WO2023111078A1 - Sensor attachment for a trailer esp - Google Patents

Sensor attachment for a trailer esp Download PDF

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Publication number
WO2023111078A1
WO2023111078A1 PCT/EP2022/085953 EP2022085953W WO2023111078A1 WO 2023111078 A1 WO2023111078 A1 WO 2023111078A1 EP 2022085953 W EP2022085953 W EP 2022085953W WO 2023111078 A1 WO2023111078 A1 WO 2023111078A1
Authority
WO
WIPO (PCT)
Prior art keywords
trailer
computing device
towing vehicle
sensor
kinematic
Prior art date
Application number
PCT/EP2022/085953
Other languages
German (de)
French (fr)
Inventor
Sebastian Maier
Original Assignee
Zf Friedrichshafen Ag
Erwin Hymer Group Se
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 Zf Friedrichshafen Ag, Erwin Hymer Group Se filed Critical Zf Friedrichshafen Ag
Publication of WO2023111078A1 publication Critical patent/WO2023111078A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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
    • B60D1/30—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for sway control, e.g. stabilising or anti-fishtail devices; Sway alarm means
    • 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
    • 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
    • B60D1/64—Couplings or joints therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/06—Tractor-trailer swaying

Definitions

  • the invention relates to a trailer according to the preamble of claim 1, a computing device according to the preamble of claim 3, a method according to the preamble of claim 7 and a computer program according to the preamble of claim 8.
  • the ESP system of a towing vehicle recognizes when a trailer is attached to the towing vehicle.
  • the ESP system then regulates braking interventions on the towing vehicle in such a way that the trailer's driving dynamics are stabilized.
  • the object of the invention is to further improve the dynamic driving stability of a trailer.
  • This object is achieved by a trailer according to claim 1, a computing device according to claim 3, a method according to claim 7 and a computer program according to claim 8.
  • Preferred developments are contained in the dependent claims and result from the following description.
  • a trailer is a vehicle with a drawbar.
  • the trailer can be coupled to a towing vehicle via the drawbar.
  • the trailer is towed behind the towing vehicle.
  • the trailer follows a trajectory specified by the towing vehicle.
  • the trailer according to the invention is equipped with at least one electrical connector for establishing at least one electrical connection between the trailer and a towing vehicle.
  • a connector designates a means that with a counterpart - another connector - can be connected.
  • the connection between the connector and its counterpart is detachable.
  • An electrical connector is characterized in that an electrical connection is established by the connection between the connector and its counterpart.
  • the connector and its counterpart are designed as plug connectors.
  • a connector can be connected to its counterpart by plugging it in.
  • the counterpart is fixed to the towing vehicle.
  • the attachment of the counterpart to the towing vehicle is preferably rigid, ie without the possibility of a relative movement between the counterpart and a body or a frame of the towing vehicle.
  • the connector is preferably connected to the rest of the trailer or to its structure or frame exclusively by means of a flexible cable.
  • Corresponding connectors are commonly used to connect the electrical system of the trailer to the electrical system of the towing vehicle.
  • the lights such as rear lights, brake lights, indicators and number plate lights on the trailer are supplied with electrical energy on the way via the towing vehicle's electrical system.
  • the trailer according to the invention also has at least one kinematic sensor.
  • This is a sensor for measuring at least one kinematic variable, such as location, position or a time derivative of any order, such as speed, acceleration or jerk.
  • the kinematic sensor is attached to or in the connector, ie fixed on or in the connector—preferably rigidly, ie without the possibility of relative movement between the sensor and the connector.
  • the kinematic sensor measures at least one kinematic variable of the connector. If the connector is connected to its counterpart on the towing vehicle, the sensor measures at least one kinematic variable of the towing vehicle. Compared to kinematic sensors attached to the trailer drawbar, This is advantageous because the trailer can be stabilized immediately in response to movements of the towing vehicle.
  • one or more signal lines of the sensor can be integrated into a wiring of the connector that is already present.
  • a cable running from a body or a frame of the trailer to the connector contains one or more signal lines of the kinematic sensor in addition to one or more electrical lines, for example for supplying the lights of the trailer with electrical energy.
  • the kinematic sensor is attached to or in a housing of the connector.
  • the kinematic sensor is preferably rigid, i.e. fixed on or in the housing without the possibility of relative movement between the kinematic sensor and the housing.
  • the development is advantageous with regard to the above-described measurement of movement variables of the towing vehicle.
  • Mounting the kinematic sensor in the housing is particularly advantageous, since the kinematic sensor is thus protected from the effects of the weather by the housing that is present anyway. A separate housing for the kinematic sensor can thus be omitted.
  • a computing device is designed to control at least one brake and/or at least one drive of the trailer as a function of the signals of the at least one kinematic sensor of the trailer described above.
  • the computing device has at least two interfaces—referred to as an actuator interface and a sensor interface.
  • the actuator interface is used to send signals to the at least one brake and/or the at least one drive.
  • the at least one brake and/or the at least one drive are controlled via the signals. This means that depending on the signals, the at least one brake is closed, so that at least one wheel of the trailer, on which the at least one brake acts, is braked, and/or the at least one drive of the Trailer is activated so that at least one wheel of the trailer is driven by the at least one drive.
  • the sensor interface serves to receive data from the at least one kinematic sensor.
  • the computing device is designed to control the at least one brake and/or the at least one drive of the trailer as a function of the signals received via the sensor interface from the at least one kinematic sensor.
  • the at least one brake and/or the at least one drive is controlled by the output of corresponding signals via the actuator interface.
  • One or more electric motors are preferably used as the drive. In generator mode, the electric motors generate a braking force. Accordingly, the electric motors can be used as a brake. Alternatively or additionally, one or more conventional frictional brakes of the trailer can be controlled via the actuator interface.
  • the computing device is preferably further developed to control the at least one brake and/or the at least one drive in such a way that a force which the trailer exerts on the towing vehicle via its drawbar is reduced.
  • a first force that the trailer would exert on the towing vehicle if it were pulled by the towing vehicle passively, i.e. without being controlled by the computing device is greater than a second force that the trailer exerts on its drawbar instead the towing vehicle exerts when it is controlled by the computing device.
  • the second force is equal to or less than the first force at any point in time. During cornering, the second force is preferably permanently lower than the first force.
  • the activation of the at least one brake and/or the at least one drive by the computing device preferably has the effect that the force exerted on the towing vehicle via the drawbar is minimized. From different possible ones The computing device selects the alternatives for controlling the trailer that result in the lowest force exerted on the towing vehicle.
  • the computing device is preferably further developed to control the at least one brake and/or the at least one drive in such a way that the trailer follows a trajectory specified by the vehicle. This implies that the trailer is controlled in such a way that the trailer is prevented from breaking away. Skidding means that the wheels of at least one axle of the trailer slip laterally, that is to say transversely to the direction of travel of the respective wheel.
  • Control of the at least one brake and/or the at least one drive by the computing device is also preferred in such a way that kinematic vibrations of the trailer are reduced.
  • the control takes place in such a way that the forces applied by the at least one brake and/or the at least one drive to the respective wheel of the trailer counteract the vibration.
  • a kinematic vibration is a vibration of a kinematic variable, in this case a kinematic variable of the trailer.
  • the oscillation can be a pendulum oscillation, ie an oscillation of the trailer about its vertical and/or longitudinal axis.
  • a method according to the invention and preferred developments of the method are the methods described above and implemented by the computing device according to the invention or a preferred development.
  • the method according to the invention serves to control the trailer according to the invention or a preferred development.
  • one or more brakes and/or one or more drives of the trailer are controlled, as described above.
  • a computer program according to the invention is designed to be executed on the computing device according to the invention or a preferred development.
  • the computer program causes the computing device to execute the method according to the invention or a preferred development of the method.
  • FIG. 1 A preferred embodiment of the invention is shown in FIG.
  • Matching reference numbers designate the same features or features with the same function. In detail shows:
  • Fig. 1 a combination with towing vehicle and trailer.
  • the trailer 101 shown in FIG. 1 has a drawbar 103 . This is connected via a trailer hitch 105 to a towing vehicle 107 to form a team. The towing vehicle 107 pulls the trailer 101 so that the trailer 101 follows a trajectory specified by the towing vehicle 107 .
  • the trailer 101 and the towing vehicle 107 each have a plug connection 109a, 109b.
  • the plug connection 109a of the trailer 101 and the plug connection 109 of the towing vehicle 107 correspond to one another in such a way that the plug connection 109a of the trailer 101 can be plugged into the plug connection 109b of the towing vehicle 107 .
  • the plug connection 109a of the trailer 101a is fixed in the plug connection 109b of the towing vehicle 107, and there is an electrically conductive connection between the two plug connections 109a, 109b.
  • the plug connection 109b of the towing vehicle 107 is rigidly attached to the body of the towing vehicle 107 .
  • the plug-in connection 109a of the trailer is also rigidly fixed in the body of the towing vehicle 107.
  • a flexible cable 111 runs between the plug connection 109a of the trailer 101 and a structure of the trailer 101.
  • the cable 111 contains a section of electrical lines 113 which supply the lights of the trailer 101 with electrical energy.
  • signal lines 115 for electrical signals run through the cable 111.
  • the connector 109a of the trailer 101 contains kinematic sensors. These are connected via the signal lines 115 to a control device 117 installed in the trailer 101 .
  • the control unit 117 evaluates signals from the sensors and, depending on this, controls brakes 119, which act on the wheels of the trailer 101, and a drive of the trailer 101 that may be present.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention relates to a trailer (101) comprising: at least one electrical connector (109a) for establishing at least one electrical connection between the trailer (101) and a towing vehicle (106); and at least one kinematic sensor. The kinematic sensor is mounted on or in the connector (109a).

Description

Sensoranbrinqunq für Anhänqer-ESP Sensor attachment for trailer ESP
Die Erfindung betrifft einen Anhänger nach dem Oberbegriff von Anspruch 1 , eine Rechenvorrichtung nach dem Oberbegriff von Anspruch 3, ein Verfahren nach dem Oberbegriff von Anspruch 7 und ein Computerprogramm nach dem Oberbegriff von Anspruch 8. The invention relates to a trailer according to the preamble of claim 1, a computing device according to the preamble of claim 3, a method according to the preamble of claim 7 and a computer program according to the preamble of claim 8.
Aus dem Stand der Technik ist ein sogenanntes Anhänger-ESP bekannt. Dabei erkennt das ESP-System eines Zugfahrzeugs, wenn ein Anhänger an das Zugfahrzeug angehängt ist. Das ESP-System regelt dann Bremseingriffe an dem Zugfahrzeug derart, dass der Anhänger fahrdynamisch stabilisiert wird. What is known as a trailer ESP is known from the prior art. The ESP system of a towing vehicle recognizes when a trailer is attached to the towing vehicle. The ESP system then regulates braking interventions on the towing vehicle in such a way that the trailer's driving dynamics are stabilized.
Weiterhin sind aus dem Stand der Technik Systeme bekannt, bei denen die Räder eines Anhängers abgebremst werden, um diesen fahrdynamisch zu stabilisieren. Eine Deichsel des Anhängers ist dabei mit kinematischen Sensoren versehen. In Abhängigkeit von Signalen der Sensoren erfolgt bei Bedarf ein stabilisierender Bremseingriff. Gegenüber Bremseingriffen am Zugfahrzeug sind Bremseingriffe, die direkt am Anhänger erfolgen, wirkungsvoller. Furthermore, systems are known from the prior art in which the wheels of a trailer are braked in order to stabilize the driving dynamics of the latter. A drawbar of the trailer is equipped with kinematic sensors. Depending on the signals from the sensors, a stabilizing brake intervention takes place if necessary. Compared to braking interventions on the towing vehicle, braking interventions that take place directly on the trailer are more effective.
Der Erfindung liegt die Aufgabe zugrunde, die fahrdynamische Stabilität eines Anhängers weiter zu verbessern. Diese Aufgabe wird gelöst durch einen Anhänger nach Anspruch 1 , eine Rechenvorrichtung nach Anspruch 3, ein Verfahren nach Anspruch 7 und ein Computerprogramm nach Anspruch 8. Bevorzugte Weiterbildungen sind in den Unteransprüchen enthalten und ergeben sich aus nachfolgender Beschreibung. The object of the invention is to further improve the dynamic driving stability of a trailer. This object is achieved by a trailer according to claim 1, a computing device according to claim 3, a method according to claim 7 and a computer program according to claim 8. Preferred developments are contained in the dependent claims and result from the following description.
Ein Anhänger ist ein Fahrzeug mit einer Deichsel. Über die Deichsel ist der Anhänger mit einem Zugfahrzeug koppelbar. Im gekoppelten Zustand wird der Anhänger hinter dem Zugfahrzeug mitgeführt. Dabei folgt der Anhänger einer durch das Zugfahrzeug vorgegebenen Trajektorie. A trailer is a vehicle with a drawbar. The trailer can be coupled to a towing vehicle via the drawbar. When coupled, the trailer is towed behind the towing vehicle. The trailer follows a trajectory specified by the towing vehicle.
Der erfindungsgemäße Anhänger ist mit mindestens einem elektrischen Verbinder zum Herstellen mindestens einer elektrischen Verbindung zwischen dem Anhänger und einem Zugfahrzeug ausgestattet. Ein Verbinder bezeichnet ein Mittel, das mit einem Gegenpart - einem weiteren Verbinder - verbindbar ist. Die Verbindung zwischen dem Verbinder und seinem Gegenpart ist lösbar. Ein elektrischer Verbinder zeichnet sich dadurch aus, dass durch die Verbindung zwischen dem Verbinder und seinem Gegenpart eine elektrische Verbindung zustande kommt. Vorzugsweise sind der Verbinder und sein Gegenpart als Steckverbinder ausgeführt. Ein Steckverbinder lässt sich durch Einstecken mit seinem Gegenpart verbinden. The trailer according to the invention is equipped with at least one electrical connector for establishing at least one electrical connection between the trailer and a towing vehicle. A connector designates a means that with a counterpart - another connector - can be connected. The connection between the connector and its counterpart is detachable. An electrical connector is characterized in that an electrical connection is established by the connection between the connector and its counterpart. Preferably, the connector and its counterpart are designed as plug connectors. A connector can be connected to its counterpart by plugging it in.
Der Gegenpart ist vorliegend an dem Zugfahrzeug fixiert. Vorzugsweise ist die Fixierung des Gegenparts an dem Zugfahrzeug starr, das heißt ohne die Möglichkeit einer Relativbewegung zwischen dem Gegenpart und einer Karosserie oder einem Rahmen des Zugfahrzeugs. In the present case, the counterpart is fixed to the towing vehicle. The attachment of the counterpart to the towing vehicle is preferably rigid, ie without the possibility of a relative movement between the counterpart and a body or a frame of the towing vehicle.
Der Verbinder ist mit dem übrigen Anhänger bzw. mit dessen Aufbau oder Rahmen vorzugsweise ausschließlich mittels eines flexiblen Kabels verbunden. Entsprechende Verbinder sind gemeinhin gebräuchlich, um die Elektrik des Anhängers mit der Elektrik des Zugfahrzeugs zu verbinden. Insbesondere die Leuchten, wie Rückleuchten, Bremslichter, Blinker und Nummernschildbeleuchtung des Anhängers werden auf dem Wege über die Elektrik des Zugfahrzeugs mit elektrischer Energie versorgt. The connector is preferably connected to the rest of the trailer or to its structure or frame exclusively by means of a flexible cable. Corresponding connectors are commonly used to connect the electrical system of the trailer to the electrical system of the towing vehicle. In particular, the lights, such as rear lights, brake lights, indicators and number plate lights on the trailer are supplied with electrical energy on the way via the towing vehicle's electrical system.
Der erfindungsgemäße Anhänger weist darüber hinaus mindestens einen kinematischen Sensor auf. Dies ist ein Sensor zum Messen mindestens einer kinematischen Größe, wie Ort, Lage oder eine zeitliche Ableitung beliebiger Ordnung davon, etwa Geschwindigkeit, Beschleunigung oder Ruck. The trailer according to the invention also has at least one kinematic sensor. This is a sensor for measuring at least one kinematic variable, such as location, position or a time derivative of any order, such as speed, acceleration or jerk.
Erfindungsgemäß ist der kinematische Sensor an oder in dem Verbinder angebracht, d.h. an oder in dem Verbinder fixiert - vorzugsweise starr, d.h. ohne die Möglichkeit einer Relativbewegung zwischen dem Sensor und dem Verbinder. Durch die Erfindung misst der kinematische Sensor mindestens eine kinematische Größe des Verbinders. Ist der Verbinder mit seinem Gegenpart an dem Zugfahrzeug verbunden, misst der Sensor mindestens eine kinematische Größe des Zugfahrzeugs. Gegenüber kinematischen Sensoren, die an der Deichsel des Anhängers angebracht sind, ist dies von Vorteil, da die Stabilisierung des Anhängers unmittelbar in Reaktion auf Bewegungen des Zugfahrzeugs erfolgen kann. According to the invention, the kinematic sensor is attached to or in the connector, ie fixed on or in the connector—preferably rigidly, ie without the possibility of relative movement between the sensor and the connector. With the invention, the kinematic sensor measures at least one kinematic variable of the connector. If the connector is connected to its counterpart on the towing vehicle, the sensor measures at least one kinematic variable of the towing vehicle. Compared to kinematic sensors attached to the trailer drawbar, This is advantageous because the trailer can be stabilized immediately in response to movements of the towing vehicle.
Von Vorteil ist weiterhin, dass eine oder mehrere Signalleitungen des Sensors in eine ohnehin vorhandene Verkabelung des Verbinders integriert werden können. Ein von einem Aufbau oder einem Rahmen des Anhängers zu dem Verbinder verlaufendes Kabel enthält in dem Fall neben einer oder mehreren elektrischen Leitungen, etwa zur Versorgung der Leuchten des Anhängers mit elektrischer Energie, eine oder mehrere Signalleitungen des kinematischen Sensors. It is also advantageous that one or more signal lines of the sensor can be integrated into a wiring of the connector that is already present. In this case, a cable running from a body or a frame of the trailer to the connector contains one or more signal lines of the kinematic sensor in addition to one or more electrical lines, for example for supplying the lights of the trailer with electrical energy.
In einer bevorzugten Weiterbildung ist der kinematische Sensor an oder in einem Gehäuse des Verbinders angebracht. Vorzugsweise ist der kinematische Sensor starr, d.h. ohne die Möglichkeit einer Relativbewegung zwischen dem kinematischen Sensor und dem Gehäuse, an oder in dem Gehäuse fixiert. In a preferred development, the kinematic sensor is attached to or in a housing of the connector. The kinematic sensor is preferably rigid, i.e. fixed on or in the housing without the possibility of relative movement between the kinematic sensor and the housing.
Die Weiterbildung ist im Hinblick auf die oben beschriebene Messung von Bewegungsgrößen des Zugfahrzeugs vorteilhaft. Besonders vorteilhaft ist eine Anbringung des kinematischen Sensors in dem Gehäuse, da der kinematische Sensor so durch das ohnehin vorhandene Gehäuse vor Witterungseinflüssen geschützt wird. Ein separates Gehäuse für den kinematischen Sensor kann dadurch entfallen. The development is advantageous with regard to the above-described measurement of movement variables of the towing vehicle. Mounting the kinematic sensor in the housing is particularly advantageous, since the kinematic sensor is thus protected from the effects of the weather by the housing that is present anyway. A separate housing for the kinematic sensor can thus be omitted.
Eine erfindungsgemäße Rechenvorrichtung ist ausgebildet, in Abhängigkeit der Signale des mindestens einen kinematischen Sensors des oben beschriebenen Anhängers mindestens eine Bremse und/oder mindestens einen Antrieb des Anhängers anzusteuern. Dazu weist die Rechenvorrichtung mindestens zwei Schnittstellen - Aktorschnittstelle und Sensorschnittstelle genannt - auf. A computing device according to the invention is designed to control at least one brake and/or at least one drive of the trailer as a function of the signals of the at least one kinematic sensor of the trailer described above. For this purpose, the computing device has at least two interfaces—referred to as an actuator interface and a sensor interface.
Die Aktorschnittstelle dient zum Senden von Signalen an die mindestens eine Bremse und/oder den mindestens einen Antrieb. Über die Signale werden die mindestens eine Bremse und/oder der mindestens eine Antrieb angesteuert. Dies bedeutet, dass in Abhängigkeit der Signale die mindestens eine Bremse geschlossen wird, sodass mindestens ein Rad des Anhängers, auf welches die mindestens eine Bremse wirkt, abgebremst wird, und/oder der mindestens eine Antrieb des Anhängers wird aktiviert, sodass mindestens ein Rad des Anhängers durch den mindestens einen Antrieb angetrieben wird. The actuator interface is used to send signals to the at least one brake and/or the at least one drive. The at least one brake and/or the at least one drive are controlled via the signals. This means that depending on the signals, the at least one brake is closed, so that at least one wheel of the trailer, on which the at least one brake acts, is braked, and/or the at least one drive of the Trailer is activated so that at least one wheel of the trailer is driven by the at least one drive.
Die Sensorschnittstelle dient zum Empfangen von Daten des mindestens einen kinematischen Sensors. The sensor interface serves to receive data from the at least one kinematic sensor.
Die Rechenvorrichtung ist ausgebildet, in Abhängigkeit der über die Sensorschnittstelle empfangenen Signale des mindestens einen kinematischen Sensors die mindestens eine Bremse und/oder den mindestens einen Antrieb des Anhängers anzusteuern. Die Ansteuerung der mindestens einen Bremse und/oder des mindestens einen Antriebs erfolgt durch die Ausgabe entsprechender Signale über die Aktorschnittstelle. The computing device is designed to control the at least one brake and/or the at least one drive of the trailer as a function of the signals received via the sensor interface from the at least one kinematic sensor. The at least one brake and/or the at least one drive is controlled by the output of corresponding signals via the actuator interface.
Als Antrieb dienen vorzugsweise ein oder mehrere Elektromotoren. Im Generatorbetrieb erzeugen die Elektromotoren eine Bremskraft. Entsprechend lassen sich die Elektromotoren als Bremse verwenden. Alternativ oder zusätzlich lassen sich über die Aktorschnittstelle eine oder mehrere herkömmliche reibschlüssige Bremsen des Anhängers ansteuern. One or more electric motors are preferably used as the drive. In generator mode, the electric motors generate a braking force. Accordingly, the electric motors can be used as a brake. Alternatively or additionally, one or more conventional frictional brakes of the trailer can be controlled via the actuator interface.
Bevorzugt ist die Rechenvorrichtung weitergebildet, die mindestens eine Bremse und/oder den mindestens einen Antrieb so anzusteuern, dass eine Kraft, die der Anhänger über seine Deichsel auf das Zugfahrzeug ausübt, vermindert wird. Dies bedeutet, dass eine erste Kraft, die der Anhänger auf das Zugfahrzeug ausüben würde, wenn er passiv, das heißt ohne Ansteuerung durch die Rechenvorrichtung, von dem Zugfahrzeug gezogen würde, größer ist als eine zweite Kraft, die der Anhänger über seine Deichsel stattdessen auf das Zugfahrzeug ausübt, wenn er durch die Rechenvorrichtung angesteuert wird. Vorzugsweise ist die zweite Kraft in jedem Zeitpunkt gleich oder kleiner als die erste Kraft. Während einer Kurvenfahrt ist die zweite Kraft vorzugsweise permanent geringer als die erste Kraft. The computing device is preferably further developed to control the at least one brake and/or the at least one drive in such a way that a force which the trailer exerts on the towing vehicle via its drawbar is reduced. This means that a first force that the trailer would exert on the towing vehicle if it were pulled by the towing vehicle passively, i.e. without being controlled by the computing device, is greater than a second force that the trailer exerts on its drawbar instead the towing vehicle exerts when it is controlled by the computing device. Preferably, the second force is equal to or less than the first force at any point in time. During cornering, the second force is preferably permanently lower than the first force.
Bevorzugt bewirkt die Ansteuerung der mindestens eine Bremse und/oder des mindestens einen Antrieb durch die Rechenvorrichtung, dass die über die Deichsel auf das Zugfahrzeug ausgeübte Kraft minimiert wird. Von verschiedenen möglichen Alternativen der Ansteuerung des Anhängers wählt die Rechenvorrichtung dabei diejenige, welche die geringste auf das Zugfahrzeug ausgeübte Kraft zur Folge hat. The activation of the at least one brake and/or the at least one drive by the computing device preferably has the effect that the force exerted on the towing vehicle via the drawbar is minimized. From different possible ones The computing device selects the alternatives for controlling the trailer that result in the lowest force exerted on the towing vehicle.
Bevorzugt ist die Rechenvorrichtung weitergebildet, die mindestens eine Bremse und/oder den mindestens einen Antrieb so anzusteuern, dass der Anhänger einer durch das Fahrzeug vorgegebenen Trajektorie folgt. Dies impliziert, dass der Anhänger so angesteuert wird, dass ein Ausbrechen des Anhängers verhindert wird. Unter einem Ausbrechen ist ein Rutschen der Räder mindestens einer Achse des Anhängers seitlich, das heißt quer zur Fahrtrichtung des jeweiligen Rads, zu verstehen. The computing device is preferably further developed to control the at least one brake and/or the at least one drive in such a way that the trailer follows a trajectory specified by the vehicle. This implies that the trailer is controlled in such a way that the trailer is prevented from breaking away. Skidding means that the wheels of at least one axle of the trailer slip laterally, that is to say transversely to the direction of travel of the respective wheel.
Bevorzugt wird auch eine Ansteuerung der mindestens einen Bremse und/oder des mindestens einen Antriebs durch die Rechenvorrichtung derart, dass kinematische Schwingungen des Anhängers vermindert wird. Die Ansteuerung erfolgt derart, dass die durch die mindestens eine Bremse und/oder den mindestens einen Antrieb auf das jeweilige Rad des Anhängers aufgebrachten Kräfte der Schwingung entgegenwirken. Control of the at least one brake and/or the at least one drive by the computing device is also preferred in such a way that kinematic vibrations of the trailer are reduced. The control takes place in such a way that the forces applied by the at least one brake and/or the at least one drive to the respective wheel of the trailer counteract the vibration.
Eine kinematische Schwingung ist eine Schwingung einer kinematischen Größe, vorliegend einer kinematischen Größe des Anhängers. Insbesondere kann es sich bei der Schwingung um eine Pendelschwingung, das heißt eine Schwingung des Anhängers um seine Hoch- und/oder Längsachse handeln. A kinematic vibration is a vibration of a kinematic variable, in this case a kinematic variable of the trailer. In particular, the oscillation can be a pendulum oscillation, ie an oscillation of the trailer about its vertical and/or longitudinal axis.
Bei einem erfindungsgemäßen Verfahren und bevorzugten Weiterbildungen des Verfahrens handelt es sich um die oben beschriebenen, von der erfindungsgemäßen Rechenvorrichtung oder einer bevorzugten Weiterbildung implementierten Verfahren. Das erfindungsgemäße Verfahren dient entsprechend zum Steuern des erfindungsgemäßen Anhängers oder einer bevorzugten Weiterbildung. In Abhängigkeit der Signale des mindestens einen kinematischen Sensors werden dabei eine oder mehrere Bremsen und/oder ein oder mehrere Antriebe des Anhängers, wie oben beschrieben, angesteuert. A method according to the invention and preferred developments of the method are the methods described above and implemented by the computing device according to the invention or a preferred development. The method according to the invention serves to control the trailer according to the invention or a preferred development. Depending on the signals of the at least one kinematic sensor, one or more brakes and/or one or more drives of the trailer are controlled, as described above.
Ein erfindungsgemäßes Computerprogramm ist zum Ausführen auf der erfindungsgemäßen Rechenvorrichtung oder einer bevorzugten Weiterbildung ausgebildet. Bei Ausführung auf der Rechenvorrichtung veranlasst das Computerprogramm die Rechenvorrichtung, das erfindungsgemäße Verfahren oder eine bevorzugte Weiterbildung des Verfahrens auszuführen. A computer program according to the invention is designed to be executed on the computing device according to the invention or a preferred development. At Executed on the computing device, the computer program causes the computing device to execute the method according to the invention or a preferred development of the method.
Ein bevorzugtes Ausführungsbeispiel der Erfindung ist in Fig. 1 dargestellt. Übereinstimmende Bezugsziffern kennzeichnen dabei gleiche oder funktionsgleiche Merkmale. Im Einzelnen zeigt: A preferred embodiment of the invention is shown in FIG. Matching reference numbers designate the same features or features with the same function. In detail shows:
Fig. 1 ein Gespann mit Zugfahrzeug und Anhänger. Fig. 1 a combination with towing vehicle and trailer.
Der in Fig. 1 dargestellte Anhänger 101 weist eine Deichsel 103 auf. Diese ist über eine Anhängerkupplung 105 mit einem Zugfahrzeugs 107 zu einem Gespann verbunden. Das Zugfahrzeug 107 zieht den Anhänger 101 , sodass der Anhänger 101 einer durch das Zugfahrzeug 107 vorgegebenen Trajektorie folgt. The trailer 101 shown in FIG. 1 has a drawbar 103 . This is connected via a trailer hitch 105 to a towing vehicle 107 to form a team. The towing vehicle 107 pulls the trailer 101 so that the trailer 101 follows a trajectory specified by the towing vehicle 107 .
Der Anhänger 101 und das Zugfahrzeug 107 weisen jeweils eine Steckverbindung 109a, 109b auf. Die Steckverbindung 109a des Anhängers 101 und die Steckverbindung 109 des Zugfahrzeugs 107 korrespondieren derart miteinander, dass die Steckverbindung 109a des Anhängers 101 in die Steckverbindung 109b des Zugfahrzeugs 107 eingesteckt werden kann. Im eingesteckten Zustand ist die Steckverbindung 109a des Anhängers 101a in der Steckverbindung 109b des Zugfahrzeugs 107 fixiert, und es besteht eine elektrisch leitfähige Verbindung zwischen den beiden Steckverbindungen 109a, 109b. The trailer 101 and the towing vehicle 107 each have a plug connection 109a, 109b. The plug connection 109a of the trailer 101 and the plug connection 109 of the towing vehicle 107 correspond to one another in such a way that the plug connection 109a of the trailer 101 can be plugged into the plug connection 109b of the towing vehicle 107 . When plugged in, the plug connection 109a of the trailer 101a is fixed in the plug connection 109b of the towing vehicle 107, and there is an electrically conductive connection between the two plug connections 109a, 109b.
Die Steckverbindung 109b des Zugfahrzeugs 107 ist starr an der Karosserie des Zugfahrzeugs 107 angebracht. Im eingesteckten Zustand ist somit auch die Steckverbindung 109a des Anhängers starr in der Karosserie des Zugfahrzeugs 107 fixiert. The plug connection 109b of the towing vehicle 107 is rigidly attached to the body of the towing vehicle 107 . In the plugged-in state, the plug-in connection 109a of the trailer is also rigidly fixed in the body of the towing vehicle 107.
Zwischen der Steckverbindung 109a des Anhängers 101 und einem Aufbau des Anhängers 101 verläuft ein flexibles Kabel 111. Das Kabel 111 beinhaltet jeweils einen Abschnitt elektrischer Leitungen 113, welche die Leuchten des Anhängers 101 mit elektrischer Energie versorgen. Weiterhin führen Signalleitungen 115 für elektrische Signale durch das Kabel 111. Die Steckverbindung 109a des Anhängers 101 enthält kinematische Sensoren. Diese sind über die Signalleitungen 115 signalleitend mit einem in dem Anhänger 101 eingebauten Steuergerät 117 verbunden. Das Steuergerät 117 wertet Signale der Sensoren aus und steuert in Abhängigkeit davon Bremsen 119, die auf die Räder des Anhängers 101 wirken, sowie einen gegebenenfalls vorhandenen Antrieb des Anhängers 101 an. A flexible cable 111 runs between the plug connection 109a of the trailer 101 and a structure of the trailer 101. The cable 111 contains a section of electrical lines 113 which supply the lights of the trailer 101 with electrical energy. Furthermore, signal lines 115 for electrical signals run through the cable 111. The connector 109a of the trailer 101 contains kinematic sensors. These are connected via the signal lines 115 to a control device 117 installed in the trailer 101 . The control unit 117 evaluates signals from the sensors and, depending on this, controls brakes 119, which act on the wheels of the trailer 101, and a drive of the trailer 101 that may be present.
Bezuqszeichen reference sign
Anhänger Fan
Deichsel drawbar
Anhängerkupplung trailer hitch
Zugfahrzeug a Steckverbindung des Anhängers b Steckverbindung des ZugfahrzeugsTowing vehicle a Connector on the trailer b Connector on the towing vehicle
Kabel elektrische Leitung cable electric line
Signalleitung signal line
Steuergerät control unit
Bremse brake

Claims

Patentansprüche patent claims
1 . Anhänger (101 ) mit mindestens einem elektrischen Verbinder (109a) zum Herstellen mindestens einer elektrischen Verbindung zwischen dem Anhänger (101 ) und einem Zugfahrzeug (107) und mit mindestens einem kinematischen Sensor; dadurch gekennzeichnet, dass der kinematische Sensor an oder in dem Verbinder (109a) angebracht ist. 1 . Trailer (101) with at least one electrical connector (109a) for establishing at least one electrical connection between the trailer (101) and a towing vehicle (107) and with at least one kinematic sensor; characterized in that the kinematic sensor is mounted on or in the connector (109a).
2. Anhänger (101 ) nach Anspruch 1 ; dadurch gekennzeichnet, dass der kinematische Sensor an oder in einem Gehäuse des Verbinders (109a) angebracht ist. 2. trailer (101) according to claim 1; characterized in that the kinematic sensor is mounted on or in a housing of the connector (109a).
3. Rechenvorrichtung (117) mit einer Aktorschnittstelle zum Senden von Signalen an mindestens eine Bremse (119) und/oder mindestens einen Antrieb eines Anhängers (101 ) nach einem der vorhergehenden Ansprüche; gekennzeichnet durch eine Sensorschnittstelle zum Empfangen von Signalen des mindestens einen kinematischen Sensors; wobei die Rechenvorrichtung (117) ausgebildet ist, in Abhängigkeit von über die Sensorschnittstelle empfangener Signale des mindestens einen kinematischen Sensors über die Aktorschnittstelle Signale an die mindestens eine Bremse (119) und/oder den mindestens einen Antrieb zu senden. 3. computing device (117) with an actuator interface for sending signals to at least one brake (119) and / or at least one drive of a trailer (101) according to any one of the preceding claims; characterized by a sensor interface for receiving signals from the at least one kinematic sensor; wherein the computing device (117) is designed to send signals to the at least one brake (119) and/or the at least one drive via the actuator interface as a function of signals received via the sensor interface from the at least one kinematic sensor.
4. Rechenvorrichtung (117) nach dem vorhergehenden Anspruch; dadurch gekennzeichnet, dass die Rechenvorrichtung (117) ausgebildet ist, die mindestens eine Bremse (119) und/oder den mindestens einen Antrieb so anzusteuern, dass eine Kraft, die der Anhänger (101 ) über seine Deichsel (103) auf eine Anhängerkupplung (105) des Zugfahrzeugs (107) ausübt, vermindert wird. 4. Computing device (117) according to the preceding claim; characterized in that the computing device (117) is designed to control the at least one brake (119) and/or the at least one drive in such a way that a force which the trailer (101) exerts via its drawbar (103) on a trailer coupling (105 ) of the towing vehicle (107) is reduced.
5. Rechenvorrichtung (117) nach einem der vorhergehenden zwei Ansprüche; dadurch gekennzeichnet, dass die Rechenvorrichtung (117) ausgebildet ist, die mindestens eine Bremse (119) und/oder den mindestens einen Antrieb so anzusteuern, dass der Anhänger (101 ) einer durch das Zugfahrzeug (107) vorgegebenen Trajektorie folgt. 5. Computing device (117) according to one of the preceding two claims; characterized in that the computing device (117) is designed to control the at least one brake (119) and/or the at least one drive in such a way that the trailer (101) follows a trajectory specified by the towing vehicle (107).
9 9
6. Rechenvorrichtung (117) nach einem der vorhergehenden drei Ansprüche; dadurch gekennzeichnet, dass die Rechenvorrichtung (117) ausgebildet ist, kinematische Schwingungen des Anhängers (101 ) zu vermindern. 6. Computing device (117) according to any one of the preceding three claims; characterized in that the computing device (117) is designed to reduce kinematic vibrations of the trailer (101).
7. Verfahren zum Steuern eines Anhängers (101 ) nach einem der Ansprüche 1 oder 2; dadurch gekennzeichnet, dass in Abhängigkeit von Signalen des mindestens einen kinematischen Sensors, die mindestens eine Bremse (119) und/oder der mindestens eine Antrieb angesteuert werden. 7. A method for controlling a trailer (101) according to any one of claims 1 or 2; characterized in that the at least one brake (119) and/or the at least one drive are controlled as a function of signals from the at least one kinematic sensor.
8. Computerprogramm zu Ausführung auf einer Rechenvorrichtung (117) nach einem der Ansprüche 3 bis 6; dadurch gekennzeichnet, dass das Computerprogramm bei Ausführung auf der Rechenvorrichtung (117) diese veranlasst, ein Verfahren nach dem vorhergehenden Anspruch auszuführen. 8. A computer program for execution on a computing device (117) according to any one of claims 3 to 6; characterized in that the computer program, when executed on the computing device (117), causes the latter to carry out a method according to the preceding claim.
PCT/EP2022/085953 2021-12-16 2022-12-14 Sensor attachment for a trailer esp WO2023111078A1 (en)

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EP1167141A1 (en) * 2000-06-20 2002-01-02 KNORR-BREMSE SYSTEME FÜR NUTZFAHRZEUGE GmbH Stabilization of articulated trains
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