阅读说明：本技术 操作设备、车辆和用于运行车辆的方法 (Operating device, vehicle and method for operating a vehicle ) 是由 莱纳尔·彼得日克 亚历克斯·赫塞尔 路德格尔·拉克 于 2020-03-19 设计创作，主要内容包括：用于车辆的操作设备(102)具有手柄(210)和包括磁流变介质的执行器装置(212),执行器装置与手柄(210)耦接并且被构造成将依赖于磁流变介质的粘度的停驻力施加到手柄(210)上。(An operating device (102) for a vehicle has a handle (210) and an actuator device (212) comprising a magnetorheological medium, the actuator device being coupled to the handle (210) and being configured to apply a parking force to the handle (210) that is dependent on the viscosity of the magnetorheological medium.)

1. Operating device (102) for a vehicle (100), having the following features:

a movable handle (210); and

an actuator device (212) comprising a magnetorheological medium (1354), the actuator device being coupled to the handle (210) and configured to apply a parking force to the handle (210) dependent on a viscosity of the magnetorheological medium (1354).

2. The operating device (102) according to claim 1, wherein the actuator arrangement (212) is configured to adjust the viscosity of the magnetorheological medium (1354) using an adjustment signal (1352) in order to adjust the magnitude of the parking force.

3. Operating device (102) according to claim 2, characterised in that the operating device (102) has an adjusting device (1350) which is configured to provide the adjusting signal (1352) using a speed signal (1360) which is indicative of a running speed of the vehicle (100) and/or a preset speed signal (1362) which is indicative of a preset speed of the vehicle (100) and/or a rotational speed signal (1364) which is indicative of a rotational speed of a motor of the vehicle (100) and/or a preset rotational speed signal (1366) which is indicative of a preset rotational speed of a motor of the vehicle (100).

4. The operating device (102) according to one of the preceding claims, characterized in that the handle (210) is movable in a first rotational direction (415) and the actuating device (212) is configured to apply a parking force for braking a rotational movement of the handle (210) in the first rotational direction (415) to the handle (210) and/or the handle (210) is movable in a second rotational direction (915) opposite to the first rotational direction (415) and the actuator device (212) is configured to apply a parking force for braking a rotational movement of the handle (210) in the second rotational direction (915) to the handle (210).

5. Operating device (102) according to one of the preceding claims, characterised in that the operating device (102) has a detection device (1370) which is configured to detect a movement of the handle (210) and, using a quantity which characterizes the movement, to provide a control signal (1372, 1374, 1376, 1378, 1380, 1382) for controlling a function of the vehicle (100).

6. Operating device (102) according to claim 5, characterised in that the detection means (1370) are configured to detect the direction (415; 915) of the movement and/or the speed of the movement and/or the temporal change of the movement as characterizing quantities.

7. Operating device (102) according to any one of claims 5 or 6, characterised in that the detection device (1370) is configured to provide the control signal (1372, 1374, 1376, 1378, 1380, 1382) for controlling the motor power of a motor of the vehicle (100) and/or for controlling the rotational speed of a motor of the vehicle (100) and/or for controlling the speed of the vehicle (100) and/or for controlling the acceleration of the vehicle (100) and/or for controlling a transmission of the vehicle (100) and/or for controlling a service brake of the vehicle (100).

8. Operating device (102) according to any one of the preceding claims, wherein the actuator means (212) is configured to movably support the handle (210).

9. The operating device (102) according to one of the preceding claims, wherein the handle (210) has a first movable handle section (1230) and a second movable handle section (1232) and the actuator arrangement (212) has a first actuator (1234) with a first magnetorheological medium and a second actuator (1236) with a second magnetorheological medium, wherein the first actuator (1234) is coupled to the first handle section (1230) and is configured to apply a first parking force dependent on the viscosity of the first magnetorheological medium to the first handle section (1230), and wherein the second actuator (1236) is coupled to the second handle section (1232) and is configured to apply a second parking force dependent on the viscosity of the second magnetorheological medium to the second handle section (1232).

10. Vehicle (100), in particular a motorcycle, having an operating device (102) according to one of the preceding claims.

11. Method for operating a vehicle (100) according to claim 10, wherein the method comprises the steps of:

adjusting (1401) the viscosity of a magnetorheological medium (1354) of an actuator device (212) of an operating device (102) of the vehicle (100);

detecting (1403) a quantity characterizing a movement of a handle (210) of the operating device (102); and is

Determining (1405) a control signal for controlling a function of the vehicle (100) using the characteristic variable.

Technical Field

The invention relates to an operating device for a vehicle, to a vehicle, in particular a motorcycle, and to a method for operating a vehicle.

Background

For example, a throttle lever is used in a motorcycle as an operating element for manually controlling the motor power.

Disclosure of Invention

Against this background, the invention provides an improved operating device for a vehicle, an improved vehicle and an improved method for operating a vehicle according to the independent claims. Advantageous embodiments result from the dependent claims and the following description.

Advantageously, a magnetorheological medium, such as a magnetorheological fluid, can be used in combination with an operating device for a vehicle having a movable handle. Via the magnetorheological medium, it is possible to adjust almost steplessly how much force is required for moving the handle.

To this end, the operating device for a vehicle has a movable handle and an actuator device comprising a magnetorheological medium, which actuator device is coupled to the handle and is designed to apply a parking force to the handle that is dependent on the viscosity of the magnetorheological medium.

The vehicle may be, for example, a motor-driven two-wheeled vehicle, such as a motorcycle or scooter, other type of land vehicle, air vehicle or water vehicle. For example, a drive device or a brake device of the vehicle may be operated via the operating device. The handle may have a shape that enables the vehicle driver to move the handle by hand. For example, the handle may be held by the hand for this purpose. The handle may be rotatable and additionally or alternatively linearly movable. For this purpose, the handle can be connected or connectable to a component of the vehicle, for example a steering gear, via a suitable bearing. Depending on the magnitude of the parking force, the handle can be parked from the driver's perspective, can move flexibly or can move in a constrained manner, wherein almost any intermediate level can be adjusted by appropriately adjusting the viscosity of the magnetorheological medium. In this way, the actuating force required for moving the handle can be adapted, for example, to the current driving situation, to the operating function currently provided by the operating device or to the preferences of the driver of the vehicle. The magnetorheological medium may be a medium comprising magnetically polarizable particles. In particular, it may be a magnetorheological fluid (MRF), for example, which has been used for vehicle applications. Alternatively, it may be a magnetorheological elastomer. The actuator device may be configured to adjust the viscosity of the magnetorheological medium by the magnitude of the magnetic field acting on the magnetorheological medium. The greater the viscosity, the greater the parking force may be.

In addition to functions such as acceleration and/or braking, the operating device can also, for example, additionally or alternatively implement a launch control, in which the handle adjusts the force of the user, so that the user can make full use of the optimal torque. Additionally or alternatively, a shift can be effected by an operating device, by means of which the user is given the possibility of exceeding a defined force in one direction or the other and thus making an upshift or downshift.

The actuator device may be configured to adjust the viscosity of the magnetorheological medium using the adjustment signal. By means of the viscosity adjustment, the magnitude of the parking force can be adjusted in such a way that a change in viscosity can lead to a change in the parking force. For example, the actuating signal can be used to operate a magnetic field generating device of the actuator device or to generate a signal suitable for operating a corresponding magnetic field generating device. The parking force, and thus the actuating force to be able to be applied by the vehicle driver, can be adjusted quickly and easily using the adjustment signal.

For this purpose, the operating device can have an adjusting device, which is designed to provide an adjusting signal. For example, the adjustment device may be configured to provide the adjustment signal using a speed signal indicative of a travel speed of the vehicle. In this way, the parking force can be adjusted in relation to the speed. For example, the higher the current speed of the vehicle, the greater the actuating force that can be applied by the driver of the vehicle. Additionally or alternatively, the adjustment device may be configured to provide the adjustment signal using a preset speed signal indicative of a preset speed of the vehicle. The preset speed may represent a speed preset by cruise control, for example, or represent a maximum allowable speed of the vehicle or a maximum allowable speed of a road section on which the vehicle travels. For example, when a preset speed is reached, the parking force may suddenly increase. It is thereby possible to clearly inform the vehicle driver that the preset speed has been reached. Additionally or alternatively, the adjustment device may be configured to provide the adjustment signal using a rotational speed signal indicative of a rotational speed of a motor of the vehicle. For example, if the speed of the motor deviates from the optimal speed range, for example in terms of consumption or power, the parking force can be increased. Thus, the vehicle operator may be prompted to operate the motor within an optimal range. Additionally or alternatively, the adjustment device may be configured to provide the adjustment signal using a preset rotational speed signal indicative of a preset rotational speed of a motor of the vehicle. The preset rotational speed may be, for example, a maximum rotational speed or a rotational speed that is optimal with respect to the operating characteristics of the vehicle or the motor.

According to one embodiment, the handle may be movable in a first rotational direction. The actuator device may be configured to apply a parking force to the handle for braking rotational movement of the handle in the first rotational direction. Thus, via the actuator device, for example, it is possible to set: the handle is movable, constrained to move, or immovable in a first rotational direction. For example, the motor power of the motor of the vehicle may be increased by rotating the handle in a first rotational direction. Therefore, the function of the accelerator handle can be realized.

Additionally or alternatively, the handle may be movable in a second rotational direction opposite the first rotational direction. Accordingly, the actuator device may be configured to apply a parking force to the handle for braking a rotational movement of the handle in the second rotational direction. The parking force for braking the rotational movement in the second rotational direction can be different from the parking force for braking the rotational movement in the first rotational direction, or the two braking forces can be identical in value. For example, the second rotational direction may be used to implement a service braking function.

The operating device may have a detection device configured to detect a movement of the handle. Furthermore, the detection device can be configured to provide a control signal for controlling a function of the vehicle using the variable characterizing the movement. The detection device may have a suitable sensor for detecting movement, for example a hall sensor. The control signals may be provided, for example, to an interface to a control unit of the vehicle or to a vehicle bus. The functional units of the detection device may also be implemented in the controller. In this way, the operating device can be incorporated into the vehicle control unit.

For example, the detection device may be configured to detect the direction of movement as a characteristic quantity. Different directions can be assigned to different operating functions, so that it is possible to ascertain which operating function the vehicle driver is currently applying via the direction of movement. Additionally or alternatively, the detection device can be configured to detect the speed of the movement as a characteristic variable. For example, sudden movements can be assigned to operating functions other than smooth movements. In addition or alternatively, the detection device can be designed to detect a temporal profile of the movement as the characteristic variable. For example, the time profile may indicate the duration of the movement in the same direction or a change in the direction of the movement. For example, a rapid change of the direction of movement can be associated with a further operating function. Thus, a brief movement of the handle in one direction followed by a reverse movement may indicate a gear change desired by the vehicle operator.

Thus, the detection means may for example be configured to provide a control signal for controlling the motor power of a motor of the vehicle. Additionally or alternatively, the detection device may be configured to provide a control signal for controlling a rotational speed of a motor of the vehicle. Thereby realizing the function of the accelerator handle. Additionally or alternatively, the detection means may be configured to provide a control signal for controlling the speed of the vehicle. Additionally or alternatively, the detection device may be configured to provide a control signal for controlling the acceleration of the vehicle. This enables very comfortable control of the vehicle, for example in conjunction with an automatic transmission. Additionally or alternatively, the detection device may be configured to control a control signal of a transmission of the vehicle. This enables, for example, the vehicle driver to select the appropriate gear ratio. In addition or alternatively, the detection device can be configured to provide a control signal for controlling a service brake of the vehicle, in which way a separate brake lever can be dispensed with.

According to one embodiment, the actuator device may be configured to movably support the handle. In this way, a separate mechanical bearing arrangement can be eliminated.

A vehicle, in particular a motorcycle, may comprise the operating device. For example, the operating device may be used as a substitute for a handle for a conventionally used vehicle.

The method for operating such a vehicle comprises the following steps:

adjusting the viscosity of the magnetorheological medium of an actuator device of an operating device of the vehicle;

detecting a parameter indicative of a movement of a handle of an operating device; and is

Using the characteristic variable, a control signal for controlling a function of the vehicle is determined.

The steps of the method may be implemented in a suitable device, which may be part of the operating apparatus or, for example, part of the controller of the vehicle. Such means may be an electrical device which processes an electrical signal, for example a sensor signal, and outputs a control signal in dependence on the electrical signal. The device may have one or more suitable interfaces, which may be constructed in accordance with hardware and/or software. In the case of a hardware configuration, the interface may be part of an integrated circuit in which the functions of the device are implemented, for example. The interface may also be an integrated circuit of its own or at least partly formed by discrete structural elements. In the case of a software-based configuration, the interface can be a software module, which is present on the microcontroller, for example, next to other software modules.

The advantage is also a computer program product with a program code which can be stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used for carrying out the method according to one of the preceding embodiments when the program is implemented on a computer or a device.

Drawings

The invention is explained in detail by way of example with reference to the accompanying drawings. Wherein:

fig. 1 shows a vehicle having an operating device according to an embodiment;

fig. 2 shows a side view of the operating device according to an embodiment;

FIG. 3 shows a diagram of an operating device according to an embodiment;

fig. 4 shows a diagram of the movement of the handle of the operating device according to an embodiment;

fig. 5 shows a parking force characteristic of the operating device as a function of vehicle speed according to an embodiment;

fig. 6 shows a parking force characteristic curve of the operating device as a function of vehicle speed according to the embodiment;

FIG. 7 illustrates a parking force characteristic of an operating device as a function of motor speed, according to an embodiment;

FIG. 8 illustrates a parking force characteristic of an operating device as a function of motor speed, according to an embodiment;

fig. 9 shows a diagram of the movement of the handle of the operating device according to an embodiment;

FIG. 10 illustrates a parking force characteristic of an operating device as a function of motor speed, according to an embodiment;

fig. 11 shows a diagram of the movement of the handle of the operating device according to an embodiment;

FIG. 12 shows a diagram of an operating device according to an embodiment;

FIG. 13 shows a schematic view of an actuator device according to an embodiment; and is

Fig. 14 shows a flow chart of a method according to an embodiment.

In the following description of the preferred embodiments of the present invention, the same or similar reference numerals are used for elements shown in different drawings and functioning similarly, wherein repeated description of these elements is omitted.

Detailed Description

Fig. 1 shows a vehicle 100 with an operating device 102 according to an embodiment. By way of example only, the vehicle 100 is embodied as a motorcycle. In the present embodiment, the vehicle 100 has a steering gear. The operating device 102 is illustratively arranged at the right end of the steering gear. The operating device 102 enables a driver to operate the vehicle 100, for example to control the power of a drive motor 104 of the vehicle 100. According to various embodiments, the operating device 102 can also enable control of the service brakes 106 of the vehicle and additionally or alternatively control of the transmission of the vehicle 100. For example, the operating device 102 replaces a conventional throttle twist grip and includes a handle and actuator arrangement. According to this embodiment, the handle may be grasped and turned by one hand of the driver of the vehicle 100.

As an alternative to a motorcycle or scooter, the operating device 102 may also be used in connection with other land, air or water borne vehicles, for example for four-wheel motorcycles, electric bicycles or helicopters.

Fig. 2 shows a side view of the operation device 102 according to an embodiment, which may be the embodiment with reference to the operation device shown in fig. 1. The operating device 102 has a handle 210 and an actuator arrangement 212. The handle 210 is movably supported, for example, by an actuator device 212 or an additional bearing device.

For example, the housing of the actuator device 212 may be rigidly secured to the steering gear of the motorcycle shown in FIG. 1. Thus, the handle 210 may be moved relative to the housing of the actuator device 212 and thus relative to the steering gear.

The actuator device 212 is configured to apply an adjustable parking force to the handle 210. The parking force resists the force applied to the handle 210 by one hand of the driver for moving the handle 210. Depending on the magnitude of the parking force, the parking force is hardly or clearly perceptible to the driver. According to one embodiment, the handle 210 may be parked at a maximum parking force from the perspective of the driver.

The actuator device 212 is also referred to as an MRF actuator. In order to set the parking force to the currently required value, the actuator device 212 has a magnetorheological medium, for example a magnetorheological fluid. The viscosity of the magnetorheological medium can be varied. The parking force is caused, for example, by friction between the magnetorheological medium and the handle 210 or a shaft coupled to the handle 210. In the case where the magnetorheological medium has a high viscosity, according to one embodiment, the magnetorheological medium exerts a greater parking force on the handle 210 than in the case of a low viscosity.

According to one embodiment, the viscosity of the magnetorheological medium is adjusted by a magnetic field acting on the magnetorheological medium. In this case, the magnetic field strength can be adjusted in order to adjust the viscosity of the magnetorheological medium. For generating the magnetic field, the actuator device 212 comprises, for example, an electromagnet or a movable permanent magnet.

According to one embodiment, the actuator device 212 comprises a reset unit for the handle 210. The reset unit causes a mechanical reset and additionally or alternatively an electronic reset.

According to various exemplary embodiments, the actuating device 102 enables throttle and brake adjustment of a motorcycle with variable haptics, for example, by means of an MRF actuator implemented in the actuator device 212. The mode of operation is completely similar to a conventional throttle switch for a motorcycle. The driver executes a rotational movement and thus accelerates. If the driver turns the module in the other direction, the brake will be applied.

According to one exemplary embodiment, the operating device 102 is realized as a throttle lever, wherein the handle 210 is connected to an MRF actuator. This enables different haptics and jamming. This enables various operating functions to be performed in one stem. Thus, the system can be jammed, for example, starting from a certain speed, for example thirty zones, so that it cannot be driven faster. According to one exemplary embodiment, the jamming is implemented in such a way that it can be overcome after increasing the force consumption and, for example, allows an evasive maneuver in an emergency situation. The operating device 102, also referred to as a stem, may include a fuel supply and a brake operating portion. If the handle 210 is rotated in one direction, fuel is given. If the handle 210 is rotated in the other direction, braking is performed.

Fig. 3 shows a three-dimensional view of the operating device 102 according to an embodiment. Which may be a schematic representation of the operating device described with reference to fig. 2.

According to this embodiment, the handle 210 is in the form of a cylindrical formation. The handle 210 has a free end. The end of the handle 210 opposite the free end is coupled to an actuator device 212. Illustratively, the actuator device 212 has a housing that is cylindrical in shape.

According to various embodiments, the handle 210 is rotatable about its longitudinal axis and additionally or alternatively displaceably supported along its longitudinal axis.

The handle 210 may be used, for example, as a throttle lever to control the acceleration of the vehicle. The handle 210 may also exert the function of a cruise control or speed limiter. According to one embodiment, the handle 210 may additionally or alternatively be used to brake a vehicle or switch a shift portion of a vehicle.

Fig. 4 shows a diagram of the movement of the handle 210 of the operating device 102 according to an embodiment. This may be the operating device described with reference to fig. 3. A rotational movement of the handle 210 in a first rotational direction 415 is shown, which rotational movement is caused, for example, by a movement of the driver's hand around which the handle 210 is gripped.

Depending on the viscosity of the magnetorheological medium of the actuator device 212, a greater or lesser parking force is applied to the handle 210. The parking force brakes the rotational movement of the handle 210, which is referred to herein as the first rotational direction.

Fig. 5 shows a parking force characteristic 520 of the operating device as a function of the vehicle speed according to an exemplary embodiment. The vehicle speed is plotted on the abscissa and the parking force, which is applied to the handle by the actuator device shown in fig. 4, for example, and acts counter to the rotation of the handle in the first direction of rotation, is plotted on the ordinate. According to this embodiment, the magnitude of the parking force is adjusted depending on the vehicle speed. According to one exemplary embodiment, there is a predefined relationship between the magnitude of the vehicle speed and the magnitude of the parking force, wherein the parking force increases as the vehicle speed increases.

According to the illustrated embodiment, there is a linear relationship between the magnitude of the vehicle speed and the magnitude of the parking force. Exemplarily, in case of an initial speed of e.g. 10km/h, the initial value of the parking force is 0.5Nm and from this initial value e.g. a linear boost up to a final value of 5Nm, e.g. at a final speed of 200 km/h.

According to this embodiment, the rotation of the handle in the first rotational direction is used for accelerating the vehicle. In this case, the actuator device controls the force using a magnetorheological medium in such a way that an excessively high speed leads to a higher force required for turning the handle.

Fig. 6 shows a parking force characteristic 620 of the operating device as a function of the vehicle speed according to an exemplary embodiment. The vehicle speed is plotted on the abscissa and the parking force, which is applied to the handle by the actuator device shown in fig. 4, for example, and acts counter to the rotation of the handle in the first direction of rotation, is plotted on the ordinate. According to this embodiment, the magnitude of the parking force is adjusted depending on the vehicle speed. According to one embodiment, the parking force has a constant value within the speed range shown, except for having a peak value at a preset speed.

Exemplarily, the parking force has an initial value of e.g. 0.5Nm in a speed range of e.g. from 10km/h to 100 km/h. Immediately before the preset speed (e.g. 50km/h) is reached, the parking force is raised to a final value of e.g. 5 Nm. After reaching or exceeding the preset speed, the parking force suddenly drops back to the initial value. The peak value of the parking force, also referred to as peak, for example, has a length corresponding to less than 20% or less than 10% of the preset speed with reference to the abscissa.

According to this embodiment, the rotation of the handle in the first direction of rotation is used to accelerate the vehicle, wherein the handle also has the function of a cruise control or Speed limiter (in english). In this case, the actuator device controls the force using a magnetorheological medium in such a way that the force becomes very high when a certain speed is reached and a faster driving is attempted.

Fig. 7 shows a parking force characteristic 720 of the operating device as a function of the motor speed according to an exemplary embodiment. On the abscissa, the motor speed is plotted and on the ordinate, the parking force, which is applied to the handle by the actuator device shown in fig. 4, for example, and which acts counter to a rotation of the handle in the first direction of rotation, is plotted. According to this embodiment, the magnitude of the parking force is adjusted depending on the motor speed. According to one embodiment, the parking force has a constant value within the speed range shown, except for having a peak value at a preset motor speed.

Illustratively, the parking force has an initial value of, for example, 0.5Nm in a motor speed range of, for example, from 1000 to 14000 revolutions per minute. For example, the parking force is increased to a final value of, for example, 5Nm, just before a preset motor speed (for example 10000 rpm) is reached. After reaching or exceeding the preset motor speed, the parking force suddenly drops back to the initial value. The peak value of the parking force, also referred to as peak, has a length, with reference to the abscissa, corresponding to, for example, less than 1% of the preset motor speed.

According to this embodiment, the rotation of the handle in the first rotational direction serves to increase the rotational speed of the motor of the vehicle, wherein the handle also provides a forced downshift function. The actuator device controls the force with a magnetorheological medium while driving, by adjusting the rotational speed of the motor up to a specific range via the handle. Starting from the threshold limit, one must exceed the resistance from which the full potential of the speed range is queried.

Fig. 8 shows a parking force characteristic 820 of the operating device as a function of the motor speed according to an exemplary embodiment. On the abscissa, the motor speed is plotted and on the ordinate, the parking force, which is applied to the handle by the actuator device shown in fig. 4, for example, and which acts counter to the rotation of the handle in the first rotational direction, is plotted. According to this embodiment, the magnitude of the parking force is adjusted depending on the motor speed. According to one exemplary embodiment, the parking force has a predetermined wavy course in the indicated motor speed range.

Exemplarily, in case of an initial motor speed of 1000 revolutions/min, the parking force has an initial value of e.g. 0.5Nm and falls back to the initial value again at a final motor speed of e.g. 14000 revolutions/min. In between, the parking force characteristic 820 has a plurality of maximum values, which are between an initial value and a final value of, for example, 5 Nm. Illustratively, the illustrated parking force characteristic 820 has four maximum values, only one of which reaches a final value of the parking force.

According to this embodiment, the rotation of the handle in the first rotational direction serves to increase the rotational speed of the motor of the vehicle, wherein the handle also provides a launch control function. This function is located in the traction control, by means of which a technically optimized start of the vehicle can be achieved.

The actuator device controls the force using a magnetorheological medium in such a way that the driver is provided with an optimum speed range for optimum starting and minimal slippage.

Fig. 9 shows a diagram of the movement of the handle 210 of the operating device 102 according to an embodiment. Which may be the operating device described with reference to fig. 3. Rotational movement of the handle 210 is shown in a second rotational direction 915, the second rotational direction 915 being opposite to the first rotational direction shown in fig. 4. The rotational movement is caused, for example, by the movement of the driver's hand, around which the handle 210 is gripped.

Depending on the viscosity of the magnetorheological medium of the actuator device 212, a greater or lesser parking force is applied to the handle 210. The parking force brakes the rotational movement of the handle 210, here referred to as the second rotational direction.

According to various embodiments, the actuator device 212 is configured to provide numerically equal or different parking forces with reference to different rotational directions.

Fig. 10 shows a parking force characteristic 1020 of the operating device as a function of the vehicle speed according to an exemplary embodiment. The vehicle speed is plotted on the abscissa and the parking force, which is applied to the handle by the actuator device shown in fig. 9, for example, and acts counter to the rotation of the handle in the second direction of rotation, is plotted on the ordinate. The magnitude of the vehicle speed is shown here as decreasing along the abscissa. According to this embodiment, the magnitude of the parking force is adjusted depending on the vehicle speed. According to one embodiment, there is a predetermined relationship between the magnitude of the vehicle speed and the magnitude of the parking force, wherein the parking force is reduced when the vehicle speed is below the emergency braking speed.

According to the shown embodiment, the parking force has for example a constant initial value of 2Nm in the speed range between a final speed of for example 100km/h and an emergency braking speed of for example 30 km/h. Below the final speed, the parking force drops, for example linearly, to a final value of, for example, 0.5Nm, and then remains at the final value until parking at 0 km/h.

According to this embodiment, the handle is rotated in the second rotational direction for braking the vehicle. In this case, the actuator device controls the force using a magnetorheological medium in such a way that the braking is initiated by a reverse rotational movement. The rotational movement for this purpose is in this case counter-acting to the rotational movement in the first rotational direction, for example for accelerating or increasing the rotational speed. The system reacts to which braking is applied depending on the situation. The forces acting during emergency braking are small. In this way, only a small force has to be overcome for a further rotation of the handle in the second direction of rotation, thereby facilitating a further increase in the braking force request.

Fig. 11 shows a diagram of the movement of the handle 210 of the operating device 102 according to an embodiment. Which may be the operating device described with reference to fig. 3. An alternating movement 1115 of the handle 210 is shown, which consists of two brief, mutually opposite and directly successive rotational movements. The alternating motion 1115 is caused by, for example, the motion of the driver's hand surrounding the handle 210.

Depending on the viscosity of the magnetorheological medium of the actuator device 212, a greater or lesser parking force is applied to the handle 210. The parking force acts on the alternating movement 1115 of the handle 210, here for example with reference to both rotational directions.

According to this embodiment, the operating device 102 is used for shifting gears. The brief rotational movement, including the alternating movement 1115, implements a lift/drop switching signal. In this case, the two rotational movements in the two directions are carried out in a short sequence, the last direction being decisive for the selection of the switching direction.

Alternatively, only brief rotational movements are carried out in each case, the direction of the respective rotational movement being decisive for the selected switching direction.

Fig. 12 shows a diagram of an operating device 102 according to an embodiment. In contrast to the operating device described with reference to fig. 3, the handle 210 of the operating device 102 shown in fig. 12 has a first movable shaft section 1230 and a second movable shaft section 1232. In order to provide independent parking forces to the two shaft sections 1230, 1232, which are movable independently of one another, the actuator device 212 has a first actuator 1234 and a second actuator 1236.

The first actuator 1234 has a first magnetorheological medium and is configured to apply a first parking force related to a viscosity of the first magnetorheological medium to the first handle section 1230. To this end, a first actuator 1234 is coupled with the first handle section 1230, for example, via the first shaft 1240. The second actuator 1236 has a second magnetorheological medium and is configured to apply a second parking force related to a viscosity of the second magnetorheological medium to the second stem segment 1232. To this end, the second actuator 1236 is coupled with the second stem section 1232, for example via the second shaft 1242.

For example, first handle section 1230 may be shaped for operative use by a thumb of a hand of a driver. While second stem section 1232 may be shaped for operative use by the hand of the driver. Thus, the second stem section 1232 may be implemented longer than the first stem section 1230, e.g., more than four times longer. The first handle section 1230 is arranged here between the actuator device 212 and the second handle section 1232.

Fig. 13 shows a schematic view of an actuator device 212 according to an embodiment. The actuator means 212 may be used in conjunction with an operating device, for example as shown in fig. 3.

According to an embodiment, the actuator device 212 optionally includes an adjustment device 1350. The adjustment device 1350 is configured to provide an adjustment signal 1352 via which the viscosity of the magnetorheological medium 1354 used by the actuator of the actuator device 212 can be adjusted. For example, the adjustment signal 1352 is provided to an interface of the electromagnet 1356 of the actuator device 212 and is adapted to adjust the magnitude of the magnetic field 1358 generated by the electromagnet 1356 and acting on the magnetorheological medium 1354.

According to various embodiments, the adjustment device 1350 is configured to determine the adjustment signal 1352 using data related to a vehicle state controlled via the operating device. Such data may be provided, for example, by a suitable sensing device or a controller of the vehicle. For example, the adjusting device 1350 is configured to provide the adjustment signal 1352 using the speed signal 1360 indicative of the running speed of the vehicle and additionally or alternatively using the preset speed signal 1362 indicative of the preset speed of the vehicle and additionally or alternatively using the rotational speed signal 1364 indicative of the rotational speed of the vehicle motor and additionally or alternatively using the preset rotational speed signal 1366 indicative of the preset rotational speed of the vehicle motor.

According to an alternative embodiment, the adjustment signal 1352 is provided directly to the actuator device 212, for example from a controller of the vehicle. In this case, the actuator device 212 may be implemented without the adjustment device 1350. The function of the adjusting device 1350 can also be arranged remotely from the housing of the actuator device 212, for example in a control unit of the vehicle.

According to one embodiment, the actuator device 212 additionally or alternatively comprises an optional detection device 1370. The detection device 1370 is designed to detect a movement of the handle and to provide a control signal for controlling a function of the vehicle using a variable which characterizes the movement of the handle. The detection device 1370 has, for example, suitable sensor means, via which the direction of movement of the handle and additionally or alternatively the speed of the movement and additionally or alternatively the temporal and/or spatial course of the movement can be detected as characteristic variables. For example, the detection device 1370 is configured to provide a motor control signal 1372 for controlling the motor power of the motor of the vehicle and additionally or alternatively to provide a rotational speed control signal 1374 for controlling the rotational speed of the motor of the vehicle, and additionally or alternatively to provide a speed control signal 1376 for controlling the speed of the vehicle, and additionally or alternatively to provide an acceleration control signal 1378 for controlling the acceleration of the vehicle, and additionally or alternatively to control a shift control signal 1380 for controlling the transmission of the vehicle, and additionally or alternatively to provide a brake control signal 1382 for controlling the service brakes of the vehicle.

Fig. 14 shows a flow chart of a method according to an embodiment. The method is used, for example, for operating a vehicle having an operating device, as shown in fig. 1.

In step 1401, the viscosity of the magnetorheological medium of the actuator device of the operating device of the vehicle is adjusted, for example by adjusting a suitable magnetic field. In step 1403, a parameter having a characteristic that is characteristic of the movement of the handle of the operating device is detected. In step 1405, the characteristic variable is used to determine a control signal for controlling a vehicle function.

If an embodiment includes the conjunction "and/or" between the first feature and the second feature, this can be interpreted such that the embodiment has the first feature and the second feature according to one embodiment and only the first feature or only the second feature according to a further embodiment.

List of reference numerals

100 vehicle

102 control device

104 drive motor

106 service brake

210 handle

212 actuator arrangement

415 first direction of rotation

520 stopping force characteristic curve

620 stopping force characteristic curve

720 parking force characteristic curve

820 stopping force characteristic curve

915 second direction of rotation

1020 parking force characteristic curve

1115 alternating directions

1230 first handle section

1232 second shank segment

1234 first actuator

1236 second actuator

1240 first axis

1242 second shaft

1350 adjusting device

1352 adjusting the signal

1354 magnetorheological media

1356 electromagnet

1358 magnetic field

1360 velocity signal

1362 preset speed signal

1364 tachometric signal

1366 preset rpm signal

1370 detection device

1372 Motor control Signal

1374 speed control signal

1376 speed control signal

1378 acceleration control signal

1380 switching control signal

1382 brake control signal

1401 step of adjustment

1403 detection step

1405 step of determination