の操舵角(ALW−IST)とから、前記後進装置(30)が、前記移動ベクトル(BV)を修正して、前記トレーラの前記実際の操舵角(ALW−IST)を前記トレーラ設定操舵角(ALW−SOLL)に変更するための修正移動ベクトル(BV’)を決定し、
該修正移動ベクトル(BV’)によって前記牽引車両(2)を制御することを特徴とする車両(1)を制御する方法。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10322828A DE10322828B4 (de) | 2003-05-19 | 2003-05-19 | Steuerungssystem für ein Fahrzeug |
Publications (3)
Publication Number | Publication Date |
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JP2005001656A JP2005001656A (ja) | 2005-01-06 |
JP2005001656A5 JP2005001656A5 (ja) | 2007-03-01 |
JP3928628B2 true JP3928628B2 (ja) | 2007-06-13 |
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JP2004148806A Expired - Fee Related JP3928628B2 (ja) | 2003-05-19 | 2004-05-19 | 車両用制御システム |
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US (1) | US7225891B2 (ja) |
EP (1) | EP1486400A3 (ja) |
JP (1) | JP3928628B2 (ja) |
DE (1) | DE10322828B4 (ja) |
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US20050000738A1 (en) | 2005-01-06 |
JP2005001656A (ja) | 2005-01-06 |
EP1486400A3 (de) | 2005-04-06 |
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