Control system for steering a towing vehicle with a trailer

Abstract

In a control system for steering a combination with at least one electronic control unit, with a sensor apparatus for capturing the bend angle of the combination and with a display unit, the control unit has a memory region for storing a maximum reversible bend angle, a memory region for storing an upper bend angle change threshold value, and/or a memory region for storing a left hand bend angle range and a right hand bend angle range with reference to the zero line corresponding to a straight combination. A functional unit is designed to output a recommended action for moving forward on the display unit and/or for carrying out an autonomously executed forward movement, when the presence of at least one defined situation in relation to the values related to the bend angle stored in the memory region is ascertained through evaluation of the sensor apparatus.

Claims

1. A control system for steering a towing vehicle coupled with a trailer, comprising: an electronic control unit; a sensor that captures a bend angle of the vehicle and trailer combination; and a display unit coupled with the electronic control unit, wherein the electronic control unit comprises: a memory region that stores a maximum reversible bend angle; a memory region that stores an upper bend angle change threshold value; and a memory region that stores a left hand bend angle range and a right hand bend angle range related to a zero line corresponding to a straight combination; and a functional unit operatively configured to output on the display unit a recommended action for moving forward, and/or to carry out an autonomously executed forward movement, when at least one defined situation related to one or more of the maximum reversible bend angle, the upper bend angle change threshold value, the left hand bend angle range and the right bend angle range, stored in the memory regions, is determined via evaluation of the sensor.

2. The control system as claimed in claim 1, wherein a first defined situation is present when the actual bend angle has exceeded the maximum reversible bend angle in the left hand bend angle range or the maximum reversible bend angle in the right hand bend angle range.

3. The control system as claimed in claim 2, wherein a second defined situation is present when a difference between the actual bend angle and a target bend angle has exceeded the upper bend angle change threshold value.

4. The control system as claimed in claim 3, wherein a third defined situation is present when the actual bend angle lies in the left hand bend angle range and a target bend angle lies in the right hand bend angle range, or vice versa.

5. The control system as claimed in claim 1, wherein a second defined situation is present when a difference between the actual bend angle and a target bend angle has exceeded the upper bend angle change threshold value.

6. The control system as claimed in claim 1, wherein a third defined situation is present when the actual bend angle lies in the left hand bend angle range and a target bend angle lies in the right hand bend angle range, or vice versa.

7. An electronic control unit that implements a control system for steering a towing vehicle coupled with a trailer, comprising: memory that stores a maximum reversible bend angle, an upper bend angle change threshold value, a left hand bend angle range, and a right bend angle range; and a processor operatively configured to execute program code to: output, to a display, a recommended action for moving forward, and/or carry out an autonomously executed forward movement, when at least one defined situation related to one or more of the maximum reversible bend angle, the upper bend angle change threshold value, the left hand bend angle range and the right bend angle range, stored in the memory, is determined based on an evaluation of a sensor of the towing vehicle.

8. A steering method for steering a towing vehicle coupled with a trailer to form a combination, the method comprising the steps of: storing a maximum reversible bend angle, an upper bend angle change threshold value, a left hand bend angle range, and a right bend angle range in a memory; capturing a bend angle of the combination by a sensor; outputting a recommended action for moving forward, and/or autonomously executing forward movement, on a display when at least one defined situation related to one or more of the maximum reversible bend angle, the upper bend angle change threshold value, the left hand bend angle range and the right bend angle range, stored in the memory, is determined based on evaluating the captured bend angle of the combination.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows the essential required components of the control system according to an embodiment of the invention for carrying out the steering method underlying the control system.

(2) FIG. 2 shows an example of a possible situation in which the invention is used.

(3) FIG. 3 shows more precise details of the control unit designed appropriately for the control system.

DETAILED DESCRIPTION OF THE DRAWINGS

(4) A towing vehicle 1 with a trailer 2 is illustrated in FIG. 1. The towing vehicle 1 has at least one electronic control unit 4, a sensor apparatus 5 for capturing the bend angle .sub.act and a display unit 6. The values related to the bend angle shown in FIG. 1 are explained in more detail in connection with FIGS. 2 and 3.

(5) In FIG. 2, three problematic situations, S1, S2 and S3 in which the invention is relevant, and which are illustrated more precisely in FIG. 3, are illustrated simultaneously in FIG. 2 schematically through an actual combination position A and a target combination position B.

(6) Situation S1: the actual bend angle .sub.act has exceeded the maximum reversible bend angle .sub.1max in the left hand (+) bend angle range .sub.1.

(7) Situation S2: the difference between the actual bend angle .sub.act and the target bend angle .sub.target has exceeded the upper bend angle change threshold value .sub.lim; this means that a relatively large change in the bend angle is required to reach the target parking position B. In addition, obstacles H1 and H2 that restrict the possible movement path have been determined.

(8) Situation S3: the actual bend angle .sub.act is within the left hand (+) bend angle range .sub.1 and the target bend angle .sub.target is in the right hand () bend angle range .sub.2.

(9) According to FIG. 3, the control unit 4 comprises:

(10) a memory region 7a of a memory 7 for storing a maximum reversible bend angle .sub.1max; .sub.2max, and

(11) a memory region 7b for storing an upper bend angle change threshold value .sub.lim, and/or

(12) a memory region 7c for storing a left hand (+) bend angle range .sub.1 and a right hand () bend angle range .sub.2 relating to a zero line (0) corresponding to a straight combination,

(13) as well as a functional unit 8 that is operatively configured for the output of a recommended action for moving forward on the display unit 6 and/or for carrying out an autonomously executed forward movement, if

(14) at least one defined situation S1, S2 and/or S3 illustrated in FIG. 2 in terms of the bend-angle-related values .sub.1max, .sub.2max; .sub.lim; .sub.1, .sub.2 stored in the memory 7 is determined through evaluation of the sensor apparatus 5.

(15) In a preferred form of the invention, the forward movement recommendation, or the automatic carrying out of the forward movement provided for the situations 2 and 3, is only activated if the movement path needed for a pure reverse maneuver is not free from obstacles. The bend angle change threshold value .sub.lim can, for example, be specified depending on ascertained obstacles. In FIGS. 2 and 3, however, obstacles H1 and H2 restrict the necessary movement path.

(16) The corrective movement proposed or carried out in the sense of a forward movement can, if necessary, also additionally contain a steering correction.

(17) In the presence of situation S1, the forward movement is preferably recommended or carried out at least until the maximum reversible bend angle .sub.1max; .sub.2max is undershot.

(18) In the presence of situations S2 and/or S3, the forward movement is preferably recommended or performed until the combination is straight.

(19) The maximum reversible bend angle .sub.1max; .sub.2max (applicable to the left or right of the zero line) can be specified, preferably in a variable manner, depending on the drawbar length a of the trailer on which it depends and which also can be stored.

(20) The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof.