Control device for controlling vehicle functions

Abstract

This invention relates to a control device (10) for controlling vehicle functions, having a basically fixed but movable object (1) that can be actively operated by a person for control. The control device of this invention is characterized in that the object (1) is designed to float via a controlled magnetic field, wherein a sensor system (4,5) is provided for detecting active operation in the form of "the object (1) being shifted away from its zero position by a person".

Description

Technical Field

[0001] This invention relates to a control device for controlling vehicle functions, the type detailed in the preamble of claim 1. The invention also relates to a method for controlling vehicle functions using such a control device. Background Technology

[0002] Control devices for controlling vehicle functions are generally disclosed in the prior art. As control devices, it is common to use an operating area with a touch-sensitive surface, keys, knobs, and / or the like. This is relatively cumbersome for the person operating the vehicle, as they must constantly move their hand to the desired operating element. Therefore, it is also known from the general prior art that control devices are formed by a substantially fixed but movable object that can be actively operated by a person for control. Such objects are, for example, joysticks, trackballs, etc. Various different designs are conceivable, for example, a knob that is mounted such that, in addition to rotation, it can also move at least forward, backward, left, and right. Furthermore, the selection can be confirmed, for example, by pressing the knob. With such a control device, corresponding selections can be made, for example, within the menu of a multi-function display, providing basic possibilities such as text input and function selection. However, the control device in the sense of the present invention can also be a steering wheel, pedals, etc.

[0003] KR 2017 01290 12 A discloses an apparatus in which an operable object is held in a floating state by a controllable magnetic field. Here, a sensor system detects the displacement of the operable object within the magnetic field caused by a user. Summary of the Invention

[0004] The objective of this invention is now to provide an improved control device for controlling vehicle functions and an improved control method. In particular, the control device should allow additional degrees of freedom and improved maneuverability related to its operation.

[0005] According to the invention, this task is accomplished by a control device having the features of claim 1. A method for controlling vehicle functions using such a control device is described in claim 8. Advantageous designs and improvements regarding both the control device and the method are derived from their respective dependent claims.

[0006] The control device for controlling vehicle functions according to the invention comprises a movable object with a basically fixed position. This object can be actively operated by a person for control, similar to an operating button or joystick. The object is now designed to float via a controlled magnetic field. A sensor system is provided to detect active operation in which the person causes the object to deflect away from its zero position. The control device utilizes a so-called levitation technique, allowing an object with a magnetizable element, such as a soft iron core (an advantageous improvement of the control device according to the invention is a sphere), to float freely in a magnetic field regulated by a closed control loop. Thus, the object is deflected away from its zero position by the person who wants to trigger the vehicle function, allowing for diverse control because the object can deflect in all spatial directions and rotate at an angle about every arbitrary spatial axis. This enables a vast number of different operations, providing a wide range of simple, intuitive, and efficient control possibilities for a user with only brief training.

[0007] In the control device, the sensor system is connected to a magnetic field adjuster, specifically in such a way that, in the event of a displacement, the magnetic field resets the object to its zero position. By resetting the object to its zero position, both a consistent initial state and a reaction force against movement caused by the user are allowed, as the control continuously attempts to reset the object to its initial position. Depending on the function, the force resisting the "displacement caused by the user" can be set to be different by correspondingly energizing the electromagnets of the controlled magnetic field. Furthermore, sensory or tactile feedback can be generated simply and efficiently to indicate to the user that the movement has been recognized, thereby enabling the corresponding vehicle function or desired control commands. To generate pressure points or switch markers, the force can be adjusted, for example, by increasing the force until a predetermined displacement and then decreasing it. The sensor system of the control device can be designed in any manner. It can be implemented, for example, using an interior camera, a dedicated object-oriented camera designed as a single camera or a stereo camera. Alternatively, multiple cameras or other forms of sensors, such as distance sensors based on ultrasound, can be used.

[0008] The control device according to the invention further specifies that data from vehicle sensors, including at least changes in vehicle acceleration, are processed, wherein a magnetic field adjuster is configured to keep the object at its zero position unaffected by such changes in vehicle acceleration. Therefore, it is possible that during rapid acceleration driving operations, the suspended object can remain at its zero position and not move from its original position due to the inertial forces that occur. This provides comfort for the person using the vehicle and the control device, and also prevents movement that might be misinterpreted as controlled motion.

[0009] As already explained, in a highly advantageous improvement of the control device according to the invention, the object can be designed as a sphere. Here, in an advantageous improvement according to the invention, sensors can be integrated within the object. Such sensors can be, in particular, touch-sensitive sensors or touch-sensitive surfaces, to gain more degrees of freedom in detecting the desired control input from a person. Furthermore, accelerometers and / or gyroscopes can be provided to more easily detect the rotational motion of the object and / or to directly use the acceleration acting on the object as a measure of the desired input from a person. The measurable acceleration of the object can here be identified using accelerometers (if present) within the object. They can then be used directly as control signals without the need for the laborious derivation from translational motion.

[0010] The object can preferably have a permanent magnet instead of a magnetizable element, or be magnetizable itself as a substitute. It is particularly advantageous to have the permanent magnet inside the object. In a highly advantageous improvement to the control device according to the invention, the permanent magnet can be omnidirectionally suspended. Thus, it is feasible for the object itself to rotate to a zero position about at least two, preferably at least three, spatial directions, i.e., always substantially the same orientation, so that, for example, in the case of being arranged on the driver's right side (for left-hand drive vehicles), a touch sensor is provided on the right side, and when the object is held laterally in the form of a gear shift lever, the touch sensor is located, for example, between the index and middle fingers when in contact with the object.

[0011] This control device can be used for various vehicle functions. It is particularly suitable for performing sensor-assisted interior controls or controlling functions within menus of the vehicle's multi-function equipment. However, in principle, direct vehicle control can also be achieved through this control device, for example, by controlling the steering system or powertrain, which is generally referred to as steer-by-wire or drive-by-wire. Therefore, the concept of this invention is ideal because many functions can be easily and efficiently controlled through the essentially intuitive operation of the suspended object.

[0012] Unlike conventional control devices, this control device according to the invention allows for a completely new concept of the vehicle interior, as complex components such as steering wheels or pedals, whose positions within the vehicle interior are essentially fixed, can be discarded when using one or more control devices of the invention. Therefore, this control device is suitable for inputting driving direction or travel expectations in autonomous vehicles without steering wheels or pedals. For example, a slight pressure applied to a ball in a direction transverse to the direction of travel can indicate to an autonomous vehicle that a turn is desired in the direction of pressure at the next intersection. Accordingly, by applying pressure in the longitudinal direction of the vehicle or in the opposite direction, the vehicle can be started or stopped.

[0013] The method according to the invention for controlling vehicle functions by means of such a control device specifies that an object's displacement from zero position caused by a person contacting the object is identified and converted into a control command for the vehicle function based on the direction, degree, and / or type of the displacement. As explained, there are numerous different operational possibilities here, because acceleration, direction, degree of displacement, rotational motion, etc., are possible and measurable, thereby enabling novel yet intuitive control and triggering of control commands and vehicle functions.

[0014] According to a favorable improvement of this method, the object, upon displacement, is returned to its zero position by magnetic field adjustment, self-magnetization, or a permanent magnet. This provides a force to resist displacement. On the one hand, this ensures the object remains essentially fixed in position, always in the intended location and always operable in the same manner. On the other hand, the resetting also allows force to be applied to the hand of the person operating the object, thus providing direct tactile or sensory feedback on their input, which enhances functional safety and increases trust in the control device. Attached Figure Description

[0015] Other advantageous designs of the control device of the present invention and methods for controlling vehicle functions by means of the control device are derived from the embodiments described in detail below with reference to the figures, wherein:

[0016] Figure 1 A schematic diagram showing the operation of the control device of the present invention;

[0017] Figure 2 Another view is shown illustrating the operation of the control device of the present invention;

[0018] Figure 3 A schematic diagram showing the working mode and possible functions of the control device of the present invention;

[0019] Figure 4 A schematic diagram showing a possible arrangement of the vehicle interior along with the control device of the present invention is provided. Detailed Implementation

[0020] A closed control loop allows so-called permanent magnets, or ferromagnetic materials, to levitate within a variable, controlled magnetic field. This means that the object's gravity is compensated for by magnetic force. Figure 1 In the illustration, this object 1 is shown in the form of a sphere. A permanent magnet 2, also commonly referred to as a permanent magnet, is located within object 1. In the embodiment shown here, electromagnets 3a and 3b are located above and below, respectively. Figure 1 In the diagram, the electromagnet 3a below object 1 is oriented such that its same pole points towards the permanent magnet 2 inside object 1, causing repulsion. The electromagnet 3b above object 1 is polarized such that it attracts the permanent magnet 2 inside object 1. Overall, the magnetic force F...m The magnetic repulsive and / or magnetic attraction forces shown are therefore related to the gravity F of object 1. g They cancel each other out, causing the object to float or levitate. Magnetic force F m The position of the permanent magnet 2 is determined by the constant magnetic field strength of the permanent magnet 2, the distance between the permanent magnet 2 and the electromagnets 3a and 3b, the current flowing through the electromagnets 3a and 3b, and the resulting variable magnetic field strength. Sensors such as a Hall sensor 4 for measuring electric field strength, a camera 5, and perhaps other sensors such as an ultrasonic sensor for measuring distance allow the determination of the position of the permanent magnet 2 and, consequently, the position of the object 1 relative to the electromagnets 3a and 3b, and the adjustment of the current flowing through the electromagnets 3a and 3b by the controller 6, thereby maintaining the levitation, i.e., floating, of the object 1.

[0021] The permanent magnet 2 is preferably housed within the object 1 via the universal support mechanism 7, schematically shown herein. Therefore, it is possible that the orientation of the poles (N, S) of the permanent magnet 2 remains unchanged during rotation of the object 1. The object 1, i.e., the sphere in this case with the universally supported permanent magnet 2, can thus be kept suspended by adjustable electromagnets 3a and / or 3b above and / or below the object, wherein the distance between the electromagnets 3a, 3b and the object 1 can be adjusted by the current flowing to the electromagnets 3a, 3b and the gravitational force F. g Through magnetic force F m They were compensated.

[0022] For example, additional electromagnets 3 above object 1 allow for compensation of the tangential force acting on object 1; these additional electromagnets are positioned non-perpendicularly above object 1. Figure 2 In the diagram, this electromagnet, generally represented by the number 3, is shown accordingly. Thus, forces, particularly those occurring during vehicle motion, such as acceleration, can be compensated for by the controller 6 using additional electromagnets 3 around the object 1, based on the measured vehicle motion and / or also on the planned vehicle motion anticipated, for example, due to the initiation of steering motion. Therefore, the floating state of the object 1 is reliably maintained, and the object 1 also reliably maintains its planned position, which can also be referred to as zero position, even during longitudinal or lateral acceleration accompanying vehicle motion.

[0023] exist Figure 2 The diagram further illustrates gravity F. g and the tangential force F perpendicular to it t Therefore, the two forces, which are vectors, can now pass through the magnetic force F. m It is balanced accordingly. This is in Figure 2 In the diagram, it is represented as tangential force F t The gravitational force F of object 1 gThe reaction force of the vector sum of the two forces is shown by the dashed line. The vector sum of these forces then results in a magnetic force F. m It must be balanced accordingly, here by an electromagnet 3 represented by 3c and marked with a dashed line similar to the force arrow.

[0024] As already described, the position of object 1, and here specifically its spatial position, i.e., its 3D position, is continuously determined and used to control electromagnet 3 to maintain levitation. To determine the 3D position, external sensors such as the described camera 5, an ultrasonic sensor (not shown), etc., are used. Alternatively, active measurement can be performed. For this purpose, a positioning signal is emitted by object 1 and is externally detected and evaluated. Alternatively or supplementarily, an external position signal for positioning can be sent into object 1 and evaluated within object 1.

[0025] The entire structure now serves as a control device 10, through which a person (not shown) using the vehicle can control its functions. For this purpose, the person contacts object 1 and moves it. Figure 3 The diagram now schematically illustrates the possibility that a person possesses to cause object 1 to move accordingly. Next to object 1, which is a ball in this case, it is again simply illustrated by example. Figure 1 The diagram shows two permanent magnets 3a and 3b and a Hall sensor 4. A camera 5, acting as another sensor, is located to the right of object 1; however, the structure is not limited to this sensor type. Different motion possibilities now exist. The arrow located at the center of object 1 represents yaw motion about a vertical axis x extending vertically. In this case, yaw about the vertical axis x is referred to. Here, yaw is called "yaw" in English. The horizontal axis y is perpendicular to the vertical axis x according to... Figure 3 The diagram extends in the y-direction. The arrow extending about the horizontal axis y to the right of object 1 indicates what is called pitch (or 'nicken') about the horizontal axis y. Pitch (also known as rotation about a predetermined axis in English-speaking regions) is another type of rotation about a predetermined axis. Additionally, a motion can occur about a vertical axis extending in the z-direction. Rolling about the vertical axis z is indicated here by multiple arrows and the vertical axis x position of rotation about the vertical axis z, shown in dashed lines. This rolling motion is called roll in English.

[0026] Besides the rotational motion of object 1, translational motion can obviously be achieved in all three spatial directions, namely along the vertical axis x, the horizontal axis y, and the longitudinal axis z. These are indicated here by arrows adjacent to or beside the respective axes x, y, and z within object 1. When object 1 undergoes such translational deflection, for example, upward or downward along the vertical axis x, the closed control loop adjusts the magnetic fields of electromagnets 3a and 3b, such that the gravity F of object 1... gThe sum of the forces applied by the person using control device 10 to cause the translational deflection of object 1 is now compensated. The person using control device 10 thus feels the reaction force during the translational motion of object 1 and therefore receives tactile feedback on the control input through object 1. When object 1 is translated and deflected within a horizontal plane, i.e., along the horizontal axis y and / or the vertical axis z, the closed control loop selects the electromagnet 3 positioned at the corresponding angle and adjusts its electromagnetic field so that the gravity F of object 1... g The sum of the forces applied by the user for the translational displacement of object 1 is also compensated, so that the person using control device 10 also perceives the reaction force and thus feels the feedback. A similar situation applies to rotational motion on an object, i.e., yaw, pitch, or roll.

[0027] Furthermore, the acceleration of the object can be detected using an accelerometer within object 1, which is not shown here. These accelerations are directly converted into control signals without first deriving acceleration from translational motion. Additionally, object 1 may include a gyroscope and / or can perform position measurements using a gimbal 7 to determine the corresponding rotational motion about all three axes: the vertical, horizontal, and / or longitudinal axes. If object 1 is now rotated by a person using control device 10, the electromagnet advantageously maintains its floating state and correspondingly counteracts the positional change, thereby generating control signals and providing sensory feedback on object 1.

[0028] Therefore, all six degrees of freedom of the floating object 1, namely all three spatial directions and all three rotational angles, as well as other optional signals such as acceleration, pressure applied to the object (via pressure sensors), and object contact (via contact sensors such as capacitive sensors), can be detected. All of these can be used to control different functions within the vehicle. The control signals from the object are preferably transmitted wirelessly, via sliding contacts and / or suitable cable arrangements. Figure 1 The controller 6 shown is processed accordingly. Similarly, information acquired externally by sensor systems such as Hall sensors 4 and cameras 5, and perhaps other ultrasonic sensors not shown here, is processed there and converted into corresponding signals. These signals are used, on the one hand, to maintain the levitation of object 1 in the desired manner, and on the other hand, to generate the desired control signals by changing the orientation and attitude of the floating object 1 and forward them to the vehicle controller.

[0029] The transmission of electronic control signals within the vehicle, such as steer-by-wire or drive-by-wire, allows for the implementation of this innovative control device 10 without the need for a physical connection between the control input and the actuators, i.e., the steering wheel and steering mechanism. Therefore, it is now possible to control various functions of the vehicle via the control device 10 as explained herein and the control signals transmitted to the vehicle controller. This could be, for example, the control of the steering or powertrain already mentioned. Thus, for example, the rotation of object 1 about the horizontal axis y can cause the vehicle to accelerate in a manner similar to acceleration control in a motorcycle, while motion about the vertical axis x can be used to control the steering mechanism. Generally, various designs and associations for altering the orientation and attitude of the floating object 1 can be conceived to integrate vehicle control. Here, object 1 can be intuitively operated for many control tasks. In addition to acceleration and deceleration and steering, other functions such as manual shifting and turn signal operation can also be implemented simply and efficiently. This is particularly suitable for autonomous vehicles, thus, for example, no input is needed for Level 5 autonomous driving, or only occasionally for Level 4. This suspended sphere is perfectly adequate to replace the commonly used fixed control input and allows for a high degree of artistic creative freedom in vehicle interior design without unnecessarily restricting the space available for people accompanying passengers inside the vehicle.

[0030] Another example of using this control device 10 to input vehicle functions is, for example, its use for sensor-assisted interior control. It can therefore, for example, be used in… Figure 4 The diagram shows a ball, denoted as Object 1, positioned within the center armrest 9 area of ​​the vehicle, allowing for the control of numerous functions in place of traditional levers. Therefore, for example, an object 1 floating between the front seats within the center armrest area can be used to control ambient lighting, interior odors, etc. Another key point is that the control device 10 with Object 1 can also function as an anti-theft device. Vehicle operations not performed using Object 1 can, for example, be prohibited by a code associated with Object 1. However, it can be carried independently of the vehicle, for example, when designed as a small ball, and thus can be carried almost constantly by the person using the vehicle. If another person now attempts to use the vehicle, they cannot do so because Object 1 is not present.

[0031] Finally, it may also be noted that, without the use of control device 10, object 1 can descend into an area that is easily accessible for control. Therefore, the object can, for example, descend as if... Figure 4As shown in the diagram, when the object 1 in the control device 10 is actively used, it is placed in the position indicated by the solid line on the surface of the central armrest 9, as indicated by the dashed line. This provides the possibility of placing the object 1 in the interior space in a space-saving manner if it is not needed. When the magnetic field is turned on by activating the electromagnet 3, the object can be placed again as needed in a position or height suitable for control and individually adjustable by the user according to advantageous improvements.

Claims

1. A control device (10) for controlling vehicle functions, comprising an object (1) that is basically fixed in position but movable, the object being operable by a person for control. The object (1) is designed to float via a controlled magnetic field, wherein, A sensor system (4,5) is provided to detect active operations in the form of "the object (1) being shifted away from its zero position". Its characteristics are, The sensor system (4,5) is connected to a controller of the magnetic field configured such that, in the event of human displacement, the magnetic field causes the object (1) to return to its zero position. The process includes at least vehicle sensor data containing changes in vehicle acceleration, wherein the controller of the magnetic field is configured to keep the object at its zero position unaffected by the changes in vehicle acceleration.

2. The control device (10) according to claim 1, characterized in that, The object (1) is designed as a sphere.

3. The control device (10) according to claim 1 or 2, characterized in that, The controller is adjusted by the magnetic field to generate tactile feedback, such that the force acting on the object (1) increases to a predetermined offset and then decreases.

4. The control device (10) according to claim 1 or 2, characterized in that, The object (1) has an integrated sensor.

5. The control device (10) according to claim 4, characterized in that, The integrated sensors include touch-sensitive sensors or touch-sensitive surfaces, accelerometers, and / or gyroscopes.

6. The control device (10) according to claim 1 or 2, characterized in that, The object (1) is itself magnetized or has a permanent magnet (2).

7. The control device (10) according to claim 6, characterized in that, The permanent magnet (2) is omnidirectionally mounted inside the object (1).

8. A method for controlling vehicle functions using the control device (10) according to any one of claims 1 to 7, The object (1) is detected to have shifted away from its zero position by the person touching it, and the shift is converted into control commands for vehicle functions based on the direction, degree, and / or type of the shift. Its characteristics are, The sensor system (4,5) is connected to a controller of the magnetic field configured such that, in the event of an offset, the magnetic field causes the object (1) to return to its zero position, and The process includes at least vehicle sensor data containing changes in vehicle acceleration, wherein the controller of the magnetic field is configured to keep the object at its zero position unaffected by the changes in vehicle acceleration.

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