Motorized joystick for a motor vehicle and associated control method

Abstract

The invention relates to a joystick (1) for controlling a motor vehicle, in particular a commercial vehicle, such as an agricultural or forestry vehicle, comprising: a carrier (3); an operating lever (2) pivotably mounted on the carrier (3) about two orthogonal axes (a, b); a detection device (5a, 5b) for detecting a pivot position of the operating lever (2) in order to control the motor vehicle or a motor vehicle component, such as an internal or external motor vehicle component, depending on the pivot position, the change in the pivot position and / or the speed of the change; for each axis (a, b) an electromechanical actuator (4a, 4b) coupled to the operating lever (2) for bidirectional rotation transmission;a control unit (13) electrically connected to the detection device (5a, 5b) and the electromechanical actuators (4a, 4b), configured to control the electromechanical actuators (4a, 4b) depending on an input signal (E) applied to the control unit (13) representing a vehicle state, such that the operating lever (2) is driven by an electrical current to pivot at least one electromechanical actuator (4a, 4b) and / or generate haptic feedback, and / or at least its manual pivoting is inhibited or blocked; and an associated control method.

Description

[0001] The subject of the invention is an improved joystick for controlling a motor vehicle, in particular a commercial vehicle, such as a forestry or agricultural commercial vehicle, such as a tractor or combine harvester, and an associated control method.

[0002] Joysticks are known for operating aircraft and have recently been increasingly used in motor vehicles, although still in a rudimentary manner in simple and isolated scenarios.

[0003] It is foreseeable that joysticks will be used more extensively and it is also conceivable that in the future they will replace the steering wheel currently in use in road-legal vehicles that reach higher speeds, such as cars or trucks.

[0004] Due to the ever-increasing complexity of vehicle driving processes, as well as the growing demands placed on agricultural processes (keyword: "every plant gets a name") and their machinery, not least due to the necessary productivity increases, the driving task, especially in the field, is increasingly taking a back seat, and the optimization of process parameters is becoming the central mission. Expert systems and AI-supported assistants advise operators and take over recurring tasks and adjustments.

[0005] At the same time, there is a need to network the human-machine interface (HMI) systems, such as the display and control unit, in order to optimize the control element to the current mission, such as the operating or driving situation. This reduces the complexity of the respective control elements, reduces the costs and weight of the respective vehicle, and enables use even for applications that are not yet foreseeable, such as those resulting from a new attachment that will be attached to a forestry or agricultural vehicle in the future. Current implementations only achieve this to a limited extent and to a limited extent, either through the free assignment of functions to special, programmable buttons or through context-dependent blocking or enabling of available control functions.

[0006] The limitations of previously known control elements are particularly evident when it comes to functions that require specific feedback or operator guidance. In this case, various control elements are provided and maintained in parallel, which naturally cannot all be located in the most ergonomically favorable position at the same time. The inventors envision that this ergonomically favorable location will be occupied by a universal, multifunctional control element. Accordingly, the inventors have set themselves the goal of upgrading the joystick as the central control element so that it can perform the additional functions, which ultimately leads to the replacement of control elements and thus to a cost-effective reduction in operating complexity.

[0007] The focus was less on the previously known extensions in the head area near the free end of the joystick's operating lever, such as the use of programmable buttons or flexibly deployable display-based keypads, but rather on expanding the possible uses of this invention, specifically focusing on the joystick's range of motion. Related movement patterns in the general area of ​​joystick use were considered, although these are used for completely different functions in the present application. For example, the use as a steering device or as a step switch.

[0008] Against this background, the object of the present invention is to provide a joystick for a motor vehicle that is adaptable to the individual driving and / or control situation and is improved, in particular, with regard to various aspects relating to the associated joystick control lever, such as gate guidance, return to an initial position, changing the initial position, haptic feedback, and tracking. This object is achieved by a joystick of claim 1 and a control method of the independent claim. Advantageous embodiments are the subject of the dependent claims.

[0009] The invention relates to a joystick for controlling a motor vehicle, in particular a commercial vehicle, such as an agricultural or forestry vehicle. A joystick is understood to be an operating element that has a handle in the form of an operating lever that, in its initial position, is free-standing, pivotable about two axes, and supported only on one side. A ball, cardan, or universal joint is usually provided for the mounting. This results in a maximum possible range of motion in the shape of an inverted pyramid or an inverted cone, depending on the maximum mechanical action of the operating lever.

[0010] The joystick according to the invention further comprises a support on which the operating lever is pivotally mounted and which serves to secure the joystick to a supporting vehicle component, such as a dashboard or a center console, or the like. The joystick is preferably arranged at a central location in front of the driver of the motor vehicle, facing in the direction of travel, and serves, among other things, to enable the driver to make driving inputs, such as steering, accelerating, and decelerating the motor vehicle.

[0011] According to the invention, a detection device is provided for detecting a pivot position of the operating lever in order to detect a pivot position, a change in the pivot position, and / or a speed of the change, and to control the motor vehicle or a motor vehicle component, such as an internal or external motor vehicle component, depending on the pivot position, the change in the pivot position, and / or the speed of the change. Preferably, the detection device is designed to detect the pivot position, its change, and / or the speed of the change in a contactless manner, such as capacitively, optically, magnetically, or inductively. Preferably, the detection device has at least one Hall sensor and at least one magnetic, preferably permanent-magnetic, position sensor interacting with the Hall sensor.For example, a pair of permanent-magnetic position sensors, fixed to one of the axes, and a Hall sensor interacting with the position sensor are provided for each axis. However, a design consisting of a single 3D Hall sensor and a single permanent-magnetic position sensor interacting with the 3D Hall sensor is also conceivable.

[0012] According to the invention, an electromotive actuator coupled to the operating lever for bidirectional rotation transmission is provided for each axis. The term bidirectional rotation transmission means that each electromotive actuator, when appropriately powered, is capable of both driving a motorized pivoting of the operating lever and being driven by manual pivoting of the operating lever. Preferably, a rotor of the electromotive actuator is connected in a rotationally fixed manner, either directly or via a gear transmission, in particular via a reduction gear, to an axis predetermined by the articulated mounting of the operating lever. For example, the output shaft of the electromotive actuator or of the optionally provided gear transmission is arranged coaxially with one of the axes about which the operating lever is pivotably mounted. The electromotive actuator is preferably a stepper motor.

[0013] According to the invention, a control unit is provided that is electrically connected to the detection device and the electromotive actuators. This control unit is designed to control the electromotive actuators as a function of an input signal present at the control unit that represents a motor vehicle state and / or as a function of the detected pivot position or the detected change in the pivot position, in particular upon detection of pivoting from a predetermined pivot position along at least one first pivot direction predetermined by the two orthogonal axes by the detection device.

[0014] This means that, according to the invention, the electromotive actuators are driven as a function of an "external" input signal, for example as feedback from a vehicle-side driving or status situation, or are energized as a function of an "internal" detection result or as a function of both the input signal and the detection result, in order to drive the operating lever by electrically energizing at least one electromotive actuator for motorized pivoting and / or to generate haptic feedback and / or at least to inhibit or block its manual pivoting. For example, the pivoting drive is provided to effect a change in the starting position of the operating lever due to a change in the operating situation or to implement a sequence of operating inputs by motor-driven movement of the operating lever to various pivot positions in chronological order.In one embodiment, the current supply of the electromotive actuators is provided to limit the manual pivoting of the operating lever, for example to limit the pivoting along the first pivoting direction to a comparatively narrow pivoting range, for example forming the lateral stop on both sides of a shift gate.

[0015] According to the invention, a joystick for a motor vehicle is thus provided that can be adapted to the respective individual vehicle and / or control situation and is improved, in particular, with regard to various aspects relating to the degrees of freedom of the joystick's operating lever, such as guide rails, return to an initial position, changing the initial position, haptic feedback, and tracking, thus enabling its use as a central and universal control element in the most ergonomically optimal location in the vehicle cockpit. The basic idea of ​​the invention is to equip the joystick with electromotive actuators that, in addition to the already known "haptic" function, can provide further functions based on a sophisticated and programmable control of the control unit, whereby the possibilities are more extensive, more powerful, and more flexible than before.What is special here is that the operating lever can not only be provided with haptic feedback via the electromotive actuators, but that the degrees of freedom of the operating lever can be freely programmed depending on the product and type and implemented using the electromotive actuators, keyword adaptive user interface.

[0016] An example of this is the programming of shift gates or a shift gate, which can have different travel patterns and travel distances, even independent of the axes. The joystick, especially the electric motor actuators, can be controlled by the control unit in such a way that, for example, to regulate the speed, it can only be moved forward and backward, but not left and right.

[0017] For example, the degrees of freedom of the operating lever when pivoting in the possible pivoting directions can be specified purely statically, as with a conventional shift gate. According to the invention, such a shift gate can be created in many possible variants using the electromotive actuators, the detection device for pivot position detection, and the control unit, for example, via software, and can also be dynamically influenced if necessary.

[0018] In addition to the electromotive adjustment of the operating lever, a mechanical return of the operating lever to a rest position can be provided, for example by one or more spring elements.

[0019] For example, if the steering is also controlled via the control lever by pivoting it left or right, the maximum possible adjustment ranges or pivot angles could be selected to be smaller the higher the speed. This speed-dependent variation of the pivot angle can also be combined with a variable adjustment resistance that counteracts manual pivoting and increases dynamically with increasing vehicle speed.

[0020] In addition, the degrees of freedom can also be specified differently by the control unit according to function, e.g. when controlling different attachments or according to situation, e.g. high speed / slow speed, road travel / maneuvering in the yard, etc.

[0021] Further examples of control arise - in the provision of driving functions: speed control, steering, transmission control, in particular gear selection, direction indicators, windscreen wiper, mirror or camera control, driving mode selection, - in the provision of comfort functions: seat adjustment, air conditioning control, cabin adjustment, display control, audio control, mobile phone control, etc. - when providing functions relating to the attachments: depending on the attachment and requirements, individually provided shapes and orientations of shift gates and / or maximum pivot angles, specific permissible adjustment patterns or gates, provision of overpressure thresholds, provision of dynamic operating resistances, haptics, etc.

[0022] It is preferably provided that when pivoting from the predetermined pivot position along a second pivot direction orthogonal to the first pivot direction, predetermined by the orthogonal axes, an electromotive actuator remains de-energized in order to enable manual pivoting of the operating lever along the second pivot direction in order to simulate a shift gate, wherein a mechanical gate can be dispensed with, or any shift gate guidance of the operating lever is possible depending on the driving or operating situation.

[0023] Preferably, the control unit is configured to pivot the operating lever into an initial position driven by the electromotive actuators, or, in an autonomous driving or functional mode of the motor vehicle, to motor-adjust the operating lever according to a current driving or functional operating state of the motor vehicle, or, implementing a sequence of operating inputs, to pivot the operating lever step by step through several different pivot positions. Thus, the procedure described above serves to visualize the controls performed in autonomous driving or functional mode.

[0024] Many agricultural vehicles can be activated automatically to perform routine tasks in the field, such as spreading fertilizer or seed. Previously, this required a large number of control commands to be executed in sequence by manually pivoting the control lever. These commands can now be transmitted via electric actuators as an automated sequence of motorized pivoting of the control lever through several pivot positions. This additionally visualizes the control inputs being made and, in particular, provides the driver or operator with a visual and immediate understanding that the vehicle is in autonomous driving or functional mode.

[0025] Preferably, the control unit selects the predefined pivot position, the predefined first pivot direction, the predefined second pivot direction, and / or the initial position depending on the input signal. For example, the input signal contains information regarding the current vehicle state, such as the current driving or operating state of the vehicle.

[0026] Preferably, the motor vehicle state represented by the input signal includes information as to whether a vehicle attachment is mounted on the motor vehicle or not.

[0027] Preferably, the control unit is designed to vary the current supply, for example with regard to current intensity, depending on a speed of the detected change in the pivot position in order to generate, for example, a stronger haptic feedback at a high adjustment speed during manual pivoting of the operating lever than at a lower adjustment speed.

[0028] Preferably, the input signal is determined and provided by a vehicle-side and / or a cloud-based artificial neural network.

[0029] According to a preferred embodiment of the joystick, a touch sensor system is further provided for detecting a touch of the operating lever, which is electrically connected to the control unit. The control unit is designed to control the electromotive actuators depending on the sensing result of the touch sensor system. For example, a positive detection of a touch triggers the change from autonomous driving mode to manual driving mode and causes the operating lever to be adjusted to a correspondingly predetermined starting position. This allows the operator to intervene quickly if necessary, and because the operating lever is located exactly in the position of the current command, further control can be assumed seamlessly without any offset, which represents an enormous safety factor.

[0030] For example, after switching from autonomous driving mode to subsequent manual driving mode, the further control of the electromotive actuators is selected such that pivoting along a predetermined first pivoting direction is blocked and is permitted along a predetermined second pivoting direction that is orthogonal to the first and oriented in a manner suitable for manual driving mode.

[0031] The invention further relates to a motor vehicle, in particular a commercial vehicle, such as a commercial vehicle used for agriculture or forestry, with a joystick in one of the previously described embodiments.

[0032] The invention further relates to a control method using a joystick, which comprises the following steps. In a provision step, the joystick is provided with a support, an operating lever pivotably mounted on the support about two orthogonal axes, and a detection device for detecting a pivot position of the operating lever in order to control the motor vehicle or a motor vehicle component, such as an internal or external motor vehicle component, depending on the pivot position, a change in the pivot position, and / or a speed of the change. The provided joystick further comprises, for each axis, an electromotive actuator coupled to the operating lever for bidirectional rotation transmission, as well as a control unit electrically connected to the detection device and the electromotive actuators.

[0033] The control method according to the invention further comprises a control step in which the electromotive actuators are controlled by means of the control unit as a function of an input signal present at the control unit and representing a motor vehicle state and / or as a function of the pivot position or a change in the pivot position, in particular upon detection of pivoting from a predetermined pivot position along at least one first pivoting direction predetermined by at least one of the two orthogonal axes by the detection device, so that the operating lever is driven by an electrical current supply to at least one electromotive actuator for pivoting and / or generating haptic feedback and / or at least its manual pivoting is inhibited or blocked.

[0034] This means that in the control method according to the invention, the electromotive actuators are driven as a function of an "external" input signal, for example as feedback from a vehicle-side driving or status situation, or are energized as a function of an "internal" detection result or as a function of both the input signal and the detection result, in order to drive the operating lever by electrically energizing at least one electromotive actuator for motorized pivoting and / or generating haptic feedback and / or at least to inhibit or block its manual pivoting. For example, the pivoting drive is provided to effect a change in the starting position of the operating lever due to a change in the operating situation or to implement a sequence of operating inputs by motor-driven movement of the operating lever to various pivot positions in chronological order.In one embodiment, the power supply is provided to limit the manual pivoting of the operating lever, for example to limit the pivoting along the first pivoting direction to a comparatively narrow pivoting angle, for example forming the lateral stop on both sides of a shift gate.

[0035] According to the invention, a control method for a joystick of a motor vehicle is thus provided, which is adaptable to the individual vehicle and / or control situation and is improved in particular with regard to various aspects relating to the degrees of freedom of the operating lever belonging to the joystick, such as guide rails, return to an initial position, change of the initial position, haptic feedback, tracking, and in particular enables its use as a central and universal operating element at the most ergonomic location in the vehicle cockpit.

[0036] Preferably, in the control method according to the invention, it is provided that, during manual pivoting from the predetermined pivot position along a second pivoting direction orthogonal to the first pivoting direction and predetermined by the orthogonal axes, an electromotive actuator remains de-energized in order to enable manual pivoting of the operating lever along the second pivoting direction in order to simulate a shift gate, wherein a mechanical gate can be dispensed with, or any shift gate guidance of the operating lever is possible depending on the driving or operating situation.

[0037] According to a preferred embodiment of the control method according to the invention, in a further step the operating lever is pivoted into an initial position by motor drive driven by the electromotive actuators or in an autonomous driving or functional operation of the motor vehicle the operating lever is motor-adjusted in accordance with a current driving or functional operating state of the motor vehicle or the operating lever is adjusted step by step over several different pivot positions in a sequence of operating inputs.

[0038] Preferably, in a first step, the control unit selects the predefined pivot position, the predefined first pivot direction, the predefined second pivot direction, and / or the initial position depending on the input signal. For example, the input signal contains information relating to the current vehicle state, such as the current driving or operating state of the vehicle. For example, in a first initialization step, the control lever is moved to an initial position and only subsequently "activated" for an operating input by manual pivoting.

[0039] According to a preferred embodiment of the control method according to the invention, the motor vehicle state represented by the input signal contains information as to whether or not a vehicle attachment is mounted on the motor vehicle.

[0040] According to a preferred embodiment of the control method, the current supply, for example with regard to current intensity, is varied in the control step as a function of a speed of the detected change in the pivot position in order to generate, for example, a stronger haptic feedback at a high adjustment speed during the manual pivoting of the operating lever than at a lower adjustment speed.

[0041] Preferably, in a further step, the input signal is determined and provided by a vehicle-side and / or a cloud-based artificial neural network.

[0042] According to a preferred embodiment of the control method, the provided joystick further comprises a touch sensor system for detecting a touch of the operating lever, which is electrically connected to the control unit. During the control step, the electromotive actuators are controlled by the control unit depending on a sensing result of the touch sensor system. For example, a positive detection of a touch triggers the change from autonomous driving mode to manual driving mode and causes the operating lever to be adjusted to a correspondingly predetermined starting position. This allows the operator to intervene quickly if necessary. Because the operating lever is located exactly in the position of the current command, further control can be assumed seamlessly by manually grasping the operating lever without any offset, which represents a significant safety factor.

[0043] For example, after switching from autonomous driving mode to subsequent manual driving mode, the further control of the electromotive actuators is selected such that manual pivoting along a predetermined first pivoting direction is blocked and is permitted along a predetermined second pivoting direction that is orthogonal to the first and oriented in a manner suitable for manual driving mode.

[0044] These and other objects, advantages and features of the invention will become apparent from the following detailed description of preferred embodiments of the invention in conjunction with the figures. Fig. 1 is a perspective view of an HMI interface including a joystick 1 according to the invention; Fig. 2 a perspective view of the Fig. 1 shown joystick 1; Fig. 3 a perspective sectional view of the Fig. 1 shown joysticks 1.

[0045] The invention relates to a joystick 1 for controlling a motor vehicle, in particular a commercial vehicle, such as an agricultural or forestry vehicle. A joystick 1 is understood to be an operating element having a handle in the form of an operating lever 2 that is free-standing in the initial position, pivotable about two axes a, b, and supported only on one side. A ball, cardan, or universal joint is usually provided for the support. This results in a maximum possible range of motion in the form of an inverted pyramid or an inverted cone, depending on the maximum mechanical attachment of the operating lever 2. The joystick 1 is, for example, part of a human-machine interface system 10, as described in Fig. 1 and which, in addition to the joystick 1, includes a display 11, a touch-sensitive input surface 14 and an armrest 12 and is placed, for example, at a central location in front of the driver (not shown) in the motor vehicle who is looking in the direction of travel, so that the operating lever 2 of the joystick 1 can be grasped by the driver under ergonomically optimal conditions and, among other things, serves to make driving inputs by the driver, such as steering, accelerating and decelerating the motor vehicle.

[0046] The joystick 1 further comprises a support 3, on which the operating lever 2 is pivotally mounted and which serves to secure the joystick 1 to a supporting vehicle component, such as a dashboard or a center console or the like. Furthermore, a detection device 5a, 5b is provided for detecting a pivot position of the operating lever 2 in order to detect a pivot position, a change in the pivot position, and / or a speed of the change, and to control the motor vehicle or a motor vehicle component, such as an internal or external motor vehicle component, depending on the pivot position, the change in the pivot position, and / or the speed of the change. In the embodiment shown, the detection device 5a, 5b is designed to detect the pivot position, its change, and / or the speed of the change in a contactless manner, in this case magnetically. Fig. 3 shows, for each axis a, b there is provided a pair of a permanent magnetic position sensor 6 fixed in a rotationally fixed manner to one of the axes a, b and a Hall sensor 7 cooperating with the position sensor 6.

[0047] Furthermore, for each axis a, b, an electromotive actuator 4a, 4b is provided which is coupled to the operating lever 2 for bidirectional rotation transmission. The term bidirectional rotation transmission means that each electromotive actuator 4a, 4b, when appropriately powered, is capable of both driving a motorized pivoting of the operating lever 2 and being driven by manual pivoting of the operating lever 2. Here, it is provided that a rotor (not shown) inside the electromotive actuator 4a, 4b is connected in a rotationally fixed manner, either directly or via a gear transmission, in particular via a reduction gear, to an axes a, b which are predetermined by the articulated mounting of the operating lever and formed by the joint parts 9a, 9b provided for the pivotable mounting of the operating lever 2, as shown in Fig. 3 is shown.

[0048] The output shaft of the electromotive actuator 4a, 4b or of the optionally provided gear transmission is arranged coaxially with one of the axes a, b, about which the operating lever 2 is pivotably mounted. In the embodiment shown, the electromotive actuator 4a, 4b is each a stepper motor. In addition to the electromotive adjustment of the operating lever 2 by the electromotive actuators 4a, 4b, a mechanical return of the operating lever 2 to a rest position is provided by a spring element 8.

[0049] How Fig.As shown in Figure 2, a control unit 13 is provided that is electrically connected to the detection device 5a, 5b and the electromotive actuators 4a, 4b. This control unit is designed to control the electromotive actuators 4a, 4b as a function of an input signal E present at the control unit 13 and representing a motor vehicle state, and / or as a function of the detected pivot position or the detected change in the pivot position, in particular upon detection of pivoting from a predetermined pivot position along at least one first pivoting direction X predetermined by the two orthogonal axes by the detection device.In order to convert the operating input detected by the detection device 5a, 5b and caused by manual pivoting into a control command to a vehicle-side component, such as a steering command or the like, the control unit 13 has an output o which is conductively connected to a vehicle-side control unit (not shown).

[0050] The electromotive actuators 4a, 4b are driven as a function of an "external" input signal E, for example as feedback of a vehicle-side driving or condition situation, or as a function of an "internal" detection result obtained by the detection device 5a, 5b or as a function of both the input signal E and the detection result obtained by the detection device 5a, 5b, in order to drive the operating lever 2 by electrically energizing at least one electromotive actuator 4a, 4b for motorized pivoting and / or for generating haptic feedback and / or at least to inhibit or block its manual pivoting.For example, the pivoting drive is provided to effect a change in the initial position of the operating lever 2 due to a change in the operating situation or to implement a sequence of operating inputs by motor-driven movement of the operating lever 2 to various pivot positions in chronological order. In one embodiment, the energization of the electromotive actuators 4a, 4b is provided to merely limit the manual pivoting of the operating lever 2, for example, to limit the pivoting along the first pivoting direction X to a comparatively narrow pivoting range, for example, forming the lateral stop on both sides of a shift gate.It is further provided that when pivoting from the predetermined pivot position along a second pivot direction Y which is orthogonal to the first pivot direction X and is predetermined by the orthogonal axes, the associated electromotive actuator 4b remains de-energized in order to enable manual pivoting of the operating lever 2 along the second pivot direction Y in order to simulate a shift gate, wherein a mechanical gate can be dispensed with, or any shift gate guidance of the operating lever 2 is possible depending on the driving or operating situation.

[0051] A joystick 1 for a motor vehicle is thus provided which is adaptable to the respective individual vehicle and / or control situation and is improved in particular with regard to various aspects relating to the degrees of freedom of the operating lever 2 of the joystick 1, such as guide rails, return to an initial position, change of the initial position, haptic feedback, tracking, so that in particular its use as a central and universal control element at the most ergonomic location in the vehicle cockpit is possible.

Claims

[1] Joystick (1) for controlling a motor vehicle, in particular a commercial vehicle, such as a commercial vehicle used for agriculture or forestry, comprising: a carrier (3); an operating lever (2) pivotably mounted on the support (3) about two orthogonal axes (a, b); a detection device (5a, 5b) for detecting a pivoting position of the operating lever (2) in order to control the motor vehicle or a motor vehicle component, such as an internal or external automotive component, depending on the swivel position, the change in the swivel position and / or the speed of the change; for each axis (a, b), an electromotive actuator (4a, 4b) coupled to the operating lever (2) for bidirectional rotation transmission; a control unit (13) electrically connected to the detection device (5a, 5b) and the electromotive actuators (4a, 4b), which is designed to control the electromotive actuators (4a, 4b) - to be controlled in dependence on an input signal (E) present at the control unit (13) and representing a motor vehicle state and / or - to be controlled as a function of the detected pivot position or the detected change in the pivot position, in particular upon detection of pivoting from a predetermined pivot position along at least one first pivoting direction (x) by the detection device (5a, 5b), so that the operating lever (2) is driven by an electrical current supply to at least one electromotive actuator (4a, 4b) for motorized pivoting and / or generating haptic feedback and / or at least its manual pivoting is inhibited or blocked. [2] Joystick (1) according to the preceding claim, wherein, during manual pivoting from the predetermined pivoting position along a second pivoting direction (y) orthogonal to the first pivoting direction (x), an electromotive actuator (4b) remains de-energized in order to enable manual pivoting of the operating lever (2) along the second pivoting direction (Y) in order to simulate a shift gate. [3] Joystick (1) according to one of the preceding claims, wherein the control unit (13) is designed to pivot the operating lever (2) into a starting position by motor drive driven by the electromotive actuators (4a, 4b) or to motor-adjust it in accordance with a current driving or functional operating state of the motor vehicle in an autonomous driving or functional operation of the motor vehicle or to pivot it step by step over a plurality of different pivot positions in a sequence of operating inputs. [4] Joystick (1) according to one of the preceding claims, wherein the control unit (13) selects the predetermined pivot position, the predetermined first pivot direction (X), the predetermined second pivot direction (Y) and / or the initial position depending on the input signal (E). [5] Joystick (1) according to one of the preceding claims, wherein the motor vehicle state includes the presence or absence of a vehicle attachment. [6] Joystick (1) according to one of the preceding claims, wherein the control unit (13) is designed to vary the current supply, for example with regard to current intensity, depending on a speed of the detected change in the pivot position. [7] Joystick (1) according to one of the preceding claims, wherein a rotor of the electromotive actuator (4a, 4b) is connected in a rotationally fixed manner to one of the axes directly or via a gear transmission, in particular a reduction gear. [8] Joystick (1) according to one of the preceding claims, wherein the electromotive actuator (4a, 4b) is a stepper motor. [9] Joystick (1) according to one of the preceding claims, wherein the input signal (E) is determined and provided by a vehicle-side and / or a cloud-based artificial neural network. [10] Joystick (1) according to one of the preceding claims, wherein a touch sensor system is further provided for detecting a touch of the operating lever (2), which is electrically connected to the control unit (13) and the control unit (13) is designed to control the electromotive actuators (4a, 4b) depending on a sensing result of the touch sensor system. [11] Motor vehicle, in particular a commercial vehicle, such as a commercial vehicle used for agriculture or forestry, with a joystick (1) according to one of the preceding claims. [12] Control method by means of a joystick (1), comprising the following steps: • Providing the joystick (1) with a support (3), an operating lever (2) mounted on the support (3) so as to be pivotable about two orthogonal axes (a, b), a detection device (5a, 5b) for detecting a pivot position of the operating lever (2) in order to control the motor vehicle or a motor vehicle component, such as an internal or external motor vehicle component, depending on the pivot position, a change in the pivot position and / or a speed of the change, for each axis (a, b) with an electromotive actuator (4a, 4b) coupled to the operating lever (2) for bidirectional rotation transmission and a control unit (13) electrically connected to the detection device (5a, 5b) and the electromotive actuators (4a, 4b); • Controlling the electromotive actuators (4a, 4b) by means of the control unit (13) o depending on an input signal (E) present at the control unit (13) and representing a motor vehicle state and / or o depending on the detected pivot position or the detected change in the pivot position, in particular upon detection of pivoting from a predetermined pivot position along at least one first pivot direction (X) by the detection device (5a, 5b); so that the operating lever (2) is driven by an electrical current supply to at least one electromotive actuator (4a, 4b) for pivoting and / or generating a haptic feedback and / or at least its manual pivoting is inhibited or blocked. [13] Control method according to the preceding claim, that upon detection of a manual pivoting from the predetermined pivoting position along a second pivoting direction (Y) orthogonal to the first pivoting direction (X) by the detection device (5a, 5b), an electromotive actuator (4b) remains de-energized in order to release the manual pivoting of the operating lever (2) along the second pivoting direction (Y) for simulating a shift gate. [14] Control method according to one of the two preceding claims, wherein the operating lever (2) is pivoted by motor in a further step into an initial position driven by the electromotive actuators (4a, 4b) or is motor-adjusted in an autonomous driving or functional operation of the motor vehicle in accordance with a current driving or functional operating state of the motor vehicle or is pivoted step by step over a plurality of different pivot positions in a motor-adjusted manner, implementing a sequence of operating inputs. [15] Control method according to one of the preceding claims 12 to 14, wherein in a first step the control unit (13) selects the predetermined pivoting position, the predetermined first pivoting direction (X), the predetermined second pivoting direction (Y) and / or the initial position as a function of the input signal (E). [16] Control method according to one of the preceding claims 12 to 15, wherein the motor vehicle state includes the presence or absence of a vehicle attachment. [17] Control method according to one of the preceding claims 12 to 16, wherein during the control the current supply, for example with regard to current intensity, is varied depending on a speed of the change in the pivot position. [18] Control method according to one of the preceding claims 12 to 17, wherein in a further step the input signal (E) is determined and provided by a vehicle-side and / or a cloud-based artificial neural network. [19] Control method according to one of the preceding claims 12 to 18, wherein the provided joystick (1) has a touch sensor system for detecting a touch of the operating lever (2), which is electrically connected to the control unit (13) and, in the step of controlling, the electromotive actuators (4a, 4b) are controlled depending on a sensing result of the touch sensor system.

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