Actuating device for actuating vehicle function

Abstract

The invention relates to an actuation device for actuating a vehicle function, comprising: a support device; a fluid pad assembly having at least one fluid pad protruding from the carrier device, the fluid pad including at least one resilient enclosure and a first volume having an incompressible fluid at least partially surrounded by the resilient enclosure; and at least one hydropneumatic accumulator fluidly connected to the first volume, the at least one elastic enclosure absorbing an actuation force of the driver's foot in multiple directions such that a deformation of the at least one elastic enclosure caused by the actuation force results in a reduction in the enclosed first volume and an increase in the internal pressure, the at least one sensor unit detects a deformation of the at least one elastic enclosure caused by the actuating force and forwards it to the at least one evaluation and control unit electrically coupled to the at least one sensor unit, and at least one control unit which generates at least one control signal for controlling the vehicle function as a function of a deformation of the elastic enclosure detected by the at least one sensor unit and caused by the actuating force.

Description

TECHNICAL FIELD

[0001] The invention relates to a control device for controlling a vehicle function. BACKGROUND

[0002] From patent document EP 1 459 928 B1 a device for accelerating and / or decelerating a motor vehicle is known, which has at least one control element. The control element is controlled by exerting a control force. Here, the control element works substantially without a stroke, and the device can be operated in at least two driver-specific modes.

[0003] From patent document WO 2020 / 142804 A1 a foot-operated vehicle control system with a pedal is known, which comprises at least one load and / or pressure detection device. The pedal is integrated into or mounted on a floor structure of the vehicle and responds to a force exerted by a user by a minimum displacement of a sensor unit to generate a control signal with which, in operation, a drive and / or brake function of the vehicle can be controlled.

[0004] From patent document FR 3 017 339 A1 a control device is known, which can provide instructions for a vehicle function. The control device comprises a component which is fixedly mounted in a foot space of the vehicle, which comprises a front part which can be elastically deformed by a control force of a driver's foot and at least one strain gauge which is arranged behind and at the front part and is designed to convert a deformation of the front part caused by the control force of the driver's foot into a change in electrical resistance. Furthermore, at least one electronic circuit is connected to the strain gauge and is designed to output a pre-processed signal at an output, which signal represents the elastic deformation caused by the change in electrical resistance and can be used to control the vehicle function. SUMMARY

[0005] The control device for controlling a vehicle function having the features of independent patent claim 1 has the advantage that, in addition to a control force acting perpendicularly, control forces acting from other directions can also be detected and evaluated. This means that even if the control device is not controlled perpendicularly, the control can be reliably recognized and the control device does not tilt. High operating reliability of the control device is thus achieved in an advantageous manner.

[0006] Furthermore, the embodiments of the invention also provide a simple, cost-effective, robust and diagnosable control device for controlling a vehicle function, in which control requests can be interpreted in a good and robust manner. Here, the required control force can be adapted to any requirements or customer wishes.

[0007] An embodiment of the present application provides a control device for controlling a vehicle function, comprising a carrier device, a fluid cushion assembly having at least one fluid cushion protruding from the carrier device, the fluid cushion comprising at least one elastic enclosure and a first volume with an incompressible fluid at least partially enclosed by the at least one elastic enclosure, and at least one hydropneumatic accumulator in fluid connection with the first volume. The at least one elastic enclosure is designed to absorb a control force of a driver's foot in multiple directions, such that a deformation of the at least one elastic enclosure caused by the control force leads to a reduction of the enclosed first volume and thus to an increase of the internal pressure. In this case, at least one sensor unit is designed to detect the deformation of the at least one elastic enclosure caused by the control force and to forward it to at least one evaluation and control unit electrically coupled to the at least one sensor unit, the evaluation and control unit being designed to generate at least one control signal for controlling the vehicle function depending on the deformation of the elastic enclosure detected by the at least one sensor unit caused by the control force.

[0008] An embodiment of the control device according to the present application can be used as a "brake pedal" to perform a braking function or as an "accelerator pedal" to perform an acceleration function.

[0009] The carrier device can preferably be designed as a non-elastic carrier plate made of metal or plastic. The carrier plate can preferably be screwed to the floor or to the dashboard in the footwell of the vehicle. This makes assembly and disassembly of the control device particularly easy.

[0010] In the present case, the evaluation and control unit is understood to be an electrical device, for example a controller, in particular a brake controller or a drive controller, which processes or evaluates the detected sensor signals. The evaluation and control unit can have at least one interface, which can be configured on the basis of hardware and / or on the basis of software. In a hardware-based configuration, the interface can be part of a so-called system ASIC, for example, which contains various functions of the evaluation and control unit. However, the interface can also be a separate, integrated circuit or at least partially composed of discrete components. In a software-based configuration, the interface can be a software module, which exists on a microcontroller, for example, together with other software modules. A computer program product having program code stored on a machine-readable carrier, for example a semiconductor memory, a hard disk memory or an optical memory, and for evaluation when the program is executed by the evaluation and control unit, is also advantageous.

[0011] In the present case, a sensor unit is understood to be a structural unit comprising at least one sensor element. The at least one sensor element directly or indirectly detects a physical quantity or a change in a physical quantity and preferably converts it into an electrical sensor signal. In the embodiment of the actuating device, the sensor signal represents a pressure or a change in pressure, or a stroke or a change in stroke, or a force or a change in force. Such a sensor element can provide information about a change in the measured variable very quickly. As a result, the resulting control signal can preferably be generated and output within 10 ms for actuating the corresponding vehicle function. Preferably, a plurality of sensor units can be used to redundantly detect and evaluate the measured variable. Here, different physical measurement methods are preferably used to detect the measured variable.

[0012] The measures and refinements listed in the dependent claims can advantageously improve the actuating device for actuating a vehicle function given in independent claim 1.

[0013] It is particularly advantageous if the at least one hydropneumatic accumulator can encompass two further volumes which are fluidically separated from one another by a moveable separating element. Here, an incompressible fluid can be accommodated in the second volume, while a compressible fluid can be accommodated in the third volume. Hydraulic oil can preferably be used as the incompressible fluid. Air can preferably be used as the compressible fluid.

[0014] In a further preferred design of the actuating device, the moveable separating element can be designed as, for example, a moveably supported piston which, based on an increase in the internal pressure caused by the actuating force, moves against the force of at least one spring element arranged in the third volume. In this case, the at least one sensor unit can be designed as a displacement sensor which detects the spring displacement of the at least one spring element as a measured variable which represents the effective actuating force. Additionally or alternatively, a sensor unit designed as a force sensor can detect the force acting on the at least one spring element based on the effective actuating force as a measured variable. Alternatively, the moveable separating element can be designed as an elastically deformable membrane which, based on an increase in the internal pressure caused by the actuating force, moves towards the compressible fluid and compresses the compressible fluid. In this case, the at least one sensor unit can be designed as a pressure sensor which detects the internal pressure present in the first volume or the second volume or the third volume as a measured variable which represents the effective actuating force.

[0015] In a further advantageous embodiment of the control device, the base point of the at least one spring element can be adjustable. The control behavior of the control device can be statically preset by the properties of the at least one spring element or dynamically preset by adjusting the base point of the at least one spring element. In this case, the control behavior can be adjusted by the stiffness of the at least one spring element. By selecting the spring, the control feel can be preset to be stiffer or softer, and the corresponding control travel can be preset to be shorter or longer. A further possible embodiment can be a progressive behavior. In this way, the control behavior can be preset to be softer at the beginning of the control, for example, to achieve better quantitative behavior. As the control is intensified, the control behavior can be designed to be stiffer, so that the control travel is not too long. In the range of the daily comfort range, the deceleration is up to about -3 m / s 2 , so the control behavior is set to be softer. However, for the critical braking with a deceleration of more than about -6 m / s 2 , the control behavior is set to be stiffer. This transition can be realized smoothly by a progressive spring element or in a stepped manner, preferably by a series of spring elements with different stiffnesses. Furthermore, the adjustment of the stiffness can be realized by adjusting the base point of the at least one spring element. In this way, the base point of the at least one spring element can be set, for example, by a screw. This can be done in the factory according to the specific circumstances of the customer during production. In the case of an adaptive adjustment of the base point with a stell motor, even a customer-specific adaptation for the driver can be made in the driving operation while the vehicle is stationary.

[0016] In a further preferred design of the operating device, the third volume can be connected to at least one outlet channel, which comprises at least one throttling device and is designed to generate a volume flow in the at least one outlet channel, which can be preset by the at least one throttling device, which volume flow can counteract an increase in the internal pressure in the enclosed third volume caused by the operating force when operating. Thereby, a haptic feedback can be generated for the driver's foot. By means of the at least one outlet channel and the corresponding volume flow, a specific desired pedal feeling can be achieved without changing the hardware or with minimal changes to the hardware. Thus, an operating device with a fluid cushion assembly with pressure adaptation can be used for different vehicle models. In order to achieve a comfortable or desired pedal feeling and to preset a "minimum pedal stroke", throttled fluid flow can be discharged from the enclosed volume by means of the at least one outlet channel when operating. The at least one outlet channel can be connected to the environment or the atmosphere in an advantageous manner by means of a replaceable fluid filter. By means of the replaceable fluid filter, dirt can be prevented from penetrating into the enclosed volume through the at least one outlet channel in an advantageous manner. The at least one throttling device can be designed as a replaceable static throttling element, which generates a constant throttling effect. This static throttling element reduces the effective cross-sectional area of the corresponding outlet channel. The replaceable static throttling element can preferably have a thread, with which it can be screwed into the at least one outlet channel. By selecting and inserting the replaceable throttling element, various constant throttling effects can be preset and a corresponding desired pedal feeling can be generated. Alternatively, the outlet channel itself can serve as a static throttling element, the constant throttling effect of which can be set and preset by means of its selected effective diameter. Alternatively, the at least one throttling device can be designed as an adjustable valve, which can generate a static or dynamic throttling effect. By means of the adjustable valve, the internal pressure curve in the enclosed third volume can be adjusted both statically and dynamically. In this way, the evaluation and control unit can be further designed to preset a desired static or dynamic throttling effect by operating the adjustable valve. In addition to the possible dynamic adjustment, this design has the advantage that the operating characteristics or "pedal characteristics" can be adjusted by changing the software only. Thus, different vehicle models can be implemented with the same hardware. Furthermore, adjustments can also be made during the ongoing operation of the vehicle. In principle, potential aging effects can thus also be accommodated over the entire life cycle. Furthermore, the current internal pressure in the enclosed third volume can be adjusted by means of the adjustable valve in the unoperated state. In this case, the current internal pressure in the enclosed third volume can be adjusted in accordance with the current environmental conditions. Thereby, the internal pressure in the enclosed volume can be adapted to the relevant air pressure fluctuations, preferably, in order to ensure a constant pedal feeling. In particular, altitude differences of several hundred meters certainly lead to relevant changes in air pressure. Therefore, an altitude adaptation is meaningful. In order to carry out an altitude compensation, the adjustable valve can be opened completely briefly in order to balance the pressure between the environment and the enclosed third volume.Furthermore, the throttling effect of the adjustable valve can be adjusted at the actuation depending on the current environmental conditions and / or the current internal pressure in the enclosed volume. Thereby, an undesired strong "hardening" during the actuation of the actuation device can be prevented. Furthermore, a dynamic fluid flow can be released from the enclosed third volume at the actuation depending on the internal pressure profile and can thereby reduce the internal pressure to provide a longer operating stroke or "pedal stroke" and / or a more comfortable "pedal feel".

[0017] In a further advantageous design of the actuation device, the actuation element can be arranged above the at least one fluid cushion and connected with a surface of the at least one fluid cushion facing away from the carrier device and designed to absorb the actuation forces of the driver's foot multidirectionally and to transmit them to the at least one elastic enclosure of the at least one fluid cushion. The actuation element arranged on the fluid cushion assembly can preferably be designed as a classic actuation plate, through which a classic "pedal", preferably brake pedal, appearance can be achieved. Furthermore, the embodiment of the actuation device enables a simple installation and multidirectional operability of the actuation element and a substantially identical "pedal feel" for the driver. Furthermore, the embodiment of the actuation device can also be designed to be robust against tensile loads, which can prevent an excessive tilting, in particular when the actuation forces act only on the corner regions of the actuation element designed as an actuation plate. Furthermore, the design as an actuation plate can also provide a cheap fixing solution.

[0018] In a further advantageous design of the actuation device, the at least one elastic enclosure of the at least one fluid cushion can have a local reinforcement on a surface facing the actuation element, to which the actuation element can be detachably or fixedly connected. The detachable connection can preferably be achieved by a clamping and / or snap connection between the actuation element and the local reinforcement of the elastic enclosure of the at least one fluid cushion. For this purpose, a corresponding hook can be formed on the surface facing the fluid cushion and a corresponding undercut can be formed on the local reinforcement of the elastic enclosure of the at least one fluid cushion, behind which the hook engages to form the corresponding clamping and / or snap connection. With the detachable connection, the actuation element can be easily and quickly replaced for repair or maintenance. At the same time, the detachable clamping and / or snap connection can ensure that the actuation element does not come loose accidentally during use or cleaning of the vehicle. Alternatively, a non-detachable connection, for example an adhesive connection, can be achieved between the actuation element and the local reinforcement of the elastic enclosure of the at least one fluid cushion to connect the actuation element with the at least one fluid cushion of the fluid cushion assembly. The actuation element can preferably be designed as an actuation plate with a non-slip surface. For example, metal, rigid plastic, hardwood or a combination of different materials can be used as a material for the actuation plate. In order to achieve a non-slip surface, for example, a rubber inlay can be arranged on the surface of the actuation plate.

[0019] In a further advantageous design of the actuating device, the volume surrounded at least partially by the at least one elastic enclosure of each fluid cushion can form a spherical segment, preferably a hemisphere, in the unactuated state. Alternatively, the volume surrounded at least partially by the at least one elastic enclosure can form a spherical cap in the unactuated state, the top and bottom faces of which are designed to be non-deformable. In particular, the formation of a spherical segment or hemisphere can advantageously support the effect that any deformation of the at least one elastic enclosure due to an actuating force applied to the actuating element by the driver results in a reduction of the volume surrounded and thus in an increase of the internal pressure in the volume surrounded. Of course, other suitable geometrical shapes can also be employed to achieve the desired effect. The at least one elastic enclosure can advantageously be configured as a single-layer or multi-layer elastic membrane. Here, the material, the number of layers and the thickness can be chosen accordingly for reasons of wear resistance in order to obtain an acceptable force-displacement curve. The material can advantageously be chosen such that it remains elastic and does not become porous over the service life of the actuating device and is sufficiently robust to withstand the expected chemical and mechanical loads. Furthermore, one of the layers can contain a flexible armoring in order to prolong the service life of the elastic membrane.

[0020] In a further advantageous design of the handling device, the fluid cushion assembly can comprise a plurality of fluid cushions which are arranged below and connected to the handling element. Here, at least two fluid cushions of the plurality of fluid cushions can be fluidically connected to one another by a shared hydropneumatic accumulator. Here, a first volume each of the at least one of the at least two fluid cushions surrounded at least partially by a housing and having an incompressible fluid and a second volume of the shared hydropneumatic accumulator having an incompressible fluid form a shared enclosed volume which is fluidically isolated from a third volume of the shared hydropneumatic accumulator having a compressible fluid. Without the shared hydropneumatic accumulator, the measured variables of the respective fluid cushions representing the acting handling force can be detected and evaluated individually by a sensor unit each. For the identification of a leak, the detected measured variables of the respective fluid cushions can be compared with one another. In the case of a plurality of fluid cushions connected to a shared hydropneumatic accumulator, the measured variable of the shared hydropneumatic accumulator representing the acting handling force can be detected and evaluated by a shared sensor unit. Thereby, the number of sensor units can be reduced. For reasons of availability in the event of a fault, at least two hydropneumatic accumulators each having one sensor unit can preferably be used which are fluidically connected to the plurality of fluid cushions respectively. In this case, at least one sensor unit can preferably be arranged in the shared hydropneumatic accumulator and designed to detect the measured variable representing the acting handling force. For the identification of a leak, the detected measured variables of the at least two hydropneumatic accumulators representing the acting handling force can be compared with one another. Machine learning can be used to train the comparison and define normal and fault situations or to distinguish between the two states.

[0021] In a further advantageous design of the handling device, at least one further sensor unit can be electrically coupled to at least one evaluation and control unit and designed to redundantly detect the handling force. To this end, the at least one further control unit can be arranged, for example, outside the at least one fluid cushion on the carrier device. Here, the sensor signal of the at least one further sensor unit can represent a pressure or a pressure change, or a path or a path change, or a force or a force change. Preferably, the at least one further sensor unit can be designed as a displacement sensor or a force sensor. By using at least one second sensor unit which provides information about the acting handling force, at least one control signal can preferably be generated in the event of a fault, for example in the event of a leak of at least one fluid cushion of the fluid cushion assembly, and output to actuate a vehicle function. At the same time, using the at least one further sensor unit can immediately diagnose and feedback a fault. BRIEF DESCRIPTION OF DRAWINGS

[0022] Embodiments of the present application are illustrated in the accompanying drawings and described in more detail in the following description. In the drawings, the same reference designates a component or element performing the same or similar functions.

[0023] Figure 1 A partial schematic view of a footwell of a vehicle is shown, in which a top view of a first embodiment of a manipulating device for manipulating a vehicle function according to the present application is shown.

[0024] Figure 2 A partial schematic view of a footwell of a vehicle is shown, in which a top view of a fourth embodiment of a manipulating device for manipulating a vehicle function according to the present application is shown. Figure 1 A schematic cross-sectional view of a manipulating device according to the present application is shown.

[0025] Figure 3 A schematic cross-sectional view of a second embodiment of a manipulating device according to the present application is shown.

[0026] Figure 4 A schematic cross-sectional view of a third embodiment of a manipulating device according to the present application is shown.

[0027] Figure 5 A partial schematic view of a footwell of a vehicle is shown, in which a top view of a fourth embodiment of a manipulating device for manipulating a vehicle function according to the present application is shown.

[0028] Figure 6 A partial schematic view of a footwell of a vehicle is shown, in which a top view of a fourth embodiment of a manipulating device for manipulating a vehicle function according to the present application is shown. Figure 5 A schematic cross-sectional view of a manipulating device according to the present application is shown. DETAILED DESCRIPTION

[0029] From Figures 1 to 6 It can be seen that the shown embodiments of a manipulating device 10 for manipulating a vehicle function according to the present application each comprise a carrier device 16, a fluid cushion assembly 11 having at least one fluid cushion 12 protruding from the carrier device 16, the fluid cushion comprising at least one elastic enclosure 14 and a first volume (cavity) VI at least partially enclosed by the at least one elastic enclosure 14, the first volume having an incompressible fluid FL1, and at least one hydropneumatic accumulator 15 fluidically connected to the first volume VI. The at least one elastic enclosure 14 is designed to absorb a manipulating force FB of a driver’s foot in multiple directions, such that a deformation of the at least one elastic enclosure 14 caused by the manipulating force FB leads to a reduction of the enclosed first volume VI and thus to an increase of the internal pressure. In this case, the at least one sensor unit 20 is designed to detect the deformation of the at least one elastic enclosure 14 caused by the manipulating force FB and to forward it to at least one evaluation and control unit 24 electrically coupled to the at least one sensor unit 20, the evaluation and control unit being designed to generate at least one control signal for manipulating a vehicle function depending on the deformation of the elastic enclosure 14 detected by the at least one sensor unit 20 caused by the manipulating force FB.

[0030] In the shown embodiments, the manipulating device 10 is used as a “brake pedal” to perform a braking function. Of course, another manipulating device 10 according to the present application can also be used as an “accelerator pedal” to perform an acceleration function.

[0031] In the illustrated embodiment, the support device 16 is designed as a non-elastic support plate 16A made of metal or plastic, and is screwed into the floor or front bulkhead 3 in the vehicle's footwell 1 using threaded fittings (not shown in detail). Furthermore, Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6 Embodiments of the illustrated control devices 10A, 10B, and 10D each include a single hydraulic-pneumatic accumulator 15, which surrounds two additional volumes V2 and V3 fluidly separated from each other by a movable separating element 15.1. Here, the second volume V2 contains an incompressible fluid FL1, and the third volume V3 contains a compressible fluid FL2. In the illustrated embodiments, hydraulic fluid is used as the incompressible fluid FL1. Air is used as the compressible fluid FL2.

[0032] from Figures 2 to 4 It can also be seen that in the illustrated embodiments of the control devices 10A, 10B, and 10C, the elastic enclosure 14A of each fluid pad 12 and the enclosed first volume V1 respectively form a ball table in the uncontrolled state, with their top and bottom surfaces designed to be non-deformable. Thus, the control force FB, which acts on the corresponding fluid pad 12 from different directions through the control element 17 designed as a control plate 17A, can be reliably detected and evaluated by increasing the internal pressure in the enclosed first volume V1. This control force is applied to the corresponding fluid pad 12 from different directions by the control element 17 of the control plate 17A. This allows the control devices 10A, 10B, and 10C to be operated in multiple directions, and the driver can obtain essentially the same "pedal feel." To form a non-slip surface, a plurality of strip-shaped rubber inlays 17.1 are arranged on the surface of the control plate 17A. Of course, the rubber inlays 17.1 can also have other shapes (e.g., circular) or other orientations. In the illustrated embodiment, the first volume V1 is surrounded by the corresponding elastic enclosure 14A and the surface of the support device 16 facing the elastic enclosure 14A.

[0033] from Figure 2 and Figure 3 It can also be seen that the fluid pad assembly 11 in the illustrated embodiments of the operating devices 10A and 10B both include a fluid pad 12, which has only one elastic enclosure 14A surrounding a first volume V1 filled with incompressible fluid FL1. The elastic enclosure 14A of each fluid pad 12 is preferably constructed as a multilayer elastic membrane. Here, the material, number of layers, and thickness can be selected accordingly for wear resistance reasons to obtain an acceptable force-displacement curve.

[0034] exist Figure 4In the third embodiment of the handling device 10C shown, the fluid cushion assembly 11 comprises four fluid cushions 12, of which two fluid cushions are visible. The fluid cushions 12 each comprise only one elastic enclosure 14A enclosing a first volume V1 filled with the incompressible fluid FL1. The elastic enclosure 14A of each fluid cushion 12 is preferably configured as a multi-layered elastic membrane. Here, the material, the number of layers and the thickness can be chosen accordingly for reasons of wear resistance, so that an acceptable force-displacement curve is obtained. In an embodiment of the handling device 10 not shown, the fluid cushion assembly 11 can also comprise more than four fluid cushions 12, for example six fluid cushions 12 or eight or nine fluid cushions 12.

[0035] From Figure 4 It can also be seen that, in the third embodiment of the handling device 10C, at least two fluid cushions of the plurality of fluid cushions 12 are fluidically connected to each other by a shared hydropneumatic accumulator 15. In this case, the respective first volume V1 with the incompressible fluid FL1 at least partially enclosed by the elastic enclosure 14 of said at least two fluid cushions 12 and the second volume V2 with the incompressible fluid FL1 of the shared hydropneumatic accumulator 15 form a shared enclosed volume, which is fluidically isolated from the third volume V3 with the compressible fluid FL2 of the shared hydropneumatic accumulator 15. In Figure 4 In the embodiment shown, two shared hydropneumatic accumulators 15 are integrated into the carrier device 16, of which one shared hydropneumatic accumulator is visible. Here, the first hydropneumatic accumulator 15 shown is fluidically connected to the elastic enclosures 14 of two fluid cushions of the four fluid cushions 12. This means that the shared volume comprises the respective first volume V1 at least partially enclosed by the elastic enclosures 14 of the two fluid cushions 12 and the second volume V2 of the first hydropneumatic accumulator 15. The second hydropneumatic accumulator 15, which is not shown in detail, is fluidically connected to the elastic enclosures 14 of the other two fluid cushions of the four fluid cushions 12. This means that the shared volume comprises the respective first volume V1 at least partially enclosed by the elastic enclosures 14 of the two fluid cushions 12 and the second volume V2 of the second hydropneumatic accumulator 15.

[0036] From Figure 4It can further be seen that the sensor unit 20, which is designed as a pressure sensor 20A, is arranged in the shown first hydraulic pneumatic accumulator 15 and is designed for detecting the internal pressure in the enclosed common volume. Of course, for a fluid cushion assembly 11 having more than four fluid cushions 12, more than two hydraulic pneumatic accumulators 15 can also be used, which are each in fluid connection with the elastic enclosures 14 of at least two fluid cushions 12. Thus, for an embodiment of a fluid cushion assembly 11 having six fluid cushions 12, three hydraulic pneumatic accumulators 15 can be used, which are each in fluid connection with the elastic enclosures 14 of two of the six fluid cushions 12. Here, the plurality of common enclosed volumes can be filled with different media. Thus, for example, the common enclosed first volume can be filled with a compressible fluid FL2 (e.g. air), while the common enclosed second volume can be filled with an incompressible fluid FL1 (e.g. a liquid).

[0037] In Figure 5 and Figure 6 A fourth embodiment of the shown actuating device 10D, the fluid cushion assembly 11 comprises only one fluid cushion 12, the elastic enclosure 14B of which comprises an outer membrane 14.1 and an inner membrane 14.2, between which an intermediate space filled with a compressible fluid FL2 (preferably air) is formed. In this case, the elastic enclosure 14B, more precisely the outer membrane 14.1 and the inner membrane 14.2, and the enclosed first volume VI of the fluid cushion 12 each form a hemisphere, in particular a spherical segment, in the unactuated state. In the shown embodiment, the first volume VI is enclosed by the elastic enclosure 14B and a surface of the carrier device 16 facing the elastic enclosure 14B. In this embodiment, the elastic enclosure 14B directly and multidirectionally absorbs the actuating force FB of the driver's foot without the need for additional actuating elements 17. The inner membrane 14.1 and the outer membrane 14.2 are preferably configured as multilayered. Here, the materials, the number of layers and the thicknesses can be chosen accordingly for reasons of wear resistance, so that an acceptable force-displacement curve is obtained. In an unshown alternative embodiment of the actuating device 10, the individual layers of the multilayered outer membrane 14.1 have different colors, so that different degrees of wear can be distinguished. Thus, for example, an outer first layer can have a neutral color, which indicates to the driver that the degree of wear of the outer membrane 14.1 is within a normal range. An intermediate second layer may, for example, have a first warning color, e.g. yellow, to indicate to the driver that a first degree of wear has been reached. An inner third layer may, for example, have a second warning color, e.g. red, to indicate to the driver that a critical degree of wear of the outer membrane 14.1 has been reached and the elastic enclosure 14B should be replaced.

[0038] From Figures 2 to 4 It can further be seen that the elastic enclosure 14A of each fluid cushion 12 has a local reinforcement 13 on a surface facing the actuating element 17, to which the actuating element 17 is connected. In the shown embodiment, the local reinforcement 13 is formed by a ring-shaped projection of the elastic enclosure 14A, which is connected to the actuating element 17.Figures 2 to 4 In the shown embodiment, a non-detachable adhesive connection is formed between the handling element 17 and the locally reinforced portion 13 of the respective elastic enclosure 14 of the fluid cushion 12 in order to non-detachably connect the handling element 17 with the respective gas cushion 12 of the fluid cushion assembly 11.

[0039] In an alternative embodiment, not shown, a detachable connection is realized by means of a plurality of screw connections between the handling element 17, designed as handling plate 17A, and the locally reinforced portion 13 of the elastic enclosure 14 of the respective fluid cushion 12. In another embodiment, not shown, a detachable connection is realized by means of a plurality of clamping and / or snap connections between the handling element 17, designed as handling plate 17A, and the locally reinforced portion 13 of the respective elastic enclosure 14 of the respective fluid cushion 12. Furthermore, other suitable connection methods can also be used to realize a detachable connection or to realize a non-detachable connection.

[0040] From Figures 2 to 6 It can also be seen that in the shown embodiment of the handling device 10, the elastic enclosures 14 of the respective fluid cushions 12 are each designed as open enclosures 14. In this case, the edge regions 19 of the open enclosures 14 of the respective fluid cushions 12, which face the carrier device 16, are each connected to the carrier device 16 in a fluid-tight manner. The edge regions 19 of the open enclosures 14 of the respective fluid cushions 12 are designed in such a way that they do not change their shape as a result of the acting handling force FB. To this end, in the shown embodiment of the handling device 10, the edge regions 19 of the open enclosures 14B of the respective fluid cushions 12 are each connected to the carrier device 16 by means of a sealing portion 18. In the shown embodiment, the sealing portions 18 are each designed as annular sealing portions 18A.

[0041] In an embodiment of the handling device 10, not shown, in addition to the sealing portions 18, an external thread is also applied to the edge regions 19 of the open enclosures 14 of the respective fluid cushions 12, so that the edge regions 19 can be screwed together with the carrier device 16.

[0042] In an alternative embodiment of the handling device 10, not shown, the elastic enclosures 14 of the respective fluid cushions 12 are each designed as closed enclosures 14. In this case, the side of the closed enclosures 14 of the respective fluid cushions 12, which faces the carrier device 16, is each placed flat on the carrier device 16 and connected thereto. Preferably, the closed enclosures 14A of the respective fluid cushions 12 are bonded to the carrier device 16 by means of a support surface and are designed in such a way that they do not change their shape as a result of the acting handling force FB. Furthermore, the closed enclosures 14 and the enclosed first volume V1 are fluidically connected to the second volume V2 of the respective hydro-pneumatic accumulator 15 by means of at least one compensation connection.

[0043] From Figure 2 and Figure 4It can further be seen that in the shown embodiment of the actuating device 10A, 10C, the hydro-pneumatic accumulator 15 is designed as a pressure chamber 15A integrated in the carrier device 16, respectively. In this case, the second volume V2 with the incompressible fluid FL1 is fluidically connected to the first volume V1 with the incompressible fluid FL1 at least partially surrounded by the elastic enclosure 14 via at least one not further designated connecting channel, and is fluidically separated from the third volume V3 with the compressible fluid FL2 via a separating element 15.1 designed as a movably supported piston 15.1A. In this case, the piston 15.1A is moved against the force of at least one spring element 15.2 arranged in the third volume V3 based on an increase of the internal pressure caused by the actuating force FB.

[0044] From Figure 2 and Figure 4 It can further be seen that in the shown embodiment, only one spring element 15.2 is arranged in the third volume V3. At the base point of the spring element 15.2, a sensor unit 20 designed as a displacement sensor 20B is designed for detecting the spring displacement of the spring element 15.2 as a measured variable, which represents the effective actuating force FB. In an alternative embodiment of the actuating device 10 not shown, the sensor unit 20 is designed as a force sensor, which detects the force action on the at least one spring element 15.2 based on the effective actuating force FB as a measured variable.

[0045] From Figure 2 and Figure 4 It can further be seen that the sensor unit 20 designed as a pressure sensor 20A is arranged in the second volume V2 of the pressure chamber 15A. The sensor unit 20 designed as a pressure sensor 20A detects the current internal pressure as a measured variable, which represents the effective actuating force FB. Thereby, the spring displacement of the spring element 15.2 or the force action on the at least one spring element 15.2 based on the effective actuating force FB as well as the internal pressure in the second volume V2 representing the effective actuating force FB as two redundant measured variables representing the current effective actuating force FB are output to the evaluation and control unit 24 for evaluation.

[0046] In the shown embodiment of the hydro-pneumatic accumulator 15 designed as a pressure chamber 15A, the actuating behavior of the actuating device 10 can be statically preset by the properties of the used spring element 15.2. Furthermore, a stepwise change of the actuating behavior of the actuating device 10 can be preset using a plurality of spring elements 15.2 with different stiffness. In an alternative embodiment of the actuating device 10 not shown, the base point of the spring element 15.2 is adjustable. In such an embodiment, a dynamic change of the actuating behavior can be achieved by adjusting the base point of the at least one spring element 15.2.

[0047] FromFigure 3 and Figure 6 It can further be seen that in the shown embodiment of the manipulation device 10B, 10D, the hydraulic pneumatic accumulator 15 is designed as a ball accumulator 15B arranged outside the carrier device 16, respectively. In this case, the second volume V2 with the incompressible fluid FL1 is fluidically connected with the first volume V1 with the incompressible fluid FL1 at least partially surrounded by the elastic enclosure 14 via at least one not further labeled connecting channel and is fluidically separated from the third volume V3 with the compressible fluid FL2 via a separating element 15.1 designed as an elastically deformable membrane 15.1B. The elastically deformable membrane 15.1B moves towards the compressible fluid FL2 in the third volume V3 based on an increase of the internal pressure caused by the manipulation force FB, thereby compressing the compressible fluid FL2.

[0048] From Figure 3 and Figure 6 It can further be seen that a first sensor unit 20 designed as a pressure sensor 20A is arranged in the second volume V2 and a second sensor unit 10 designed as a pressure sensor 20A is arranged in the third volume V3 of the ball accumulator 15B. Both sensor units 20 designed as pressure sensors 20A detect the current internal pressure as a measured variable, respectively, which represents the effective manipulation force FB. Thereby, two redundant measured variables representing the current effective manipulation force FB are output to the evaluation and control unit 24 for evaluation.

[0049] From Figure 6 It can further be seen that in the shown fourth embodiment of the manipulation device 10D, a third sensor unit 20 designed as a pressure sensor 20A is arranged in the first volume V1 surrounded by the elastic enclosure 14B and the surface of the carrier device 16 facing the elastic enclosure 14B. Thus, in the fourth embodiment of the manipulation device 10D, three sensor units 20 designed as pressure sensors 20A detect the current internal pressure as a measured variable, respectively, which represents the effective manipulation force FB. Thereby, three redundant measured variables representing the current effective manipulation force FB are output to the evaluation and control unit 24 for evaluation.

[0050] In an alternative embodiment not shown, the third sensor unit 20 arranged in the first volume V1 of the fluid cushion 12 at least partially surrounded by the elastic enclosure 14B determines the deformation of the elastic enclosure 14B caused by the manipulation force FB using a different physical measuring method. Thus, for example, a third sensor unit 20 designed as a force sensor in the form of at least one strain gauge can be arranged at the elastic enclosure 14B to detect the deformation caused by the manipulation force FB. Of course, other suitable physical measuring methods can also be employed to redundantly detect the deformation caused by the manipulation force FB. Thus, the third sensor unit 20 can be designed as an optical sensor or a radar sensor, etc., for example.

[0051] From Figure 3 and Figure 6 It can further be seen that in the shown embodiments of the actuating device 10B, 10D, the third volume V3 with the compressible fluid FL2 is connected with an outlet channel 26, respectively, which comprises at least one throttling device 28. The outlet channel 26 is designed for generating a volume flow in the outlet channel 26 which can be preset by the at least one throttling device 28, which volume flow can counteract an increase of the internal pressure in the enclosed third volume V3 caused by the actuating force FB upon actuation. In this case, the actuating behavior of the actuating device 10B, 10D can be statically preset by the at least one throttling device 28, i.e. by a static throttling element, or statically and dynamically by an adjustable throttling element 28A.

[0052] From Figure 3 and Figure 6 It can further be seen that in the shown embodiments of the actuating device 10B, 10D, the throttling device 28 is designed as an adjustable throttling element 28A, respectively, which generates a static or dynamic throttling effect. In this case, the evaluation and control unit 24 is further designed to preset the static or dynamic throttling effect by actuating the adjustable throttling element 28A by means of an adjustment element 29 designed as an adjustment motor. By means of the adjustable throttling element 28A, the current internal pressure in the enclosed third volume V3 in the unactuated state can be adjusted. In the shown embodiments, the current internal pressure in the enclosed third volume can be adjusted in accordance with the current environmental conditions, in order to altitude-adapt the internal pressure in the enclosed third volume V3. Furthermore, in the shown embodiments of the actuating device 10B, 10D, the throttling effect of the adjustable throttling element 28A can be adjusted in accordance with the current environmental conditions and / or the current internal pressure in the enclosed first volume V1 and the enclosed second volume V2 upon actuation.

[0053] In a not shown alternative embodiment of the actuating device 10, the at least one throttling device 28 is designed as an exchangeable static throttling element which generates a constant throttling effect. In this case, the static throttling element preferably comprises an outer thread by which the static throttling element is screwed together with a corresponding inner thread of the corresponding outlet channel 26. Alternatively, the outlet channel 26 itself can serve as a static throttling element, the constant throttling effect of which can be set and preset by its selected effective diameter. Furthermore, the outlet channel 26 is connected with the environment or the atmosphere by means of an exchangeable fluid filter.

[0054] From Figure 4It can also be seen that in the shown third embodiment of the actuation device 10C, as a fallback solution, a further sensor unit 22 is arranged between the individual fluid cushions 12 on the carrier device 16, which is electrically coupled with the evaluation and control unit 24 and is designed for redundantly detecting the actuating force FB. For this purpose, the further sensor unit 22 is designed as a force sensor 22A. By using the further sensor unit 22, at least one control signal can be generated and output for actuating the vehicle function in the event of a fault, for example in the event of a leak in at least one fluid cushion 12 of the fluid cushion assembly 11. At the same time, using the further sensor unit 22 enables immediate diagnosis and feedback of the fault. In the shown embodiment, the sensor unit 22 designed as a force sensor 22A serves as a pure fallback solution for faults.

[0055] In an embodiment not shown, at least one further sensor unit 22 arranged between the individual fluid cushions 12 on the carrier device 16 is designed as a displacement sensor, which detects the distance of the lower side of the actuating plate 17A from the respective sensor unit 22. Thereby, in addition to the information of the sensor units 20 designed as pressure sensors 20A, redundant information about the actuating force FB can also be provided and evaluated by the evaluation and control unit 24.

Claims

1. A control device (10) for operating a function of a vehicle, the control device comprising: Carrying device (16); fluid cushion assembly (11) having at least one fluid cushion (12) protruding from the carrying device (16), the at least one fluid cushion comprising at least one elastic enclosure (14) and a first volume (V1) with an incompressible fluid (FL1) at least partially enclosed by the at least one elastic enclosure (14); and at least one hydropneumatic accumulator (15) in fluid connection with the first volume (V1), wherein the at least one elastic enclosure (14) is designed to absorb a steering force (FB) of a driver's foot in multiple directions, such that a deformation of the at least one elastic enclosure (14) caused by the steering force (FB) leads to a reduction of the enclosed first volume (V1) and thus to an increase of the internal pressure, wherein at least one sensor unit (20) is designed to detect the deformation of the at least one elastic enclosure (14) caused by the steering force (FB) and to forward it to at least one evaluation and control unit (24) electrically coupled with the at least one sensor unit (20), the at least one evaluation and control unit being designed to generate at least one control signal for operating the vehicle function depending on the deformation of the elastic enclosure (14) detected by the at least one sensor unit (20) caused by the steering force (FB).

2. Handling device (10) according to claim 1, characterized in that The at least one hydropneumatic accumulator (15) encloses two further volumes (V2, V3) which are fluidically separated from each other by a movable separating element (15.1), wherein the incompressible fluid (FL1) is contained in the second volume (V2) and a compressible fluid (FL2) is contained in the third volume (V3).

3. Handling device (10) according to claim 2, characterized in that The movable separating element (15.1) is designed as a piston (15.1A) which is movably supported and which moves against the force of at least one spring element (15.2) arranged in the third volume (V3) based on the increase of the internal pressure caused by the steering force (FB), or the movable separating element is designed as an elastically deformable membrane (15.1B) which moves towards the compressible fluid (FL2) and compresses the compressible fluid based on the increase of the internal pressure caused by the steering force (FB).

4. Handling device (10) according to claim 3, characterized in that The at least one sensor unit (20) is designed as a displacement sensor (20B) which detects a spring displacement of the at least one spring element (15.2) representing the effective steering force (FB) as a measured variable, and / or the at least one sensor unit is designed as a force sensor which detects a force action onto the at least one spring element (15.2) based on the effective steering force (FB) as a measured variable.

5. Handling device (10) according to claim 3 or 4, characterized in that The base point of the at least one spring element (15.2) is adjustable.

6. Handling device (10) according to any one of claims 3 to 5, characterized in that The operating characteristics of the operating device (10) can be statically preset by the properties of the at least one spring element (15.2) or dynamically preset by adjusting the base point of the at least one spring element (15.2).

7. Handling device (10) according to any one of claims 1 to 6, characterized in that The at least one sensor unit (20) is designed as a pressure sensor (20A) which detects the internal pressure present in the first volume (V1) or the second volume (V2) or the third volume (V3) as a measured variable representing the effective operating force.

8. Handling device (10) according to any one of claims 2 to 7, characterized in that The third volume (V3) is connected to at least one outlet channel (26) which comprises at least one throttling device (28) and is designed to produce a volume flow in the at least one outlet channel (26) which can be preset by the at least one throttling device (28) and which, in the event of an operation, counteracts an increase in the internal pressure in the enclosed third volume (V3) caused by the operating force (FB).

9. Handling device (10) according to claim 8, characterized in that The operating characteristics of the operating device (10) can be statically preset by the at least one throttling device (28), i.e. by a static throttling element, or statically and dynamically preset by an adjustable flow element (28A).

10. Handling device (10) according to any one of claims 1 to 9, characterized in that An operating element (17) is arranged above the at least one fluid cushion (12) and is connected to the surface of the at least one fluid cushion (12) facing away from the carrier device (16), and is designed to absorb the operating force (FB) of the driver's foot in multiple directions and to transmit it to the at least one resilient enclosure (14) of the at least one fluid cushion (12).

11. Handling device (10) according to claim 10, characterized in that The at least one resilient enclosure (14) of the at least one fluid cushion (12) has a local reinforcement (13) on the surface facing the operating element (17), which is detachably or fixedly connected to the local reinforcement (13).

12. Handling device (10) according to any one of claims 1 to 11, characterized in that The first volume (V1) enclosed at least partially by the at least one resilient enclosure (14) of the respective fluid cushion (12) forms a spheroid or a truncated sphere in the unoperated state.

13. Handling device (10) according to any one of claims 10 to 12, characterized in that The fluid cushion assembly (11) comprises a plurality of fluid cushions (12) which are arranged below and connected to the operating element (17).

14. Handling device (10) according to claim 13, characterized in that At least two fluid cushions (12) of the plurality of fluid cushions (12) are fluidically connected to one another by a shared hydropneumatic accumulator (15), wherein a separate first volume (V1) with incompressible fluid (FL1) enclosed at least partially by the at least one enclosure (14) of the at least two fluid cushions (12) and a second volume (V2) of the shared hydropneumatic accumulator (15) with incompressible fluid (FL2) form a shared enclosed volume which is fluidically separated from a third volume (V3) of the shared hydropneumatic accumulator (15) with compressible fluid (FL2).

15. Handling device (10) according to any one of claims 1 to 14, characterized in that At least one further sensor unit (22) is electrically coupled with the at least one evaluation and control unit (24) and is designed to redundantly detect the manipulation force (FB).

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