SK8101Y1 - Device for control of reverse operation of cars with Trailer / Semi Trailer - Google Patents

Abstract

Device for control of reverse operation of cars with Trailer / Semi Trailer includes a traction vehicle (T) on which the microprocessor assistance system (AS), the control console (RK) which is electrically connected directly to the microprocessor- based assistant system (AS), or includes an external control console (ERK) that is connected to the microprocessor-based assistive system (AS) by wireless technology. A trailer / trailer (PN) is attached to the towing vehicle (T) by means of a coupling device (SZ), on which is mounted a gyro sensor (G) which is electrically connected directly to the microprocessor assistance system (AS). During the reverse operation, the microprocessor assistance system (AS) makes adjustments to the towing direction of the towing vehicle (T) based on the direction reverse operation of trailer / trailer (PN) which is entered by the control console (RK) or the external control console (ERK) on the base of data from a gyro sensor (G), which indicates the current direction of reverse operation of trailer / trailer (PN).

Description

Technical field

The technical solution relates to a device for controlling the reversing of a combination with a trailer of a key using a gyro sensor.

BACKGROUND OF THE INVENTION

Most drivers rarely use a trailer / semi-trailer, so driving with a combination consisting of a towing vehicle and a towed trailer / semi-trailer (tow truck) is not a daily routine for them. Using a trailer / semi-trailer behind the car, especially when reversing, may be difficult for some drivers due to lack of experience. A reverse control device can therefore be very useful in this field, while being difficult to use and implement in the vehicle. The trailer / semi-trailer is attached to the towing device which is part of the towing vehicle and serves to connect the towing vehicle to the trailer with the key

The movement of the trailer / trailer combination can be divided into two cases. When the towing vehicle pulls the trailer / semi-trailer forward, this condition is from the driver's point of view without much increased experience being the subject of the present utility model. There may be difficulties in reversing (reverse travel) as the trailer / semi-trailer behaves similarly to an inverted pendulum.

An important phenomenon that may occur when reversing such a combination of vehicles is called crossing. The crossing occurs when the angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer / semi-trailer is so large that it will continue to increase until the collision occurs at maximum steering intervention. Once the vehicles have reached this critical angle, any control attempt will fail. The crossing occurs because the change in the direction of the trailer / semi-axle axis changes more rapidly than the change in the direction of the towing vehicle axle, so that the angular speed of the trailer / semi-trailer is higher than the angular speed of the towing vehicle.

The essence of the technical solution

The essence of the technical solution is a device based on the use of a gyroscopic sensor to ensure control of the reversing of the car with the privesonTkey and avoid collision conditions

A new, not yet used method of controlling and controlling the direction of movement of a reversing combination of a towing vehicle and a trailer / semi-trailer is to utilize a gyro sensor in the process of autonomous control of the trailer / semi-trailer direction using a microprocessor assistance system. If the direction of movement of the reversing towing vehicle were not adjusted, there would be a collision and the critical angle would be exceeded and then crossed.

A gyro sensor is placed on the trailer / semi-trailer to monitor and signal any change in the direction of travel of the trailer / semi-trailer. The desired reverse direction of the trailer / semi-trailer is entered while driving in real time continuously using the steering console located in the towing vehicle or by using an external steering console that can also be positioned and used outside the towing vehicle to provide more accurate trailer / semi-trailer guidance according to the desired trajectory. . The gyro sensor and control console or external control console information is evaluated by the microprocessor assist system, and the amount of correction for steering the vehicle combination reverses according to the desired direction of travel of the trailer / semi-trailer when reversing specified using the control console or external control console and z , using the principle of discrete control by using a proportional-sum-difference controller to ensure high accuracy and smoothness of the movement of the combination when reversing.

BRIEF DESCRIPTION OF THE DRAWINGS

Figure 1 shows a device for controlling the reversing of a combination with a trailer key using a gyro sensor.

The annotation figure shows an annotation publication device.

An exemplary embodiment

The reversing device of the combination of vehicles with the trailer of the key according to Figure 1 consists of a towing vehicle T and a trailer / semi-trailer PN, which are connected by a coupling device SZ. The towing vehicle T has a microprocessor assist system AS and an RK control console; on the trailer / semi-trailer PN is placed

S K 8101 Yl gyro sensor G. The device also includes a removable external ERK control console that can also be used in combination with the carriage.

Angle between the longitudinal axis of the towing vehicle T and the longitudinal axis of the trailer / semi-trailer (ie angle).

The RK control console and the gyro sensor G are electrically connected directly to the AS microprocessor assist system. The ERK external control console connects to the AS microprocessor assistance system via wireless technology.

Travel direction of the combination with trailer / semitrailer by changing the rotation of the towing vehicle T.

Information on the current direction of travel of the trailer / semi-trailer PN is provided by the gyro sensor G; the desired direction of travel of the trailer / semi-trailer PN during reversing is specified using the RK control console or the external ERK control console.

The direction of movement of the towing vehicle T while reversing is controlled by the microprocessor assist system AS. which processes data information from the RK Management Console or from the ERK External Management Console. using which the desired travel direction of the trailer / semi-trailer PN during reversing and the zgyroscopic sensor G, which provides information on the current travel direction of the trailer / semi-trailer PN during reversing, is entered. The microprocessor assist system AS generates a control command for turning the towing vehicle T from the data from the RK control console or the external ERK control console and the gyro sensor G.

To ensure unambiguous control, only one of the consoles at a time, either the RK control console or the ERK external control console, can be active. The right to control by the external management console of the EQF is assigned to the RK management console.

At the beginning of the reversing, the microprocessor assist system AS considers the current reading from the gyro sensor G to be the desired trailer / trailer movement direction PN and commands the towing vehicle T to change the angle to maintain the trailer / trailer PN direction. In order to ensure a smooth travel of the set when determining the instantaneous steering angle of the towing vehicle T, discrete control methods using a proportional-sum-differential controller are used.

If a reversing direction request is made using the RK control console or an external ERK control console, the AS microprocessor assistance system evaluates the magnitude of the difference between the current and desired direction of the trailer trailer / PN reversing and determines the rotation of the towing vehicle T to gradually decrease the difference between the current and the desired direction of travel of the trailer / semi-trailer PN so that the angle φ between the longitudinal axis of the towing vehicle T and the longitudinal axis of the trailer / semi-trailer PN decreases. Again, discrete control methods using a proportional-sum-difference controller are used.

In this way, the direction of travel of the trailer / semi-trailer PN during reversing is continuously monitored using the gyro sensor G, evaluated, compared to the desired reversing direction, and refined by the microprocessor assistance system AS using regulation.

Industrial usability

The proposed method allows easier and more precise reversing of vehicles with a trailer / semi-trailer The proposed device can extend the current control systems of vehicles with electrically controlled steering axle, e.g. with electronic power steering. The conceptual design is intended to help the drivers of both passenger and truck axes easier to maneuver with the trailer. semi-trailer Such a reverser control device should be used not only in passenger vehicles but also in freight hauling vehicles, for example in timber haulage vehicles in difficult conditions, where drivers often have to deal with maneuvering semi-trailers in confined spaces and difficult conditions on forest roads. The proposed device would also find application in manufacturing plants in industrial automated robotic vehicles.

Claims (1)

PROTECTION REQUIREMENTS A vehicle control device with an on-key trailer, comprising a towing vehicle (T) on which a microprocessor assist system (AS) controlling 5, a console (RK) that is electrically connected directly to a microprocessor assist system (AS), or includes an external control console (ERK) that is connected to the microprocessor assist system (AS) by wireless technology, and to the towing vehicle (T) a trailer / semi-trailer (PN) on which a gyro sensor (G) is placed, which is electrically connected directly to the microprocessor assistance system (AS).