WO2006045455A1

WO2006045455A1 - Method for positioning a tractor vehicle relative to a trailer or an exchangeable body

Info

Publication number: WO2006045455A1
Application number: PCT/EP2005/011070
Authority: WO
Inventors: Jens Hamester; Michael Kokes; Bernd Oeffinger; Sascha Paasche; Andreas Schwarzhaupt; Gernot Spiegelberg; Wolfgang Stahl
Original assignee: Daimlerchrysler Ag
Priority date: 2004-10-23
Filing date: 2005-10-14
Publication date: 2006-05-04
Also published as: DE102004051760A1

Abstract

The invention relates to a method for positioning a vehicle (1) relative to a first vehicle component (2), in particular, to a semi-trailer or an exchangeable body, whereby the first vehicle piece (2) is parked, with the vehicle (1) stationary, a support device (8) is brought into a supporting position and a coupling between vehicle (1) and the first vehicle piece (2) is detached. After parking the first vehicle piece (2) the vehicle (1) automatically drives a given distance (x) forwards.

Description

Method for positioning a tractor to a trailer or a swap body

The invention relates to a method for positioning a vehicle relative to a first vehicle part, in particular to a semitrailer or a swap body, in which the first vehicle part is turned off by a support device is brought into a supporting position when the vehicle is stationary and a coupling between the vehicle and the first vehicle part is solved.

It is known to decouple tractor from a semi-trailer or a swap body to relieve the tractor in the parked state. This takes place, for example, for the driver over night. The tractor is decoupled from the semi-trailer or from the swap body and driven by the Fatxrer a bit to the front. The track, which is driven forward, is at the discretion of the driver. The length should not be too short in order to ensure decoupling of the tractor from the semi-trailer or interchangeable container. On the other hand, the distance should not be too long, so as not to unnecessarily complicate the resumption of the semitrailer or the swap body.

Object of the present invention is therefore a _r Ver¬ drive provide, with the relatively to the towing vehicle Söttelauflieger resp. Change container can be positioned.

This object is achieved by a method of the type mentioned above, in which after stopping the first part of the vehicle, the vehicle is automatically moved forward by a predefinable path. The specifiable distance is i d such that the above requirements are met sirxd. It can be set at the factory or, for example, set by the driver depending on the vehicle part.

It is conceivable that the parking of the first vehicle part and the positioning of the vehicle take place completely automatically. It is conceivable that the driver simply actuates an actuating element and thus initiates the parking of the first vehicle part and positioning of the vehicle relative to the first vehicle part. The driver then has to perform no further action when an error occurs. The vehicle is automatically positioned relative to the first vehicle part.

The coupling between the vehicle and the first vehicle part to be released in the case of a tractor-trailer is, for example, in a fifth-wheel coupling which can be opened and closed automatically by electronic control. Farther. Such a fifth wheel preferably contains a possibility for the automatic connection and disconnection of the air ducts. In the process, these connections are for example coupled and decoupled by a connector integrated in the kingpin. In the case of a swap body, for example, the coupling involves so-called "" lock locks ", which can be automatically unlocked, meaning that the driver does not have to leave the vehicle to park the first vehicle spare part. If the vehicle is an autonomously driving vehicle, ie a driverless vehicle, the start command for carrying out the method can be given in a different way instead of by an actuation element, for example when a predetermined event occurs ,

Preferably, as support means automatically extendable and retractable or off and einkilappbare support legs are provided.

In an advantageous variant of the method it can be provided that at least your rear axle area of the vehicle is raised before the support device is brought into the supporting position. This means that the first Fahrzeug¬ part is also raised and thus the support means can be brought completely into the supporting position. The movement of the support device into the supporting position can be monitored and. the method for positioning a vehicle relative to. A first vehicle part can be broken off if it is recognized that the support device was not properly placed in the position supporting it or could be moved. If a swap body with a container is to be disposed of as the first vehicle part, the level of the entire vehicle can be raised.

Preferably, it is checked before releasing the coupling, whether the parking brake of the vehicle is engaged and if this is not the case, the parking brake is automatically inserted or an indication to the driver is given. The automatic Ein¬ the parking brake is particularly simple when it comes to an electronic parking brake. In the case of a non-electronic parking brake, an indication to the driver may be given become. For safety reasons, the parking brake should always be engaged.

The load of the vehicle, which should be turned off, can be reduced if it is lowered to its normal level after it has traveled the predeterminable distance to the front. It is also conceivable to lower the vehicle after releasing the coupling before it zurück¬ the predetermined distance zu¬.

Preferably, the parking brake of the vehicle, after it has driven the predeterminable distance to the front, inserted. Thus, the safety requirements for parking the vehicle in a particular position relative to the vehicle "part are met.

It is also preferred if -before the release of the coupling is checked whether the parking brake e of the first vehicle part is inserted. Marriage of the vehicle after the prescribable distance. For safety reasons, the parking brake of the first vehicle part should be engaged.

In a variant of the method, it can be provided that at least the forward-facing environment of the vehicle is detected and the vehicle is braked when it is detected on the basis of the environmental detection that a collision with an object is to be expected. With this measure accidents can be avoided. Above all, if the predeterminable route is automated and not performed by an action of the driver, it is advantageous to detect the environment in order to be able to react to any objects.

If the first vehicle part to be parked is a swap body and another second vehicle part is attached to the vehicle. is hanged, so it may come to a KolILision of the first and second vehicle part, when the vehicle drives together with the second vehicle part the vorgebbsre route to the front. Therefore, it is advantageous for the distance between the parked vehicle part and the second vehicle part attached to the vehicle to be monitored and for the vehicle to be automatically braked at a distance below a predeterminable threshold shaft and / or a warning to the driver output becomes. Due to the warning, the driver can react and initiate a braking of the vehicle. Thereby, a collision of the second vehicle part with the first vehicle part can be prevented.

Alternatively or additionally, it can be checked whether the predeterminable distance is greater than the distance between the first and second vehicle parts. If this is detected, the second vehicle part can also be turned off in order to prevent a collision of the second vehicle part with the first vehicle part.

Furthermore, if it is detected that the specifiable Stre¬ bridge is greater than the distance between the first and the second vehicle part, a Koppeleinirichtung between the vehicle and the second vehicle part can be solved. In particular, an automatically opening and closing trailer coupling can be opened. By drlese measure collision of the second vehicle part with the first Fahrzeug¬ part can be prevented.

It is particularly preferred, as already mentioned above, if the method steps for positioning a vehicle are carried out in an automated manner relative to a first vehicle part after the actuation of an actuating element. Preferably, after further actuation of the actuation element, the first vehicle part is also automatically picked up again by the vehicle and coupled with it, ie, it is locked. The method steps for parking the first vehicle part and positioning the vehicle relative to the first vehicle part are preferably carried out in reverse order. This means that the vehicle is raised at least in the rear axle area, the vehicle retracts the presettable distance, the support device is retracted and the first vehicle part is automatically locked with the vehicle. Subsequently, the Fabirzeug can be lowered back to its normal Fahr¬ level. If a swap body is parked or taken up, it is advantageous to raise or lower the level of the entire vehicle.

In order to prevent persons or objects from being damaged when resuming the first vehicle part, provision can be made for monitoring the rear surroundings of the vehicle and / or the last vehicle part. Collisions with objects or persons behind the last vehicle part can be prevented when driving back.

The object is also achieved by a device for positioning a vehicle relative to a first vehicle part, in particular. a semi-trailer or a swap body, with a control device which controls a Stütz¬ device and a coupling. After the first vehicle part has been switched off, the control device controls a drive train in such a way that the vehicle drives forward a predeterminable distance. With such a device, a driving tool can be parked in a predeterminable position in front of the first vehicle part. Thus, the vehicle can be parked for a long time, without damage to take that. In particular, it can, as long as it is turned off, be relieved.

It is particularly preferred if the control device is in communication with an actuating element. This makes it possible to automatically run the positioning of the vehicle controlled by the Steuerein¬ direction. The driver must give only a start command by activating the actuator.

Preferably, the control device is provided with a distance detection device for monitoring the distance between the first and a second. Vehicle part and a Fahrer¬ warning device and / or a brake system in conjunction. The distance detection device can be designed, in particular, as a measuring device, which can be attached to the lower edge of the vehicle, in particular at the very rear of the frame of the vehicle. Before a warning is issued by the driver warning device, the driver can be informed of the distance between the first and second vehicle parts.

Preferably, the control device communicates with ambient sensors. The environment detection can be done by video camera uncü / or ultrasound and / or radar. If an obstacle is detected when driving the vehicle forward by the predeterminable distance, the vehicle can be braked automatically, so that there is no collision with the detected object. In particular, the control device can therefore be coupled to an emergency brake system. Such is often present in autonomous vehicles without hin¬ out. Advantageously, a reverse drive assist system is provided in order to be able to ensure a straight retraction of the vehicle. This ensures that, when receiving a replacement container, in particular, with a swap body, the towing vehicle can be positioned correctly underneath the swap body.

Further features and advantages of the invention will become apparent from the following description of exemplary embodiments of the invention, with reference to the figures of the drawing, the essential details of the invention show, and from the claims. The individual features can each be implemented individually or in combination in any combination in a variant of the invention.

A Ausführungsbei.spiel is shown in the schematic drawing and is erläu¬ tert in the following description. Showing:

Figure Ia is a schevmatische representation of a tractor with a semi-trailer, which are interconnected.

Fig. Ib the tractor and the semi-trailer of Fig. Ia, wherein the "semitrailer is parked;

2a shows a vehicle with a swap body and an An¬ trailer.

2b shows the vehicle of Figure 2a, in which the swap body is turned off.

3 shows a flow chart for illustrating the sequence of the method according to the invention;

4 ^'shows a schematic representation of a device for; Positioning of a vehicle relative to a vehicle part. In the Fig. Ia is a trained as a tractor vehicle

1, which is coupled with a seat as a trailer ¬ formed first vehicle part 2. The coupling takes place via a saddle coupling 3 connected to the vehicle 1 and a kingpin 4 engaging therein. Between the vehicle 1 and the first vehicle part 2 and. between the rear wall of the cab 5 of the vehicle 1 and the Vor¬ derwand 6 of the vehicle part s 2 there is the distance D. If the vehicle 1 were parked with the first vehicle part 2 attached, the rear axle 7 of the vehicle 1 would be unnecessarily loaded.

According to FIG. Ib is the vehicle 1 relative to the vehicle part

2 positioned. The front part of the vehicle part 2 is supported by a supporting device 8 designed as support legs. The vehicle 1 is thereby relieved. The distance between the driver's cab 5 and the front wall 6 of the first vehicle part 2 is now D + x. The distance x is a predeterminable distance, which the vehicle 1 has moved out under the vehicle part 2 towards the front.

In the Fig. 2a, a vehicle 11 is shown on which a first vehicle part 12 designed as a swap body is set. The vehicle 11 would be loaded by the vehicle part 12 when the vehicle 11 is turned off. The distance between the driver's cab 3.5 and the front wall 16 of the vehicle part 12 is D. To the vehicle 11 a trained as Anhän¬ ger second vehicle part 13 is attached. The vehicle parts 12, 13 have the distance A to each other.

In the Fig. 2b, the vehicle 11 is shown in a relieved state. The second vehicle part 12 is supported by the support means 18. The vehicle 11 is forward by the predeterminable distance x under the vehicle part 12 weggefahren so that the distance between the Fahrerkabirae 15 and the second vehicle part 12 is now D + x. This means that the distance between the vehicle parts 12, 13 now has the smaller distance B, ie A - x.

In the flow chart of FIG. 3, a traversing procedure for a method for positioning a vehicle seat relative to a vehicle part is shown by way of example. After a start command, which can be given by the driver, it is checked at point 20 whether the parking brake of the vehicle is closed. If this is the case, then go to step 21. If the pairing brake is not closed, a branch is made to step 22, in which the parking brake is closed. Alternatively, a warning may be issued to the fuser.

In step 21, the level of the vehicle is raised, in particular the rear axle is raised above the air suspension for parking a semitrailer. To park a swap body, the entire vehicle is raised above the air suspension.

In step 23 it is checked whether the support legs of a support device are properly extended. If this is the case, step 24 is entered. If this is not the case, then in step 25 the support legs of the support inlet direction are lowered.

In step 24, a coupling between the vehicle and the first vehicle part is achieved. When a satellite trailer is parked, the fifth wheel is automatically opened _ When a bridle bridge is closed, the "twist locJ-cs" are opened, followed by the parking brake of the vehicle being disengaged in step 26. In step 27, a forward gear is engaged. sets and in step 28, the vehicle is automatically driven by e to a specifiable Streckie x forward. Subsequently, the parking brake of the vehicle is engaged in step 29 and lowered in step 30, the vehicle to its normal level. Steps 26-30 may be manually controlled or automated by the driver.

Preferably, all shown in FIG. Process steps fully automated after the driver has given a start command. When loosening the fifth wheel coupling in step 24, all connections are made. , i. e. Electrical and. Hydraulic connections, also solved.

FIG. 4 schematically shows a device 40 for positioning a vehicle relative to a vehicle part. In the vehicle, a control device 41 is arranged. The control device 41 is connected to an actuating device 42, which is designed as a switch in the exemplary embodiment. By a first actuation of the actuation device 43, a plurality of method steps for parking a first vehicle part and for positioning the vehicle relative to the first vehicle part can be initiated. By a second actuation of the actuation device 42, method steps for moving the vehicle under the first vehicle part into a receiving position and for recording the first vehicle part on the vehicle can be triggered. The control device 41 is furthermore connected to a brake system 43, wherein the brake system 43 may comprise a parking brake or parking brake 44 and the service brake 45. In this case, the control device 41 can communicate with the parking brake 44 at least in order to attract it to the one hand and to check on the other hand whether it is tightened. In addition, the service brake 45 can be actuated, nrxn automatically when a given event occurs. ne braking of the vehicle, in particular emergency braking to make.

Furthermore, the control device 41 is connected to a level-setting device 46, which in the exemplary embodiment is part of the air-suspension system. With the level adjustment device 46, the rear axle area of the vehicle can be raised and lowered by the staging device 41. A sensor, which is not shown, and which also communicates with the control device 41, monitors the level setting device 46. In particular, the sensor can give a signal to the control device 41 if a certain level has been set by the level setting device 46 of the vehicle part e permits. The control device 41 also communicates with a coupling 47, which is formed in the embodiment as a fifth wheel coupling. A sensor k arranged on the coupling 47 informs the control device 41 as to whether the coupling is open or closed.

The control device 41 furthermore communicates with a support device 48. This is provided on the vehicle part which is to be disposed of. If the vehicle has been raised to a predetermined level, the control device 41 can actuate the support device 48 in order to lower the support device, so that the vehicle part is supported by the support device 48. If the support device 48 reports to the control device 41 that the support device has been lowered properly, the coupling 47 can be released and, after successful release of the coupling 47, the drive train 49 can be actuated by the control device 41. This means that a forward gear is automatically engaged and the vehicle is automatically driven forward for a predefinable distance x. It is In part, if power-detecting sensor system 50 is provided, which monitors the area ahead of the vehicle in the direction of travel. If it is thereby recognized that the vehicle would be idling with the distance x with an obstacle, then a warning to the driver can be issued either via a warning device 51 so that it can intervene with a braking intervention or it can the brake system 43, in particular the service brake 45, can be automatically triggered directly, UTTI braking the vehicle and avoiding a collision.

Furthermore, a distance detection device 52 can be provided, which monitors the distance between the first vehicle part and a second vehicle part. If, in this case, it is known that a collision of the first and second vehicle parts is to be feared, a driver warning can be issued either via the warning device 51 or the brake system 43 can be activated. Alternatively, the control device 41 can be connected to a coupling device 53, which couples the vehicle to the second vehicle part, and, in order to avoid a collision, the IC device 53 can be released. In this case, it is again possible to provide sensors that mediate to the control device 41 whether the coupling device 53 is completely released.

The sensors in the coupling 47 and coupling device 53 can furthermore be used to sense. whether coupling of the vehicle parts is properly completed and forward movement of the vehicle together with the vehicle part or the vehicle parts is possible.

To avoid accidents when docking, it is preferable if an environment includes sensors 54 for detecting the rear portion of the vehicle or the environment behind the vehicle Vehicle part is seen from bad. Errors recognized by the control unit 41 when parking or picking up the folded part can be communicated to the driver via the warning device 51.

Claims

claims

A method for positioning a vehicle (1, 11) relative to a first vehicle part (2, 12), in particular to a semi-trailer or a swap body, in which the first vehicle part (2, 12) is parked by when the vehicle is stationary (1, 11), a support drive (8, 18, 48) is brought into a supporting position and a coupling (47) between the vehicle (1, 11) and the first drive component (2, 12) is solved, characterized in that after stopping the first vehicle part (2, 12), the vehicle (1, 11) is automatically driven by a pre-given Stre¬ bridge (x) to the front.

2. The method according to claim 1, characterized in that before the introduction of the support means "(8, 18, 48) in the supporting position at least the rear axle of the vehicle (1, 11) is raised.

3. The method according to any one of the preceding claims, characterized in that before the release of the coupling (47) is checked whether the Parkt> remse (44) of the vehicle (1, 11) is inserted and if this is not the case Parking brake (44) is automatically inserted or a note to the driver w_Lrd.

4. The method according to any one of the preceding claims, characterized in that the vehicle (1, 11) is lowered to its Normalnivea.u, nacridem it drove the predetermined distance (x) to the front ± .st.

5. The method according to any one of the preceding claims, characterized in that the parking brake (44) of the vehicle (1, 11>, after it is the predeterminable distance (x) moved forward, is inserted.

6. The method according to any one of the preceding claims, characterized in that before eggs release the coupling (47) is checked whether the Parkbiremse the first vehicle part (2, 12) is inserted.

7. The method according to any one of the preceding claims, characterized in that at least the forward-facing environment of the vehicle is detected and the vehicle (1, 11) is braked when it is explained due to the environmental detection that a collision with an object to is expected.

8. Method according to claim 1, characterized in that the distance between the parked first vehicle part (2, 12) and a second vehicle part (13) attached to the vehicle (11) is monitored and at a vehicle part Distance below a predefinable threshold Vehicle (1, 11) is automatically braked uncü / or a warning is issued to the driver.

9. ^' Method according to one of the preceding claims, characterized in that it is checked whether the predetermined distance (x) is greater than the distance between the first and second Fahr¬ convincing part (2, 12, 13) and in this case also clas second vehicle part (13) is turned off.

10. The method according to any one of the preceding claims, characterized in that it is checked whether the predetermined distance (x) is greater than the distance between the first and second Fahr¬ convincing part (2, 12, 13) and in this case an ICoppelein- direction (53) between the vehicle (1, 11) and the zwei¬ th vehicle part (13) is released, in particular a au¬ automatically, opening and closing trailer hitch ge opens.

11. The method according to any one of the preceding claims, characterized in that the ^ rear environment of the vehicle (L, 11) and / or «of the last vehicle part (2, - 13) is monitored.

12. The method according to any one of the preceding claims, characterized in that the "process steps after actuation of a Be¬ actuating element (42) are carried out automatically.

13. Device for positioning a vehicle (1, 11) relative to a first vehicle part (2, 12), in particular to a semitrailer or a swap body, with a control device (41) which activates a support device (8 j 18, 48) and a coupling (47), characterized in that the control device (41) drives a drive (49) after the activation of the support device (8, 18, 48) for lowering the support device (8, 18, 48) and after the activation of the coupling (47) for releasing decentralized coupling (47) decentrally activates that the vehicle (1, 11) a vorgebba baeline (x) after drives in front.

14. The device according to claim 13, characterized in that the control device (41) with a Betätigungsele- Memt (42) is in communication.

15. Device according to claim 13 or 14, characterized in that the control device (41) is equipped with a standby ascending device (52) for monitoring the distance between a first and a second vehicle part IL (2, 12, 13) as well as a driver warning device (51) and / or a Biremsanlage (43) is in communication.

16. Device according to one of claims 13 to 15, since. characterized in that the control device (41) with environment-sensing sensors (50, 54) is in communication.

17. Device according to one of claims 13 to 16, characterized in da.ss a reverse drive assist system is provided.