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1. WO2020193156 - METHOD AND CONTROL DEVICE FOR THE AUTO-CALIBRATION OF STEERING KINEMATICS

Publication Number WO/2020/193156
Publication Date 01.10.2020
International Application No. PCT/EP2020/056614
International Filing Date 12.03.2020
IPC
A01B 69/04 2006.01
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
04Special adaptations of automatic tractor steering, e.g. electric system for contour ploughing
B62D 1/28 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
1Steering controls, i.e. means for initiating a change of direction of the vehicle
24not vehicle-mounted
28non-mechanical
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
G01M 17/06 2006.01
GPHYSICS
01MEASURING; TESTING
MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
17Testing of vehicles
007Wheeled or endless-tracked vehicles
06Steering behaviour; Rolling behaviour
CPC
A01B 69/00
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
A01B 69/008
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
007Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
008automatic
B62D 1/28
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
1Steering controls, i.e. means for initiating a change of direction of the vehicle
24not vehicle-mounted
28non-mechanical ; , e.g. following a line or other known markers
B62D 15/025
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
025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
B62D 5/0457
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
5Power-assisted or power-driven steering
04electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
0457characterised by control features of the drive means as such
B62D 9/00
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
9Steering deflectable wheels not otherwise provided for
Applicants
  • ZF FRIEDRICHSHAFEN AG [DE]/[DE]
Inventors
  • IKONEN, Tommy
  • KUHN, Jan-Frederik
Priority Data
10 2019 204 258.927.03.2019DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN UND STEUEREINRICHTUNG ZUR AUTOKALIBRATION EINER LENKUNGSKINEMATIK
(EN) METHOD AND CONTROL DEVICE FOR THE AUTO-CALIBRATION OF STEERING KINEMATICS
(FR) PROCÉDÉ ET DISPOSITIF DE COMMANDE DESTINÉS À L'AUTOCALIBRAGE DE LA CINÉMATIQUE D'UNE DIRECTION
Abstract
(DE)
Die Erfindung beschreibt ein Verfahren zum Autokalibrieren einer Lenkungskinematik eines Fahrzeugs. Die Lenkungskinematik des Fahrzeugs wird mit einem vorgegebenen Lenkwinkelverlauf angesteuert. Beim Abfahren einer Trajektorie mit dem Fahrzeug wird geometrische Information zur abgefahrenen Trajektorie erfasst. Ein Zusammenhang zwischen der erfassten geometrischen Information und dem vorgegebenen Lenkwinkelverlauf wird zum Kalibrieren der Lenkungskinematik abgeleitet und hinterlegt. Die Erfindung beschreibt zudem eine Steuereinrichtung zum Durchführen dieses Verfahrens und ein Kalibriersystem mit einer solchen Steuereinrichtung. Die Erfindung beschreibt ferner ein landwirtschaftliches Fahrzeug mit einem derartigen Kalibriersystem.
(EN)
The invention relates to a method for the auto-calibration of steering kinematics of a vehicle. The steering kinematics of the vehicle are controlled using a predefined steering angle profile. When the vehicle travels along a trajectory, geometrical information relating to the travelled trajectory is sensed. A relationship between the sensed geometrical information and the predefined steering angle profile is derived and stored in order to calibrate the steering kinematics. The invention also relates to a control device for carrying out this method and to a calibration system comprising a control device of this type. The invention further relates to an agricultural vehicle comprising a calibration system of this type.
(FR)
L'invention concerne un procédé d'autocalibrage de la cinématique de direction d'un véhicule. La cinématique de direction d'un véhicule est commandée avec une évolution prédéfinie de l'angle de braquage. Lors du parcours d'une trajectoire avec le véhicule, les informations géométriques liées à la trajectoire à parcourir sont détectées. Un rapport entre les informations géométriques saisies et l'évolution prédéfinie de l'angle de braquage est déduit et enregistré pour le calibrage de la cinématique de direction. L'invention décrit également un dispositif de commande pour l'exécution de ce procédé et un système de calibrage avec un tel dispositif de commande. L'invention concerne enfin un véhicule agricole pourvu d'un tel système de calibrage.
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