Method and system for controlling a drive train of a vehicle trailer

Abstract

A method for controlling a drive train (10) of a vehicle trailer (100) is described, including the steps performed when the vehicle trailer (100) is in a state detached from a vehicle: detecting a force transmitted to a drawbar (20) of the vehicle trailer (100), which is transmitted to the drawbar (20) based on a manual application of force to a coupling control element (32) of the vehicle trailer (100), using a force sensor (22) arranged on the drawbar (20); generating a control signal based on the detected force; and controlling a component of the drive train (10) based on the generated control signal to maneuver the vehicle trailer (100) in the state detached from the vehicle. Furthermore, a system (200) is described which includes the force sensor (22) and a control unit (210) and is configured to perform the method.Furthermore, a vehicle trailer (100) is described which has the system (200).

Description

Technical area

[0001] The present invention relates to a method and a system for controlling a drive train of a vehicle trailer. The present invention also relates to a vehicle trailer on which such a system is arranged. State of the art

[0002] It is known from the prior art to equip a vehicle trailer with a drive system that allows the vehicle trailer to be moved when uncoupled from a towing vehicle. DE 10 2012 016 234 A1 discloses detecting operating forces on a trailer handle and using these to generate control signals for a trailer drive motor during maneuvering. In known trailer couplings, such a handle is a component of a trailer-side coupling mounted on a trailer drawbar. Description of the invention

[0003] The present invention relates, in one aspect, to a method for controlling a drive train of a vehicle trailer. The vehicle trailer may be a self-propelled vehicle trailer. The drive train may be a drive train for propelling the vehicle trailer. The drive train may be an electric drive train. The vehicle trailer may be any vehicle trailer that has a trailer drawbar for transmitting power between the vehicle trailer and a vehicle. The vehicle trailer and the vehicle may form a combination in which the vehicle trailer is coupled to the vehicle via the trailer drawbar.

[0004] The steps of the method are performed when the vehicle trailer is uncoupled from a vehicle. When the vehicle trailer is uncoupled from the vehicle, it is not connected to the vehicle via the trailer drawbar. When the vehicle trailer is uncoupled from the vehicle, it can be driven by the drive train.

[0005] The method includes, as one step, detecting a force transmitted to a trailer drawbar of the vehicle trailer. The force is transmitted to the trailer drawbar based on a manual application of a force to a coupling control element of the vehicle trailer. The transmitted force can be based on the force manually applied to the coupling control element, wherein the manually applied force can be converted into the transmitted force. The coupling control element can be a handle for operating or disengaging the trailer-side coupling.

[0006] According to one embodiment, the coupling control element is not directly connected to the trailer drawbar. The coupling control element and the trailer drawbar can be different or separate components of the vehicle trailer, wherein the force manually applied to the coupling control element as one component can be transferred to the trailer drawbar as another component. The coupling control element can be arranged on a trailer-side coupling. The force manually applied to the coupling control element can be transferred to the trailer-side coupling. The coupling control element can be configured to couple the trailer-side coupling to a vehicle-side coupling. The trailer-side coupling can be, for example, a ball coupling that can be opened by actuating the coupling control element. The trailer-side coupling can be arranged on the trailer drawbar.The coupling control can be connected to the trailer drawbar via the trailer-side coupling. The force manually applied to the coupling control can be transferred to the trailer drawbar via the trailer-side coupling.

[0007] The step of detecting the force transmitted to the drawbar of the vehicle's trailer is performed using a force sensor mounted on the drawbar. The force sensor is designed and / or configured to detect the force transmitted to the drawbar. Therefore, the force manually applied to the coupling control element is not detected in the detection step. Instead, the force transmitted to the trailer drawbar is detected in the detection step.

[0008] According to one embodiment, the force sensor is a force sensor for detecting coupling forces that act when the vehicle trailer is coupled. In the coupled state, the vehicle trailer is coupled to the vehicle via the trailer drawbar. In the coupled state, the vehicle trailer and the vehicle can be operated as a combination. Thus, the transmitted force can advantageously also be detected using a force sensor already present on the trailer drawbar for detecting coupling forces between the vehicle trailer and the vehicle.

[0009] According to one embodiment, the force sensor is integrated into the trailer drawbar. The force sensor can connect a coupling linkage of the trailer drawbar to a trailer linkage of the trailer drawbar. The coupling linkage can be configured to connect the trailer-side coupling to the trailer drawbar. The trailer linkage can be configured to connect the trailer drawbar to a chassis of the vehicle trailer. The coupling linkage can be connected to the trailer linkage via the force sensor. According to a further embodiment, the trailer-side coupling and the trailer drawbar can be connected via the force sensor.

[0010] The force sensor can, for example, comprise a spring force gauge or a strain gauge. The force sensor can be designed as a tensile force sensor for detecting a tensile force transmitted to the trailer drawbar. The transmitted tensile force can be based on a compressive force, tensile force, and / or bending force manually applied to the operating element, wherein the transmitted tensile force can result from the manually applied compressive force, tensile force, and / or bending force. The manually applied compressive force, tensile force, and / or bending force can be converted into the transmitted tensile force. Alternatively or additionally, the force sensor can be designed as a compressive force sensor for detecting a compressive force transmitted to the trailer drawbar of the vehicle trailer.The transmitted compressive force can be based on the compressive force, tensile force and / or bending force manually applied to the operating element, wherein the transmitted compressive force can result from the manually applied compressive force, tensile force and / or bending force. The manually applied compressive force, tensile force and / or bending force can be converted into the transmitted compressive force. Further alternatively or additionally, the force sensor can be designed as a bending force sensor for detecting a bending force transmitted to the trailer drawbar of the vehicle trailer. The transmitted bending force can be based on the compressive force, tensile force and / or bending force manually applied to the operating element, wherein the transmitted bending force can result from the manually applied compressive force, tensile force and / or bending force. The manually applied compressive force, tensile force and / or bending force can be converted into the transmitted bending force.

[0011] According to one embodiment, a manual maneuvering command from an operator is provided by the force manually applied to the coupling control element. The force manually applied to the coupling control element can correspond to the manual maneuvering command or a maneuvering request of the operator for manually maneuvering the vehicle trailer. The manual maneuvering command can be determined based on the force transmitted to the force sensor. The force manually applied to the coupling control element can be applied to maneuver the vehicle trailer into a parking position of the vehicle trailer. The force manually applied to the coupling control element can also be applied to maneuver the vehicle trailer to couple the vehicle trailer to the vehicle.

[0012] The method comprises, as a further step, generating a control signal based on the detected force. The control signal can be generated using a control device arranged on the vehicle trailer. The control signal can be based on or include the manual maneuvering command.

[0013] The method comprises, as a further step, controlling a component of the drive train based on the generated control signal for maneuvering the vehicle trailer in the state uncoupled from the vehicle. The component of the drive train can be at least one of an energy source for providing energy for driving the vehicle trailer, a motor for driving a wheel of the vehicle trailer, a brake for braking the wheel of the vehicle trailer, and a steering system for steering the wheel of the vehicle trailer. The energy source can be a battery for providing electrical energy. The motor can be an electric motor. The brake can be an electromechanical brake. The component of the drive train can be controlled such that the manual maneuvering instruction for maneuvering the vehicle trailer is implemented.The drivetrain component may also be a transverse dynamic drivetrain component for implementing a maneuvering angle. Alternatively or additionally, the drivetrain component may be a longitudinal dynamic drivetrain component for implementing a maneuvering direction and a maneuvering speed.

[0014] With this method, a manual maneuvering command can be determined by the force transmitted to the trailer drawbar, which results from the force manually applied to the coupling control element. The manual maneuvering command can also be advantageously determined using a force sensor already installed on the trailer drawbar, which is set up to determine coupling forces. With the force sensor, manual movement of the vehicle trailer can therefore be achieved with the assistance of the electric drive train of the vehicle trailer. With this method, the force manually applied to the coupling control element can be amplified by controlling the drive train. With this method, the force manually applied to the coupling control element can be amplified by implementing the maneuvering command.

[0015] According to one embodiment of the method, this can comprise, as a further step, determining a force acting vertically on the trailer drawbar. The step of determining the force acting can be carried out using the force sensor. In the step of determining the force acting, it can be determined that no significant force acting vertically on the trailer drawbar is present. If such a force acting is not present, the trailer-side coupling can be free of any support load. A significant force acting cannot be present if the trailer drawbar, when uncoupled from the vehicle, is supported on a support wheel arranged on the trailer drawbar. A significant force acting can, however, be present if the vehicle trailer is coupled to the vehicle and the trailer-side coupling is coupled to the vehicle-side coupling.According to this embodiment, the method can comprise, as a further step, determining that the vehicle trailer is in the state uncoupled from the vehicle. In the determining step, it can be determined that the vehicle trailer is in the state uncoupled from the vehicle if it has been determined in the determining step that no significant force is present. The determining step can thus be carried out depending on the determined force. According to this embodiment, the further steps of the method can be carried out depending on the determined state. The maneuvering of the vehicle trailer can thus be carried out under the safety condition that the vehicle trailer is in the state uncoupled from the vehicle and the trailer drawbar is supported on the support wheel in this state.The process can thus be carried out under particularly safe operating conditions.

[0016] According to a further embodiment of the method, the presence of the uncoupled state can be communicated to the operator visually or acoustically. The visual or acoustic communication of the uncoupled state can provide the operator with a release to interact with the vehicle trailer. Interacting with the vehicle trailer can involve manually applying force to the coupling control element to maneuver the vehicle trailer.

[0017] According to a further embodiment of the method, this can comprise, as a further step, reading in a switching state of a manually operable activation switch to enable controllability of the drivetrain component. The switching state can be a temporary switching state of the manually operable activation switch. The switching state can also be a continuous switching state of the manually operable activation switch. According to this embodiment, the controlling step can be carried out depending on the read-in switching state. The controlling step can be carried out when the switching state of the manually operable activation switch is present. The maneuvering of the vehicle trailer can thus be carried out when, in addition to the existing uncoupled state of the vehicle trailer, the activation switch is also actuated.This ensures that a force applied manually to the coupling control element also corresponds to an actual shunting command from the operator, which can be confirmed by pressing the activation switch.

[0018] According to a further embodiment of the method, a force direction of the transmitted force can be detected two-dimensionally in the detection step. The force sensor can be a two-dimensional or three-dimensional force sensor. According to this embodiment, the drive signal can be generated in the generation step based on the two-dimensionally detected force direction. The manual maneuvering command can be determined based on the two-dimensionally detected force direction. The manually applied force can be transmitted to the trailer drawbar in such a way that the transmitted compressive force, tensile force, and / or bending force can be detected two-dimensionally by the force sensor. The manual maneuvering command can thus be efficiently determined using the two-dimensionally detected force direction.According to a further embodiment of the method, the two-dimensionally detected force direction can be detected in a reference system spanned by the longitudinal axis and the transverse axis of the vehicle trailer. The two-dimensionally detected force direction can thus specify a direction of movement of the vehicle trailer in the reference system in which it is to be moved for maneuvering. Thus, a manual maneuvering command can be implemented using the method in a particularly intuitive manner for the operator.

[0019] According to a further embodiment of the method, the control signal for controlling an individual wheel drive of the drive train can be generated in the generating step. The control signal can also be generated for controlling two individual wheel drives of the drive train, which individually drive opposite wheels on a trailer axle of the vehicle trailer. According to this embodiment, the individual wheel drive or the individual wheel drives can be controlled in the controlling step based on the generated control signal. The individual wheel drive or the individual wheel drives can be the component of the drive train to be controlled. The individual wheel drives can be controlled in opposite directions in order to align the vehicle trailer or to change the direction of movement during maneuvering. The individual wheel drives can also be driven in parallel in order to move the vehicle trailer along a predetermined maneuvering direction.The vehicle trailer can therefore be maneuvered even when there is limited space to implement the maneuvering instructions.

[0020] According to a further embodiment of the method, the control signal for controlling a wheel brake of the drive train can be generated in the generating step. According to this embodiment, the wheel brake can be controlled in the controlling step based on the generated control signal. The wheel brake can be controlled such that a wheel is held during maneuvering of the vehicle trailer in order to align the vehicle trailer. The control signal can also be generated to control a plurality of wheel brakes of the drive train in order to brake a plurality of wheels of the vehicle trailer. In the controlling step, the wheel brakes can be controlled based on the generated control signal such that the vehicle trailer is braked during maneuvering. The maneuvering of the vehicle trailer can thus be carried out in a particularly efficient manner to implement the maneuvering specification.

[0021] In a further aspect, the present invention relates to a system for controlling a drive train of a vehicle trailer when the vehicle trailer is uncoupled from a vehicle. According to one embodiment, the system can be configured to carry out the method according to the preceding aspect.

[0022] The system comprises a force sensor arranged on a trailer drawbar of the vehicle trailer. The force sensor is configured to detect a force transmitted to the trailer drawbar. The transmitted force is transmitted to the trailer drawbar based on a force manually applied to a coupling control element of the vehicle trailer. The system also comprises a control device configured to generate a drive signal based on the detected force. The control device is further configured to control a component of the drive train based on the generated drive signal for maneuvering the vehicle trailer in the state uncoupled from the vehicle. The force sensor can be configured as described for the previous aspect. The control device can be configured to carry out at least one step of the method according to the previous aspect.The system may further comprise at least one device configured according to an embodiment of the preceding aspect.

[0023] In another aspect, the present invention relates to a vehicle trailer on which the system according to the preceding aspect is arranged. The system is configured to control a component of the drive train for maneuvering the vehicle trailer. Short description of the characters Fig. 1 shows a system for controlling a drive train of a vehicle trailer according to one embodiment. Fig. 2 shows a flowchart with method steps for controlling a drive train of a vehicle trailer according to an embodiment. Detailed description of embodiments

[0024] Fig. 1 shows a system 200 comprising a force sensor 22 and a control device 210. The system 200 is configured to control a drive train 10 of a vehicle trailer 100. The vehicle trailer 100 is uncoupled from a vehicle not shown in the figures. In the uncoupled state, a trailer-side coupling 30 is not coupled to a vehicle-side coupling of the vehicle.

[0025] A coupling control element 32 is arranged on the trailer-side coupling 30. The coupling control element 32 has a handle for opening the trailer-side coupling 30. The trailer-side coupling 30 is attached to a trailer drawbar 20, which is attached to a chassis 110 of the vehicle trailer 100. A force sensor 22 is arranged on the trailer drawbar 20, which, according to one embodiment, is integrated into the trailer drawbar 20.

[0026] The Fig. 1, has a reference system B in which a force direction K that can be detected two-dimensionally with the force sensor 22 can be detected. The reference system B is spanned by the longitudinal axis L and the transverse axis Q of the vehicle trailer 100. The reference system B also has a vertical axis H, which is arranged vertically on the plane spanned by the longitudinal axis L and the transverse axis Q. When the vehicle trailer 100 is uncoupled, a force can be manually applied to the coupling control element 32 by an operator, which force corresponds to a maneuvering instruction given by the operator. The force manually applied to the coupling control element 32 is transmitted to the trailer drawbar 20 via the trailer-side coupling 30. The force transmitted to the trailer drawbar 20 is detected by the force sensor 22 in the reference system B.In this case, a force direction K and an amount A of the transmitted force are recorded as the force acting on the force sensor 22 and resulting force.

[0027] The control device 210 reads the transmitted force from the force sensor 22. The system 200 also has an activation switch 21, which is actuated by the operator to maneuver the vehicle trailer 100 based on the maneuvering specification.

[0028] The vehicle trailer 100 has a drive train 10 with which the vehicle trailer 100 can be driven and moved. In the Fig. In the embodiment shown in Figure 1, the drive train 10 has an energy source 40, which provides energy for driving the vehicle trailer 100. According to one embodiment, the energy source 40 is an accumulator for electrically driving the vehicle trailer 100. The drive train 10 has two wheels 14, each of which can be driven by an individual wheel drive 12. The control device 210 is configured to control the drive train 10 to drive and move the vehicle trailer 100 based on the force detected by the force sensor 22 and transmitted to the trailer drawbar 20 in order to implement the maneuvering specification for maneuvering the vehicle trailer 100.

[0029] Fig.Figure 2 shows a flowchart with steps S0 to S3 for controlling the drive train 10 of the vehicle trailer 100. The steps of the method are performed when the vehicle trailer 100 is uncoupled from the vehicle. The system 200 is configured to perform the steps of the method.

[0030] In a first step S0 of the method, conditions for safely carrying out the method are checked. In a first sub-step S0a, a force acting vertically on the trailer drawbar 20 along the vertical axis H of the reference system B is determined. In a further sub-step S0b, it is determined that the vehicle trailer 100 is in the uncoupled state from the vehicle when no significant force acts along the vertical axis H. This is the case when the trailer drawbar 20 is supported on a support wheel (not shown in the figures) arranged on the trailer drawbar 20, after the trailer-side coupling 30 has been uncoupled from the vehicle-side coupling.

[0031] In a further step S1 of the method, the force transmitted to the trailer drawbar 20 is detected in the reference system B. The transmitted force acts on the force sensor 22 and results from the force manually applied to the coupling control element 32. The transmitted force is detected by the force sensor 22 in the reference system B with the force direction K and the magnitude A.

[0032] In a further sub-step S0c of step S0, the control device 210 reads in a switching state of the manually operable activation switch 21. By actuating the activation switch 21, the operator confirms his maneuvering instruction provided with the force applied to the clutch operating element 32. In a further step S2 of the method, the control device 210 generates a control signal for controlling the drive train 10 based on the force detected by the force sensor 22 when the switching state of the manually operable activation switch 21 is present and has been read in.

[0033] In a further step S3 of the method, the drive train 10 is controlled based on the generated control signal for maneuvering the vehicle trailer 100 in the state uncoupled from the vehicle. To implement the maneuvering specification and based on the force direction K, the individual wheel drives 12 of the wheels 14 are controlled to align the vehicle trailer 100 based on the force direction K. For this purpose, the wheels 14 are controlled such that they rotate in opposite directions to align the vehicle trailer 100. Thus, a direction specification from the maneuvering specification for aligning the vehicle trailer 100 is implemented by controlling the drive train 10. The drive train 10 is also controlled based on the magnitude A of the force detected by the force sensor 22 to move the vehicle trailer 100 along the direction specification.A movement speed of the vehicle trailer 100 can thus be implemented based on the detected amount A, whereby a speed specification for maneuvering the vehicle trailer 100 is implemented. The implementation of the speed specification can be limited by a predefined maximum speed for maneuvering the vehicle trailer 100. Reference symbol 10 Drivetrain 12 independent wheel drive 14 wheels 20 trailer drawbar 21 Activation switch 22 force sensor 30 Clutch 32 Clutch control element 40 Energy source 100 vehicle trailers 110 chassis 200 systems 210 Control device A Amount B Reference system H vertical axis K Force direction L Longitudinal axis Q transverse axis S0 Check S0a Determine S0b Set S0c Read S1 Capture S2 Generate S3 Taxes QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2012 016 234 A1

[0002]

Claims

[1] Method for controlling a drive train (10) of a vehicle trailer (100), comprising the steps which are carried out when the vehicle trailer (100) is in a state uncoupled from a vehicle: detecting (S1) a force transmitted to a trailer drawbar (20) of the vehicle trailer (100), which force is transmitted to the trailer drawbar (20) based on a manual application of a force to a coupling operating element (32) of the vehicle trailer (100), with a force sensor (22) arranged on the trailer drawbar (20), generating (S2) a control signal based on the detected force, and controlling (S3) a component of the drive train (10) based on the generated control signal for maneuvering the vehicle trailer (100) in the state uncoupled from the vehicle. [2] Method according to claim 1, comprising the further steps of: determining (S0a) a force acting vertically on the trailer drawbar (20), and establishing (S0b) that the vehicle trailer (100) is in the state uncoupled from the vehicle, wherein the step of establishing (S0b) is carried out as a function of the determined force, wherein the further steps of the method are carried out as a function of the established state. [3] Method according to claim 1 or 2, with the further step of reading (S0c) a switching state of a manually operable activation switch (21) for enabling controllability of the component of the drive train (10), wherein the step of controlling (S3) is carried out as a function of the read switching state. [4] Method according to one of the preceding claims, wherein in the step of detecting (S1) a force direction (K) of the transmitted force is detected two-dimensionally, wherein in the step of generating (S2) the drive signal is generated based on the two-dimensionally detected force direction (K). [5] Method according to claim 4, wherein the two-dimensionally detected force direction (K) is detected in a reference system (B) which is spanned by the longitudinal axis (L) and the transverse axis (Q) of the vehicle trailer (100). [6] Method according to one of the preceding claims, wherein in the generating step (S2) the control signal for controlling an individual wheel drive (12) of the drive train (10) is generated, and wherein in the controlling step (S3) the individual wheel drive (12) is controlled based on the generated control signal. [7] Method according to one of the preceding claims, wherein in the generating step (S2) the control signal for controlling a wheel brake of the drive train (10) is generated, and wherein in the controlling step (S3) the wheel brake is controlled based on the generated control signal. [8] System (200) for controlling a drive train (10) of a vehicle trailer (100) in a state of the vehicle trailer (100) uncoupled from a vehicle, comprising a force sensor (22) arranged on a trailer drawbar (20) of the vehicle trailer (100), wherein the force sensor (22) is configured to detect a force transmitted to the trailer drawbar (20), which is transmitted to the trailer drawbar (20) based on a force manually applied to a coupling operating element (32) of the vehicle trailer (100), and a control device (210) configured to generate a drive signal based on the detected force, wherein the control device (210) is further configured to control a component of the drive train (10) based on the generated drive signal for maneuvering the vehicle trailer (100) in the state uncoupled from the vehicle. [9] System (200) according to claim 8, wherein the system (200) is arranged to carry out the method according to one of claims 1 to 7. [10] Vehicle trailer (100) on which the system (200) according to claim 8 or 9 is arranged and arranged to control a component of the drive train (10) for maneuvering the vehicle trailer (100).

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