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1. WO2014019730 - METHOD AND DEVICE FOR MANOEUVRING A TRAILER

Publication Number WO/2014/019730
Publication Date 06.02.2014
International Application No. PCT/EP2013/060055
International Filing Date 15.05.2013
IPC
B62D 13/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
13Steering specially adapted for trailers
06for backing a normally-drawn trailer
B62D 15/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators
B60R 1/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
1Optical viewing arrangements
B60W 30/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
06Automatic manoeuvring for parking
G01B 11/27 2006.01
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
26for measuring angles or tapers; for testing the alignment of axes
27for testing the alignment of axes
CPC
B60R 2300/80
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
2300Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
80characterised by the intended use of the viewing arrangement
B62D 13/06
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
13Steering specially adapted for trailers
06for backing a normally drawn trailer
B62D 15/027
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
027Parking aids, e.g. instruction means
B62D 15/0275
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
027Parking aids, e.g. instruction means
0275by overlaying a vehicle path based on present steering angle over an image without processing that image
B62D 15/028
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
027Parking aids, e.g. instruction means
028Guided parking by providing commands to the driver, e.g. acoustically or optically
G01B 11/272
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
26for measuring angles or tapers; for testing the alignment of axes
27for testing the alignment of axes
272using photoelectric detection means
Applicants
  • VOLKSWAGEN AKTIENGESELLSCHAFT [DE]/[DE]
Inventors
  • HÜGER, Philipp
  • WUTTKE, Ulrich
  • LEUCHTER, Daniel
Priority Data
10 2012 015 435.603.08.2012DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN UND VORRICHTUNG ZUM RANGIEREN EINES ANHÄNGERS
(EN) METHOD AND DEVICE FOR MANOEUVRING A TRAILER
(FR) PROCÉDÉ ET DISPOSITIF PERMETTANT DE MANOEUVRER UNE REMORQUE
Abstract
(DE)
Eine Verfahren und eine Vorrichtung zum Rangieren eines Gespanns bestehend aus einem Zugfahrzeug und einem Anhänger, wobei der Anhänger mittels einer nichtlenkbaren Deichsel mit dem Zugfahrzeug verbunden ist, und das Zugfahrzeug mittels einer Rückfahrkamera das rückwärtige Umfeld einschließlich Anhänger beobachtet, beinhaltet die folgenden Schritte: a) Bestimmung des Ist-Knickwinkels des Anhängers relativ zum Zugfahrzeug, b) Bestimmung der Deichsellänge und des maximalen Knickwinkels des Anhängers, c) Eingabe des Soll-Knickwinkels des Anhängers, d) Rückwärtsfahren des Zugfahrzeugs mit zumindest aktiver Lenkunterstützung bis zum Erreichen des Soll-Knickwinkel des Anhängers, e) Fixieren der durch den Soll-Knickwinkel vorgegebenen Fahrtrichtung, f) Rangieren des Zugfahrzeugs mit zumindest aktiver Lenkunterstützung unter Beibehaltung der vorgegebenen Fahrtrichtung bis zum Erreichen einer endgültigen Parkposition.
(EN)
A method and a device for manoeuvring a combination consisting of a towing vehicle and a trailer, wherein the trailer is connected to the towing vehicle by means of a non-steerable tow-bar, and the towing vehicle observes the rear surroundings, including the trailer, by means of a rear-view camera, contains the following steps: a) determining the actual articulation of the trailer relative to the towing vehicle; b) determining the length of the tow-bar and the maximum articulation of the trailer; c) inputting the intended articulation of the trailer; d) reversing the towing vehicle with at least active steering support until the intended articulation of the trailer is reached; e) fixing the direction of travel predetermined by the intended articulation; f) manoeuvring the towing vehicle with at least active steering support while maintaining the predetermined direction of travel until an eventual parking position is reached.
(FR)
L'invention concerne un procédé et un dispositif permettant de manoeuvrer un attelage composé d'un véhicule tracteur et d'une remorque, la remorque étant reliée au véhicule tracteur par un timon non articulé, et le véhicule tracteur observant au moyen d'une caméra de recul l'environnement arrière incluant la remorque. Le procédé comprend les étapes suivantes : a) la détermination de l'angle de cassure réel de la remorque par rapport au véhicule tracteur; b) la détermination de la longueur de timon et de l'angle de cassure maximum de la remorque; c) la saisie de l'angle de cassure théorique de la remorque; d) le déplacement en marche arrière du véhicule tracteur muni d'au moins une direction assistée active jusqu'à ce que l'angle de cassure théorique de la remorque soit atteint; e) la définition de la direction de déplacement prescrite par l'angle de cassure théorique; f) la manœuvre du véhicule tracteur muni d'au moins une direction assistée active en respectant la direction de déplacement prescrite jusqu'à ce que soit atteinte une position de stationnement finale.
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