Towing vehicle, combination vehicle and method for assisting in reversing with a combination vehicle

Abstract

The invention relates to a towing vehicle (12) for connecting (14) to a trailer (16), wherein an articulation angle (26) between the towing vehicle (12) and the trailer (16) is defined when the towing vehicle (12) is connected to the trailer (16). The towing vehicle (12) comprises at least one steerable wheel (18) which comprises a variable wheel steering angle (28). The towing vehicle (12) has a reversing assistance device (30), wherein the reversing assistance device (30) is designed to control the wheel steering angle (28). The towing vehicle (12) comprises an articulation angle detection device (32) for detecting (34) the articulation angle (26). The reversing assistance device (30) is connected to the articulation angle detection device (32). The reversing assistance device (30) is designed to establish a target articulation angle (38) and, during reversing (24), to control the wheel steering angle (28) in such a way that the articulation angle (26) reaches the target articulation angle (38) and / or the articulation angle (26) is maintained at the target articulation angle (38).

Description

[0001] Towing vehicle, combination vehicle and method for assisting when reversing with a combination vehicle

[0002] The invention relates to a towing vehicle for connection with a trailer, a combination vehicle comprising a towing vehicle and a trailer, and a method for assisting with reversing with a combination vehicle.

[0003] Reversing a combination vehicle presents a major challenge and requires a lot of practice to maneuver a combination vehicle in reverse in a controlled manner.

[0004] Normally, when driving forwards or backwards at a certain steering wheel angle, the steering wheel of a towing vehicle returns to a straight-ahead position when released. This also returns the steerable front wheels to a straight-ahead position. Therefore, when the steering wheel is released while driving forwards, the trailer is also aligned straight relative to the towing vehicle. However, when reversing with a trailer attached, if there is a non-zero articulation angle between the towing vehicle and trailer, the straight-ahead position of the wheels increases the existing articulation angle. This leads to a phenomenon known as "jackknifing" or "jackknifing" if no countermeasures are taken. When reversing a combination vehicle, two possible situations generally need to be considered: 1.1. The driver wants to drive the entire combination vehicle primarily on a straight stretch of road and make only a few corrections. 2. The driver wants to turn the entire combination vehicle around in a curve with a specific radius.

[0005] To return the articulation angle to zero when reversing, starting from a value other than zero, i.e., to align the towing vehicle and trailer parallel to each other and drive on a straight path, a steering angle other than zero must be set for a certain distance. To maintain the current articulation angle between the towing vehicle and trailer, a specific steering wheel angle must be set. Maintaining an articulation angle can also be referred to as articulation continuity and results in the entire vehicle combination following a continuous curve with a constant radius. The required steering angle to achieve articulation continuity varies depending on the current articulation angle. Setting this specific angle correctly requires considerable experience.This usually leads to more frequent trial and error, i.e., several corrections, to maneuver the trailer correctly backwards through the desired curve.

[0006] WO 2019 / 005976 A1 describes a method for maneuvering a vehicle system in reverse to dock at a loading ramp, wherein the vehicle system comprises a vehicle, and wherein the method comprises: identifying one or more loading docks within one or more images by means of data processing hardware; receiving a display of a selected loading dock from the one or more identified loading docks at a user interface that communicates with the data processing hardware; determining, on the data processing hardware, a path from an initial position to an end position where the vehicle system is docked within the loading dock, wherein the path comprises maneuvers configured to move the vehicle system along the path;and transmit, from the data processing hardware to a drive system of the vehicle system in communication with the data processing hardware, one or more commands that cause the vehicle system to move autonomously along the path in the reverse direction. While the known method described above may facilitate docking at a loading ramp with a combination vehicle, it only serves this specific task and cannot generally simplify maneuvering while reversing. Furthermore, complex technology is required to recognize and locate the loading ramp.

[0007] It is also known, for the purpose of facilitating reversing, to design the rear axle of a combination vehicle as a steerable axle. However, this is technically complex. Furthermore, reversing camera systems are known that can display the trailer's path on a screen. These systems show the path the trailer will take if the articulation angle between the towing vehicle and the trailer remains constant. However, as mentioned at the beginning, it is not easy for the driver to keep the articulation angle constant.

[0008] One of the aims of the invention is to facilitate reversing with a combination vehicle in a technically simple way.

[0009] This problem is solved by a towing vehicle according to claim 1.

[0010] The towing vehicle is equipped for coupling with a trailer. An articulation angle is defined between the towing vehicle and the trailer when the towing vehicle is coupled to the trailer. The towing vehicle includes at least one steerable wheel. The steerable wheel includes a variable steering angle. The towing vehicle includes a reversing assistance device. The reversing assistance device is configured to control the steering angle.

[0011] The towing vehicle includes an articulation angle detection device for detecting the articulation angle. The reversing assistance system is connected to the articulation angle detection device. The reversing assistance system is designed to define a target articulation angle and, during reversing, to control the wheel steering angle so that the articulation angle reaches the target articulation angle and / or is maintained at the target articulation angle.

[0012] The towing vehicle described above facilitates reversing in a particularly simple way. For example, the target articulation angle can be easily set by the driver, and the reversing assistance system automatically controls the steering angle so that the articulation angle reaches the target angle and / or is maintained at the target angle. With a conventional towing vehicle, on the other hand, the driver must constantly correct the steering angle manually, which requires considerable experience. Furthermore, the towing vehicle described above not only makes reversing easier but also increases driving comfort because the driver has to make fewer steering wheel adjustments.

[0013] According to one embodiment, the reversing assist device and the articulation angle detection device are configured to continuously detect the articulation angle, with the reversing assist device being configured to regulate the articulation angle by providing feedback. Thus, according to this embodiment, articulation angle control (feedback control) is provided, rather than merely control. This control enables precise adjustment of the articulation angle in a simple manner.

[0014] According to one embodiment, the reversing assistance device comprises a kinematic model of the towing vehicle and the trailer, and is configured to control the articulation angle based on this kinematic model by controlling the wheel steering angle. Advantages of this embodiment are simplicity, robustness, and a fast response time. The kinematic model is, or comprises, for example, an equation of motion.

[0015] According to one embodiment, the reversing assistance device is configured to set the target articulation angle to a predetermined value. This is a particularly simple approach. Preferably, the predetermined value can be zero. This value corresponds to a parallel alignment of the towing vehicle and trailer to each other, i.e., a straight reversing motion. Preferably, the reversing assistance device can have a first active mode and, in this first active mode, be configured to set the target articulation angle to a predetermined value. If the predetermined value is zero, the first active mode can also be referred to as the straight mode.

[0016] The reversing assistance system can have various modes. An active mode is generally one in which the reversing assistance system controls the wheel steering angle. Where ordinal numbers are used herein, this does not necessarily mean that a total number of such elements corresponding to the ordinal number in question is provided. Rather, ordinal numbers are used here only for ease of reference.

[0017] According to one embodiment, the reversing assistance system is configured to detect the current articulation angle and set the target articulation angle to the current articulation angle. This can be provided, for example, in a second active mode of the reversing assistance system. Such a second active mode can also be referred to, for example, as the articulation angle maintenance mode.

[0018] According to one embodiment, the towing vehicle has an input device for a person, particularly the driver, to enter or select a value for the target articulation angle. The reversing assistance system is preferably configured to set the target articulation angle to the specified value. This can be provided, for example, in a third active mode of the reversing assistance system. Such a third active mode can, for example, also be referred to as the articulation angle selection mode.

[0019] The reversing assist system may preferably have an inactive mode. In inactive mode, the reversing assist system is inactive and therefore does not control the wheel steering angle.

[0020] The towing vehicle may have a mode selection device for selecting one of several modes of the reversing assistance device, e.g. by a person, in particular the driver.

[0021] The towing vehicle may include a steering device. This device is designed to change the wheel steering angle and features a steering handle with an adjustable steering position. The steering handle can, for example, be a steering wheel. The steering handle is preferably coupled to the steerable wheel in such a way that a change in the steering position results in a change in the wheel steering angle, and vice versa. In other words, the steerable wheel is mechanically coupled to the steering handle so that one cannot be moved without the other. An advantage of this approach is its widespread use and ease of compliance with safety regulations. The reversing assistance system is advantageously compatible with this approach. A particular advantage is that the driver does not experience any unfamiliar vehicle conditions.Although the reversing assist system intervenes in the steering angle control and thus moves the steering handle, the relationship between the steering handle and the steering angle always remains as expected. As an alternative to the mechanically fixed coupling described here, a purely control-based coupling can be implemented, for example.

[0022] The steering mechanism can, for example, include a return-to-center device designed to move the steering handle to a neutral position when it is released. This facilitates maneuvering. The return-to-center device ensures that the steerable wheels are aligned in a straight-ahead position, i.e., parallel to the towing vehicle. The reverse assist system allows the neutral position to be shifted in both directions.

[0023] According to one embodiment, the reversing assistance system is designed so that the steering angle control provided by the system can be manually overridden via the steering handle. This ensures that the driver can intervene in the steering angle control, increasing safety and the driver's confidence in the reversing assistance system. For example, the steering angle control provided by the system can be overridden by exceeding a predefined torque applied to the steering handle.

[0024] According to one embodiment, the articulation angle detection device comprises an articulation angle sensor. This embodiment is particularly simple from a technical standpoint. Alternatively, the articulation angle detection device can also, for example, simply comprise a communication device for receiving the articulation angle from an articulation angle sensor, which may, for example, be located on the trailer. The towing vehicle may, for example, have a trailer hitch for connecting to the trailer. The trailer hitch defines, for example, an articulation point, and the articulation angle may, for example, be defined at the articulation point.

[0025] According to one embodiment, the towing vehicle is a semi-trailer truck.

[0026] The problem is also solved by a combination vehicle according to claim 14. The combination vehicle comprises a towing vehicle of the type described above and a trailer. The trailer may preferably be a semi-trailer trailer.

[0027] The towing vehicle and / or the combination vehicle can be, for example, a commercial vehicle, a truck, a passenger car or a bus.

[0028] The problem is also solved by a method according to claim 15 for assisting with reversing with a combination vehicle. Preferably, a combination vehicle and / or a towing vehicle of the type described above are used. The combination vehicle comprises a towing vehicle and a trailer. An articulation angle is defined between the towing vehicle and the trailer. The towing vehicle comprises at least one steerable wheel. The steerable wheel has a variable steering angle. The method comprises: detecting the articulation angle; setting a target articulation angle; and automatically controlling the steering angle during reversing of the combination vehicle such that the articulation angle reaches the target articulation angle and / or that the articulation angle is maintained at the target articulation angle.

[0029] If devices and methods are described herein, the described methods can be advantageously further developed by the embodiments and individual features of the devices, and vice versa.

[0030] The invention will below be explained only by means of examples shown in schematic drawings.

[0031] Fig. 1 shows a combination vehicle. Fig. 2 shows a combination vehicle from a different view.

[0032] Fig. 3 shows another combination vehicle in a view corresponding to Fig. 2.

[0033] Fig. 4 shows a towing vehicle.

[0034] Fig. 5 shows a towing vehicle.

[0035] Fig. 6 shows a towing vehicle.

[0036] Fig. 7 shows a hand steering device.

[0037] Fig. 8 illustrates a coupling of a steering handle with a steerable wheel.

[0038] Fig. 9 shows a towing vehicle.

[0039] Fig. 10 illustrates a method for assisting with reversing a combination vehicle.

[0040] Fig. 1 shows a combination vehicle 10 in a side view. The combination vehicle 10 comprises a towing vehicle 12 for connecting 14 to a trailer 16 of the combination vehicle 10. The towing vehicle 12 includes at least one steerable wheel 18. In this example, the towing vehicle 12 of the combination vehicle 10 is a semi-trailer tractor 20. The trailer 16 is, in this example, a semi-trailer trailer 22. The towing vehicle 12 can be operated by a person 23. Here, the person 23 is the driver of the towing vehicle 12.

[0041] Fig. 2 shows a combination vehicle 10 in a top view. The combination vehicle 10 comprises a towing vehicle 12 and a trailer 16. Reversing 24 with a combination vehicle 10 presents a significant challenge. The combination vehicle 10 of Fig. 2 is equipped as follows to facilitate reversing 24. An articulation point 25 is defined between the towing vehicle 12 and the trailer 16. At the articulation point 25, an articulation angle 26 is defined between the towing vehicle 12 and the trailer 16 when – as is the case in Fig. 2 – the towing vehicle 12 is connected to the trailer 16.

[0042] The towing vehicle 12 comprises at least one steerable wheel 18 with a variable wheel steering angle 28. The towing vehicle 12 has a reversing assistance device 30 configured to control the wheel steering angle 28. The towing vehicle 12 includes an articulation angle detection device 32 for detecting the articulation angle 26. The articulation angle detection device 32 includes an articulation angle sensor 36 on the towing vehicle 12. The reversing assistance device 30 is connected to the articulation angle detection device 32. A detected articulation angle 26 is transmitted to the reversing assistance device.

[0043] The reversing assistance device 30 is designed to define a target articulation angle 38 and, during a reversing journey 24, to control the wheel steering angle 28 in such a way that the articulation angle 26 reaches the target articulation angle 38 and / or that the articulation angle 26 is maintained at the target articulation angle 38.

[0044] Fig. 3 shows a combination vehicle 10, which is constructed similarly to that of Fig. 2. In the example of Fig. 3, an articulation angle sensor 36 is arranged on the trailer 16. The articulation angle detection device 32 has a communication device 39 for receiving the articulation angle 26 from the articulation angle sensor 36.

[0045] Fig. 4 shows a towing vehicle 12 with a reversing assistance device 30 and an articulation angle detection device 32. The reversing assistance device 30 and the articulation angle detection device 32 are configured to continuously detect an articulation angle 26 34. The reversing assistance device 30 is configured to control the articulation angle 26 by providing feedback 44 of the articulation angle 26 45. Fig. 5 shows another towing vehicle 12 with a reversing assistance device 30. The reversing assistance device 30 comprises a kinematic representation 48 of the towing vehicle 12 and the trailer 16. The kinematic representation 48 can typically be understood as an equation of motion. The reversing driving assistance device 30 is designed to change the articulation angle 26 on the basis of the kinematic illustration 48 by controlling 52 the wheel steering angle 28 so that the desired target articulation angle is reached and / or maintained.

[0046] Fig. 6 shows a towing vehicle 12 with a reversing assistance device 30. A mode selection device 54 of the towing vehicle 12 is configured to select 56 one mode 58 from several modes 60 of the reversing assistance device 30. The reversing assistance device 30 is thereby set to the selected mode 58.

[0047] The reversing assistance device 30 can, for example, include a first active mode 62 and in the first active mode 62 be configured to set the target articulation angle 38 to a predetermined value 64, preferably to zero.

[0048] The reversing assistance device 30 can, for example, have a second active mode 68 and in the second active mode 68 be configured to detect a current articulation angle 26 using an articulation angle detection device 32 and to set the target articulation angle 38 to the current articulation angle 26.

[0049] The towing vehicle 12 can, for example, have an input device 70 for a person 23 to enter 72 or select 74 a value 76 for the target articulation angle 38. The reversing assistance device 30 is preferably configured in a third active mode 78 to set the target articulation angle 38 to the value 76.

[0050] The reversing assistance device 30 can also have an inactive mode 82. Fig. 7 shows a steering device 84 of a towing vehicle, for example a towing vehicle 12 as described above. The steering device 84 is configured to change the wheel steering angle 28. The steering device 84 comprises a steering handle 88, a steering wheel in this example, with a variable steering position 90. The steering handle 88 is coupled to two steerable wheels 18.

[0051] The steering device 84 has a return mechanism 94. The return mechanism 94 is designed to move the steering handle 88 into a neutral position 96 97 when the steering handle 88 is released.

[0052] Fig. 8 illustrates a coupling of a steering handle 88 with steerable wheels 18. The steering handle 88 is coupled to the steerable wheels 18 in such a way that a change 98 of the steering position 90 leads to a change 98 of the wheel steering angle 28 and vice versa.

[0053] Fig. 9 shows a towing vehicle 12 with a reversing assistance device 30, which is configured to control a wheel steering angle 28 52. The towing vehicle 12 includes a hand steering device 84 with a steering handle 88. The reversing assistance device 30 is configured so that the steering 52 of the wheel steering angle 28 by the reversing assistance device 30 can be manually overridden by means of the steering handle 88. Overriding 99 is indicated in Fig. 9 by a thicker arrow.

[0054] Fig. 10 shows a method 100 for assisting 102 during reversing 24 with a combination vehicle. The combination vehicle can be designed as described above. The combination vehicle comprises a towing vehicle and a trailer. An articulation angle 26 is defined between the towing vehicle and the trailer. The towing vehicle comprises at least one steerable wheel. The steerable wheel comprises a variable wheel steering angle 28.

[0055] The method 100 according to Fig. 10 comprises detecting 34 the articulation angle 26; setting 106 a target articulation angle 38 and automatically controlling 52 the wheel steering angle 28 during a reversing movement of the combination vehicle. During automatic control 52 of the wheel steering angle 28, the wheel steering angle 28 is controlled such that the articulation angle 26 reaches the target articulation angle 38 and / or that the articulation angle 26 is maintained at the target articulation angle 38.

[0056] Where similar or identical elements are shown in different figures, reference numerals have been assigned accordingly. For the sake of clarity, multiple descriptions of similar or identical elements have been avoided. Nevertheless, the embodiments of the figures can be combined with one another and further developed according to the other embodiments and their individual features.

[0057] Reference mark (part of the description)

[0058] 10 Combination vehicles

[0059] 12 Towing vehicle

[0060] 14 connection

[0061] 16 trailers

[0062] 18 steerable wheel

[0063] 20 semi-trailer trucks

[0064] 22 semi-trailer trailers

[0065] 23 people

[0066] 24 Reversing

[0067] 25 Inflection point

[0068] 26 angles

[0069] 28 Wheel steering angle

[0070] 30 Reversing Assistance System

[0071] 32 Angle detection device

[0072] 34 Capture

[0073] 36 Articulation angle sensor

[0074] 38 Target angle

[0075] 39 Communication device

[0076] 44 Repatriation

[0077] 45 rules

[0078] 46 Control unit

[0079] 48 Kinematic mapping

[0080] 52 Taxes

[0081] 54 Module selection device

[0082] 56 Select

[0083] 58 Mode

[0084] 60 modes

[0085] 62 first active mode

[0086] 64 predetermined value

[0087] 68 second active mode

[0088] 70 Input device

[0089] 72 Enter selections

[0090] Value of third active mode inactive mode hand steering device steering handle steering position return mechanism neutral position movement change oversteering procedure

[0091] Assist Determine

Claims

Patent claims 1. Towing vehicle (12) for connection (14) with a trailer (16), wherein an articulation angle (26) between towing vehicle (12) and trailer (16) is defined when the towing vehicle (12) is connected to the trailer (16), wherein the towing vehicle (12) comprises at least one steerable wheel (18), wherein the steerable wheel (18) comprises a variable wheel steering angle (28), wherein the towing vehicle (12) has a reversing assistance device (30), wherein the reversing assistance device (30) is configured to control the wheel steering angle (28), wherein the towing vehicle (12) comprises an articulation angle detection device (32) for detecting (34) the articulation angle (26), wherein the reversing assistance device (30) is connected to the articulation angle detection device (32), wherein the reversing assistance device (30) is designed to determine a target articulation angle (38) and to control the wheel steering angle (28) during a reverse drive (24) in such a way,that the buckling angle (26) reaches the target buckling angle (38) and / or that the buckling angle (26) is maintained at the target buckling angle (38).

2. Towing vehicle (12) according to claim 1, wherein the reversing assistance device (30) and the articulation angle detection device (32) are configured to continuously detect the articulation angle (26), wherein the reversing assistance device (30) is configured to control the articulation angle (26) by providing feedback (44) of the articulation angle (26).

3. Towing vehicle (12) according to one of the preceding claims, wherein the reversing assistance device (30) comprises a kinematic image (48) of the towing vehicle (12) and the trailer (16), wherein the reversing assistance device (30) is configured to control the articulation angle (26) on the basis of the kinematic image (48) by controlling (52) the wheel steering angle (28).

4. Towing vehicle (12) according to one of the preceding claims, wherein the reversing driving assistance device (30), preferably in a first active mode (62), which is set up to set the target bending angle (38) to a predetermined value (64), preferably to zero.

5. Towing vehicle (12) according to one of the preceding claims, wherein the reversing assistance device (30), preferably in a second active mode (68), is configured to detect a current articulation angle (26) and to set the target articulation angle (38) to the current articulation angle (26).

6. Towing vehicle (12) according to one of the preceding claims, wherein the towing vehicle (12) has an input device (70) for entering (72) or selecting (74) a value (76) for the target articulation angle (38) by a person (23), wherein the reversing assistance device (30), preferably in a third active mode (78), is configured to set the target articulation angle (38) to the value (76) for the target articulation angle (38).

7. Towing vehicle (12) according to one of the preceding claims, wherein the reversing assistance device (30) has an inactive mode (82).

8. Towing vehicle (12) according to one of the preceding claims, wherein the towing vehicle (12) has a mode selection device (54) for selecting (56) one mode (58) from several modes (60) of the reversing driving assistance device (30).

9. Towing vehicle (12) according to one of the preceding claims, wherein the towing vehicle (12) comprises a hand steering device (84), wherein the hand steering device (84) is configured to change the wheel steering angle (28), wherein the hand steering device (84) has a steering handle (88) with a variable steering position (90), wherein the steering handle (88) is coupled to the steerable wheel (18) such that a A change (98) of the steering position (90) leads to a change (98) of the wheel steering angle (28) and vice versa.

10. Towing vehicle (12) according to one of the preceding claims, wherein the steering device (84) has a return device (94), wherein the return device (94) is configured to move the steering handle (88) into a neutral position (96) when the steering handle (88) is released.

11. Towing vehicle (12) according to claim 9 or 10 wherein the reversing assistance device (30) is configured to allow the control (52) of the wheel steering angle (28) by the reversing assistance device (30) to be manually overridden by means of the steering handle (88).

12. Towing vehicle (12) according to one of the preceding claims, wherein the articulation angle detection device (32) comprises an articulation angle sensor (36).

13. Tractor unit (12) according to one of the preceding claims, wherein the tractor unit (12) is a semi-trailer tractor (20).

14. Combination vehicle (10) comprising a towing vehicle (12) according to one of the preceding claims and a trailer (16), preferably wherein the trailer (16) is a semi-trailer trailer (22).

15. Method (100) for assisting (102) in reversing (24) with a combination vehicle (10), preferably a combination vehicle (10) according to claim 14, wherein the combination vehicle (10) comprises a towing vehicle (12), preferably a towing vehicle according to any one of claims 1 to 13, and a trailer (16), wherein an articulation angle (26) between towing vehicle (12) and trailer (16) is defined, wherein the towing vehicle (12) comprises at least one steerable wheel (18), wherein the steerable wheel (18) comprises a variable wheel steering angle (28), the procedure (100) comprises: Capturing (34) the buckling angle (26), Setting (106) a target articulation angle (38), automatically controlling (52) the wheel steering angle (28) during a reverse drive (24) of the combination vehicle (10) such that the articulation angle (26) reaches the target articulation angle (38) and / or that the articulation angle (26) is maintained at the target articulation angle (38).

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