WO2019063257A1

WO2019063257A1 - Situative force feedback for operating devices

Info

Publication number: WO2019063257A1
Application number: PCT/EP2018/073976
Authority: WO
Inventors: Ralf Beyer; Thorsten Frenzke; Falko Reuner; Alexander Viessmann
Original assignee: Siemens Mobility GmbH
Priority date: 2017-09-27
Filing date: 2018-09-06
Publication date: 2019-04-04
Also published as: CN213035838U; DE102017217226A1

Abstract

The invention relates to a control arrangement (10) for a vehicle (20). The control arrangement (10) comprises a control unit (12), which is designed to perform a control function on the basis of a control command (BDB), and an operating unit (11) for transmitting a control command (BDB) for an operating function by an operator to the control unit (12). The control unit (12) is also designed to determine a preferred working range (AB) of the operating unit (11) on the basis of at least one measurand (v, SD, U) influenced by a current driving situation and to adjust and/or restrict the operating function of the operating unit (11) to the determined preferred working range (AB). The preferred working range (AB) is displayed to the operator by a mechanical feedback. The invention also relates to a rail vehicle (20). The invention additionally relates to the control of a vehicle.

Description

description

Situational force feedback for operating devices The invention relates to a control device for a vehicle, preferably a rail vehicle. Furthermore, the invention relates to a rail vehicle. moreover

The invention relates to a method for controlling a vehicle, preferably a rail vehicle.

A goal in driving vehicles, in particular

Rail vehicles, is to control complex operations in the operation of vehicles optimized. This applies, for example, to driving and braking while at the same time adhering to traction, avoiding anti-skid measures, avoiding anti-skid measures, avoiding damage to the rolling stock, in particular the wheels, and minimizing the wear of the brake system, in particular with the aim of achieving low life. cycle costs and minimum energy consumption in gleichzeiti ^¬ ger keep to the timetable.

In vehicles driven by people, this optimum is difficult to achieve, because the human can only be visually integrated into the scheme. This is done by displaying information on a display. In addition, the human response is difficult to predict.

Furthermore, a visual indication results in a non-constant dead time in the control chain, which leads to the fact that the mentioned optimization goals can generally not be achieved in their entirety.

When operating controls of ships or

Aircraft in which the mechanics of operator panels are replaced by motors are given a simulated mechanical response to the operator, which corresponds to the mechanical feedback of the replaced control mechanism in the particular situation. It is therefore the task to achieve a more effective and safer control of vehicles and to adapt a driving operation of a vehicle to individual situations.

This object is achieved by a control device according to claim 1, a rail vehicle according to claim 7 and a method for controlling a vehicle according to patent ^claim 8.

The control device according to the invention comprises a

Control unit which is adapted to execute a control ^¬ tion function based on a control command, and an operating unit for transmitting a control command for an operating function by an operator to the control unit. For example, an operator unit may include an operator-operable cruise control, a brake pedal, an accelerator pedal, or other hand-operated or foot-operated control of a vehicle. The control unit is further to be rich ^¬ tet, based on at least one affected by a current Fahrsi ^¬ situation measured quantity, preferably to determine a preferred operating range of the operating unit and a plurality of influenced by a current driving situation measured variables, the operating function of the operating unit to the determined preferred workspace adjust and / or restrict. The presets for the setting or

Restriction of the work area can alternatively or additionally also be determined stationary and transmitted to the control unit. For example, a central stationary detection means can be used to monitor one or more vehicles and evaluate these associated monitoring data or measured variables and command data, which are used for setting or adjustment of the operating unit of the vehicle or vehicles on the control ^¬ unit of the vehicle or to transmit the control units of the individual vehicles. Setting the

Operating function on the preferred work area should be in In this context, not necessarily mean that this workspace can not be left by the operator, rather the operator should be informed about whether it is currently in the preferred work area or not. The preferred Arbeitsbe is indicated by a mechanical feedback to the operator ^¬ rich. The preferred work area may be, for example, a work area that is more suitable or even optimized in terms of energy efficiency, driving safety, maintenance load or schedule compliance. As a working area, a partial area of an entire available scale area used for operating the operating unit, which is covered or controlled by the operating unit, should be considered. The scale area or the working area can also be multi-dimensional. Advantageously, an adjustment or adjustment of the operating unit without the intervention of the operator. Also, the operator receives in the operation of the control unit directly a situational adjusted mechanical feedback, which gives her information about whether the control unit in the appropriate area, ie the preferred work area, is actuated or not. Advantageously, it is also possible to reduce a reaction time or a dead time of the reaction of the operator compared to an optical display, since the operator receives his feedback directly on the operating unit operated by him and not via the detour of an optical display. Advantageously, an operator, for example a vehicle driver, does not have to be specially trained, because the operating device behaves as in a corresponding purely mechanically controlled system and informs the driver of the situation by means of a mechanical feedback, as to whether the operating device or the functional unit triggered thereby in one currently suitable or even

optimal range is operated.

In the inventive method for controlling a

Vehicle becomes a preferred work area of a

Control unit based on a control unit determined at least one influenced by a current driving situation metric. There is still one

Setting and / or restricting the operating function of the operating unit on the determined preferred work area, the preferred working area by a

mechanical feedback is displayed to the operator. Furthermore, a control command for an operating function by an operator using the operating unit to the control unit in dependence on the mechanical

Send feedback, wherein the control command is preferably within the determined preferred work area. As mentioned, there may well be situations in which the operator provides the mechanical feedback

deliberately ignored or ignored, because it knows additional information that was not considered when setting the control panel to a preferred workspace. Finally, a control function is performed by the control unit based on the control command

executed. The method according to the invention for controlling a vehicle shares the advantages of the control device according to the invention.

The rail vehicle according to the invention has a fiction, ^¬ modern control device, the advantages of shares rail vehicle of the invention.

Some components of the control device according to the invention can be formed predominantly in the form of software components. This concerns in particular parts of the control unit and the control unit. Grundsätz ^¬ lich but these components may also partly, particularly when it comes to particularly quick calculations, in the form of software-supported hardware such as FPGAs or the like to be realized. Likewise, the required interfaces, for example, if it is only about a transfer of data from other software components, be designed as software interfaces. But you can also as be constructed hardware-based interfaces that are controlled by appropriate software.

A largely software-based implementation has the advantage that control systems already present for controlling a vehicle can also be retrofitted in a simple manner by a software update after a possible supplementation by additional hardware elements, such as measuring sensors, in order to work in the manner according to the invention , In this respect, the task is also by a corresponding

A computer program product with a computer program which can be loaded directly into a memory device of such a control system, with program sections in order to carry out all the steps of the method according to the invention when the computer program is executed in the control system.

Such a computer program ^product , in addition to the computer ^¬ program optionally additional components, such as documentation and / or additional components, including hardware components, such as hardware keys (dongles, etc.) for using the software

For transport to the storage device of a computer unit, for example a control device according to the invention and / or for storage on the computer unit can serve a computer-readable medium, such as a memory stick, a hard disk or other portable or permanently installed disk on which the readable and executable by a computer unit Programmabschnit ^¬ te the computer program are stored. The computing unit may include one or more cooperating microprocessors or the like. The dependent claims and the following description each contain particularly advantageous embodiments and further developments of the invention. In particular, the claims of a claim category may also be treated analogously to the pending claims of another category of claims and their description parts be further developed. In addition, in the context of the invention, the various features of different embodiments and claims can also be combined to form new embodiments.

In one embodiment of the control device according to the invention, the control function of the control unit comprises one of the following types of function:

- a braking function,

a function for controlling the speed of the

Vehicle.

Advantageously, the respective function to be controlled

in terms of certain criteria in a preferred

Work area are operated. For example, in rail vehicles, there are two different types of brakes, mechanical brakes and recuperation brakes for recovering electrical energy. The latter is intended to save energy, are used as often as possible and intense, while the mechanical brake only is to be used when the regenerative braking is inadequate or insufficient or no capacity in the network is available to store the Retired ^¬ wonnene energy , In order to provide the operator with the operation of the control unit information, whether the operation in a braking maneuver on the operation of Rekuperationsbremse energiegünstig limited or for the reasons mentioned additionally or even exclusively the mechanical brake must be used, the control unit is so set that a mechanical response of the control unit is carried out on leaving the said energiegünst ^¬ igen range, which is perceived by the operator wahrge ^¬ . The mechanical response can be realized for example by a detent position. For example, when leaving a situationally adapted work area, the operator senses a mechanical detent resistance which she has to overcome for leaving this working area. On the basis of this information, the operator can, if desired, the brake with the help of the control unit so

actuate that the braking process is as energy-efficient and material-friendly as possible, which has a positive effect on operating costs, maintenance requirements and the environment. Likewise, the speed of the vehicle may also have a particularly favorable range, in which the operation is particularly safe, economical, environmentally friendly or particularly efficient from other points of view. In this case as well, a mechanical response, for example a stiffness of a control element used to actuate the operating unit, can be generated by the control unit in the event that the preferred operating range is left. This response, in this case a stiffness of a control element of the operating unit, the operator as

Restricting an area or work area in which the control element should be operated. However, if due to overriding needs, for example, for safety reasons, exceeding the marked limit of the operation makes sense, the operator can do this at any time aware and thus can use the full ^{Betätigungsbe ¬} rich or work area of the control.

In a particularly practical variant of the control device according to the invention, the operating unit comprises an operating lever and the preferred operating range is one

Range of angular positions of the operating lever assigned. In this variant, the operator, when leaving the preferred working area by the already mentioned mechanical response, for example, a stiffness of the operating lever in a transition region of the angular position between the preferred working area and the rest

Operating area, indicated that it leaves the said favorable or preferred work area.

In a special variant of the invention

Control device, the preferred working range is a preferred operating point. For example, this one Operating point is a setting of the operating unit in a speed control, wherein at the speed which corresponds to the preferred operating point, the power consumption of the vehicle is the lowest. Advantageously, by adjusting the operating unit to the preferred operating point, a variable relevant to the operation of the vehicle can be optimized.

In one embodiment of the control device according to the invention, the at least one measured variable comprises at least one of the following operating parameters:

a current speed of the vehicle,

an actual functional state of brakes of the vehicle,

- A scope of a current regenerative electrical

Energy,

- information from drive monitoring systems,

- Information on recommendations from driver assistance systems.

Advantageously, by the mechanical feedback to the control unit, a speed value under technical, economic, environmental or safety-relevant

Aspects are transmitted, and they are adjusted to it, without the intervention of an operator. Likewise advantageously, a current functional state of the brakes can be included in the determination of a suitable operating area, on the one hand the safety and

To guarantee reliability of operation and to be able to save as much energy as possible. Such an advantage also results from the consideration of the

Scope of a currently regenerative electrical energy.

Information from drive monitoring systems can, for example, give the driver feedback as to whether traction is about to break during traction or

Intervention in the drive control is forthcoming or currently being made. Are these processes by a

mechanical feedback sent to the driver, so the driver can respond in good time, so that the vehicle even does not reach the critical area in which the drive control must intervene. Recommendations of driver assistance systems, for example regarding a certain optimal speed or an optimal braking force, can be transmitted to the operating unit of the driver by a corresponding mechanical feedback. Advantageously, the driver does not have to additional

Concentrate information channels, in particular, the

Driver focus his visual attention on the lying in front of him to drive route.

In a particularly advantageous embodiment of the control device according to the invention, the preferred working range comprises an angular range of a control lever position, which is assigned to an exclusive actuation of a recuperation brake. Advantageously, the operator can intuitively limit himself to the angle range in which the energy-favorable recuperation brake is used. The angle range may, for example, depend on the current state of the recuperation brake and therefore vary. Advantageously, the driver with his braking behavior to the

adjust the current state of the brake and also maintain an energy-efficient driving style. The invention will be explained in more detail below with reference to the beige ^¬ added figures using ^exemplary embodiments. Show it:

1 shows a schematic representation of a control device according to an embodiment of the invention, and

2 shows a flow chart, which is a method for

Control of a vehicle according to an embodiment of the invention illustrated.

1 shows a block diagram of a rail vehicle 20 which has a control device 10 (shown by dashed lines) according to one exemplary embodiment of the invention having. The control device 10 comprises a

Control unit 12. Part of the control device is also an operating unit 11. The control device 10 receives measured data from a plurality of peripheral units, for example speed data v from a speed measuring unit 1 and sensor data SD, which provide information about the current functional state of a brake 3, from a brake monitoring unit 5. The control unit 12 also receives data U, for example, data which provide information about a current mains voltage to determine whether electrical energy can be fed into a network section. On the basis of the aforementioned data v, SD, U, the control unit 12 makes a preferred working range

determined. This work area corresponds to an angular range of an operating lever of the operating unit 11, which is from a

Operator can be controlled. To set this work area, a corresponding adjustment command from the control unit 12 to the control unit 11th

transmitted. Based on this command JB is then set by the control unit 11 of the determined preferred angular range in which the operating lever can be adjusted without the preferred work area is left.

For example, when leaving this area, a mechanical resistance is exerted on the operating movement of the operating person, so that the operator receives the information mechanically that he / she has determined the dynamically determined one

Operating area or work area leaves if it does not stop the lever movement. With the lever movement, the operator gives an operation command BDB to the control unit 12, which, for example, forwards a brake command BB or a command BV for driving at a certain speed v to a brake unit 3 or a drive unit 4 based on the operation command BDB. FIG. 2 shows a flow diagram 200 which includes a

Method for controlling a vehicle according to a

Embodiment of the invention illustrated. In step 2. I first becomes a preferred work area AB an operating unit 11 (see FIG 1) by a control ^¬ unit 12 (see FIG 2) based on a plurality of influenced by a current driving situation metrics v, SD, U determined. Subsequently, in step 2. II, an adjustment and / or a restriction of the operating function of the operating unit 11 to the determined preferred work ^¬ area AB, wherein the preferred working area AB is displayed by a mechanical feedback to the operator. This process can be done with an adjustment command JB, the control unit 12 to the control unit 11th

is transmitted. After the correct setting of the operating unit 11 can then 2. a control command ^¬ BDB are transmitted for an operating function by an operator to the control unit 12 by means of the control unit 11 within the determined work area AB preferred III in the step. Finally, in step 2. IV, a control function BB, BV is executed by the control unit 12 on the basis of the control command BDB. Example ^¬ example is braked the vehicle according to the operating command BDB. The adjustment of the preferred workspace may be during a trip with the vehicle

Repeat more frequently to adapt the driver's behavior to current situations. It is finally pointed out again that it is in the described control device, the

Rail vehicle 20 and the method for controlling a vehicle is only a preferred embodiments of the invention and that the invention can be varied by those skilled in the art, without departing from the scope of the invention, as far as it is specified by the claims. For the sake of completeness, it is also pointed out that the use of indefinite articles does not exclude "a" or "one", that the characteristics in question can also be present multiple times. Similarly, the term "unit" does not exclude that it consists of several components, which may also be spatially distributed.

Claims

claims

A control device (10) for a vehicle (20),

preferably a rail vehicle, comprising:

a control unit (12), which is adapted to a control function (BB, BV) based on a

Execute control command (BDB),

- An operating unit (11) for transmitting a

Control command (BDB) for an operating function by an operator to the control unit (12),

wherein the control unit (12) is further adapted to

- based on at least one of a current

Driving situation influenced measurement (v, SD, U) a preferred working range (AB) of the control unit (11) to determine and

- The operating function of the operating unit (11) on the

Set and / or limit determined preferred working range (AB), the preferred

Working area (AB) is indicated by a mechanical feedback to the operator.

2. Control device according to claim 1, wherein the

Control function of the control unit (12) comprises one of the following types of functions:

- a braking function,

a function for controlling the speed of the

Vehicle.

3. Control device according to claim 1 or 2, wherein the operating unit (11) comprises an operating lever and the

preferred working range (AB) a range of

Angle positions of the operating lever is assigned.

4. Control device according to one of the preceding

Claims, wherein the preferred operating range (AB) is a preferred operating point.

5. Control device according to one of the preceding

Claims, wherein the at least one measure comprises:

an actual speed (v) of the vehicle (20),

a current functional state (SD) of brakes (3) of the vehicle (20),

- A scope of a current regenerative electrical

Energy .

6. Control device according to one of the preceding

Claims, wherein the preferred work area (AB) a

Angle range of a control lever position comprises, which is associated with an exclusive operation of a Rekuperationsbremse (3).

7. Rail vehicle (20), comprising a Steuerungsein ^¬ direction (10) according to any one of the preceding claims.

8. A method of controlling a vehicle (20), preferably a rail vehicle, comprising the steps of:

Determining a preferred work area (AB)

Operating unit (11) by a control unit (12) on the basis of at least one measured variable influenced by a current driving situation (v, SD, U),

- Setting and / or restricting an operating function of the operating unit (11) on the determined preferred

Work area (AB), where the preferred working area (AB) by a mechanical feedback to a

Operator of the control unit (11) is displayed.

- Transmission of a control command (BDB) for a

Operating function by an operator to the

Control unit (12) with the aid of the operating unit (11) as a function of the mechanical feedback, preferably within the determined preferred working range (AB),

- Performing a control function (BB, BV) by the

Control unit (12) based on the control command

(BDB).

9. Computer program product with a computer program, which directly into a memory unit of a Steuereinrich ^¬ device (10) according to one of claims 1 to 6 loadable, with program sections to perform all the steps of a method according to claim 8, when the computer program in the control device (10 ) is performed.

10. A computer readable medium on which are readable by a computer unit and executable program sections stored to perform all the steps of a method according to claim 8, when the program sections are executed by the computer unit.