DE19820577A1 - Controller for automated actuation of motor vehicle transmission - Google Patents

Abstract

The device has an output element (11) which can be driven in a first and second direction by a first and second drive respectively. Each drive has an associated control motion sensor (13,15) for the output element whose signals are fed to a controller. The sensor signals indicate the magnitude of the movement of an output element, from which the controller (2) derives its position with respect to a reference point and with respect to a demand position. The controller activates an emergency function if it is indicated that the element has not reached the demand position at the end of the control movement or if the sensor signal is missing.

Description

The invention relates to an actuating device according to the preamble of the patent saying 1.

It is already an actuating cylinder for actuating a selector shaft from DE 43 09 027 A1 known. This actuating cylinder comprises a first hydraulic cylinder and a second hydraulic cylinder. The first hydraulic cylinder is double-acting the cylinder, which acts on an actuating piston with which the selector shaft is fixed is bound. Due to this hydraulic cylinder, the selector shaft is translationally on drivable. The second hydraulic cylinder is a driving element that again to be connected to the actuating piston in a rotationally fixed but axially displaceable manner the. A translatory movement of the Piston of the second hydraulic cylinder, which has a helical toothing with the Driving element is connected, converted into a rotational movement. Like this with the shift shaft is driven in rotation by means of the second hydraulic cylinder bar. By means of this actuating cylinder, the selector shaft is actuated accordingly  tion can be operated automatically. There are sensors for measuring the path through the Hydraulic cylinder initiable adjusting movements are provided. There are e.g. B. Linear potentiometer can be provided as sensors. Preferably ar are non-contact processing sensors used, which consist of a per permanent ring magnets and one on the cylinder outer wall of the housing attached coil element with primary and secondary winding. Means the absolute position of the selector shaft is detected by these sensors. The disadvantage is that the linear potentiometers have a short life due to the sliding contact have duration and that the contactless magnetic sensors are quite expensive.

EP 599 511 A1 describes a further device for automated actuation known a transmission. This device comprises a shift finger, the by assigned drives in an X direction and one arranged perpendicular to it nete Y direction is deflectable. The assigned potentiometers each Absolute position of the shift finger in the respective direction of movement or Ko ordinate recorded. The gear position is detected by these potentiometers.

Furthermore, the current that is applied to the drives when activated be sensed. Do the sensed values deviate from predetermined values a predetermined measure, then this deviation from target and actual values reduced or corrected by going through a correction loop.

Also with this device are potentiometers, which are due to the required sliding contact have a short lifespan for which positi provided for.

From DE 36 13 800 C2 an emergency actuation is known, the mechani has switch to be operated by the driver. This switch points several operating positions, whereby by operating the switch in egg ner predetermined way allows a predetermined gear light becomes.  

It is disadvantageous that the driver knows, on the one hand, if the actuating device fails in which way the emergency switch must be operated. The driver has to thus in the stressful situation of a defect the required operating routine, in who is to actuate the switch for the emergency operation, have what the driver is uncomfortable. Furthermore, there is only a very limited driving experience drive possible because only a predetermined gear is turned on by means of the emergency switch can be placed.

DE 44 33 825 C2 describes a contactless sensor for detection a relative movement known.

The object of the invention is to develop an actuating device such that the Manufacturing costs are reduced and the susceptibility to faults is reduced.

Furthermore, the invention was based on the problem in the event of a fault to provide emergency operation that is comfortable for the driver.

The object of the invention is given by that in claim 1 Features resolved. By taking a bel. Is to specify the reference point the use of sensors recording relative movement to record the Actual position of the output element with reference to the reference point possible. There are e.g. B. from DE 44 33 825 C2 non-contact Sen sensors known for detecting a relative movement. Such sensors are as Standard components available inexpensively. In particular, non-contact ar Processing sensors have the advantage that they are in contrast to potentiometer elements work wear-free and therefore reliably. These signals from the sensors, the egg ne relative movement of the output element will be a control direction. For control purposes, the control device uses these to determine the Signals representing relative movement with reference to the Refe the actual position of the output element. To control the output This ACTUAL position is related to a TARGET position. Is the actuating movement is completed and the TARGET position is not reached or  the absence of signals indicating an actuating movement, e.g. B. by the failure of a sensor, the control device for activating a Emergency function initiated. Failure to reach a TARGET position e.g. B. at a given gear to be selected by the controlled drive performed synchronization work recognizable. After accomplished The synchronization work is for the positioning of the selector shaft on the completely, in-gear corresponding position a lower lei required. The synchronization point is due to the positioning speed or the power consumption of the output element in the gear selection direction driving drive recognizable. The actual position can also be provided based on a determined deviation of the detected synchronization point from the expected synchronization point, taking into account the extent of the deviation correction. It has proven advantageous that the output selement the reference point in an adjustment routine, which in predetermined loading drive states is carried out, at least for a short time. Except The TARGET position is controlled from the reference point. By the one Taking the reference point, the output element is readjusted so that Un Accuracies within the tolerance range that changes in the course of the actuating operation add up, do not exceed a predetermined maximum.

The adjustment routine is preferably carried out each time the vehicle is started up go through, so that an existing slight misalignment at the same time Commissioning or start of the journey is corrected.

It has also been found to be advantageous that the adjustment routine at a Sensing an actuation of the ignition lock and another actuation signals, such as Si indicating an actuation of the vehicle brake gnals, is activated. The requirement for brake actuation for commissioning vehicle is already common in conventional automatic vehicles.

In a further advantageous embodiment it is provided that a restricted adjustment routine can be activated by opening the driver's door. With this one  restricted adjustment routine, the current gear position of the transmission is not changed. By approaching an end stop, a comparison with a be Reference value already stored in the memory can be carried out and the selector shaft on the target position corresponding to the selected gear can be positioned.

It has also proven advantageous to go through the adjustment routine should be provided if the egg is reached during normal driving nes stop in the gear selection direction is detected. The assigned to the gears TARGET positions assigned to each relieve the load on the gearbox Offset in front of the respective stop in the gear selection direction. The Errei Chen an attack is considered a misalignment that a predetermined exceeds the maximum dimension. It is therefore guaranteed even while driving ensures that a misalignment does not exceed a predetermined maximum. This maximum possible misalignment must be such that an interference smooth operation of the gear to be operated by means of the actuating device is always guaranteed.

As a particularly advantageous embodiment of an adjustment routine, that the output element, based on a change position, is the reference point with respect to the second direction of movement. The change is the position in which the output element has two degrees of freedom. At the shift position of an H circuit is the idle position. Should the Refe limit point with respect to the first direction of movement has not yet been taken be so, the output element takes this by renewed deflection in the direction of movement.

It has proven to be advantageous that when at least one type is reached the reference point with respect to a direction of movement is. It has proven to be advantageous that with Er range of a stop in the given direction with respect to the reference point in this direction of movement. Such a stop position is be particularly easy to control by the assigned to the direction of movement  drove over a maximum time interval required to take the po sition is controlled. Is the middle position or idle in the gear selection direction position the predetermined position of the reference point with respect to this movement direction, this is the reference point by a single deflection in each loading Movable in the direction of movement. There can be another sensor to detect the Change position may be provided so that the change position taken is recognized by the control device. If this sensor is not provided, then the output element can be started by specifying a control interval from a stop position in the gear selection direction.

It has proven to be advantageous to include a time measuring device To provide control device. In a predetermined first interval, this will be Output element in the predominant direction of movement by reaching a stop prevented from further deflection. That first interval is dimensioned such that reaching the stop in the controlled loading direction of movement is always guaranteed. When the stop is reached the Position of the output element in this direction of movement is precisely defined. If this direction of movement was the gear selection direction, the starting element becomes ment, starting from this position, in the opposite direction of the first Direction of movement driven to take the change position.

Furthermore, it is also advantageous to have at least one drive with a Lei device recording detector. Due to the power consumption of the respective gene drive is a starting of the output element by an on the power consumed by the drive increases noticeably.

The control device is assigned a non-volatile memory in which signals are stored, which represent travel ranges. These signals are by means of the Sensors assigned to drives can be accommodated. So are the different. Corresponding travel paths using the signals determined in the Storage storable. If a gear is specified as the TARGET position, then use the drives by the control device in a corresponding manner  of the stored signals. These signals are individual for each Powertrain configuration, especially to adapt to the respective Ge urge to read. This will result from the manufacturing tolerances the deviations of the adjustment paths assigned to the respective gears compensated. Preferably, the reading of the signals after mounting the An drive train carried out by the individual gears in a predetermined order must be inserted. Through this individual reading, Pro fluctuations in production balanced. If a powertrain configuration is ver changes, e.g. B. by replacing the gearbox, so is a modification of the signals stored in non-volatile memory to ensure that the ge desired gear required according to the optimal target position.

It has proven to be advantageous that the sensors control the actuating movement of the Detect drives directly. The sensors detect the relative movement of the Output part of the respective drive. To use the smallest possible drives can, the drives are via a reduction gear with the output sele ment connected. Thus, the amount of movement of the output part is the An drives a multiple of the movement of the output element. This is the Size of the resulting movement of the output element by detection of the Movement of the output part of the drive can be determined very precisely. At this Arrangement, the sensors can be integrated directly into the drives. As a special suitable sensors have become known from DE 44 33 825 C2 Incremental encoder highlighted. Is the drive with a slip clutch verse hen, the sensor is on the output side of the slip clutch for detection of the movement initiated.

It can also be provided that the corresponding drive is a slip clutch tion, so that the drive is overloaded when starting is. If the stop is reached, a relative movement between begins drive-side input part and output-side output part of the slip clutch on. Such a drive provided with a slip clutch is e.g. B. from the DE 43 36 445 A1 known.  

When the emergency function is activated, it is provided that the output element goes out from an emergency reference point that is in the TARGET position. To take the TARGET position is the output element by means of control by the first Drive driven over a first emergency control time interval. The first emergency tax The time interval is dimensioned such that the output element is present the stop in the control direction is guaranteed. So that's it Be the position of the output element with respect to this first direction of movement knows. Using this information, the output element is placed on the Change position positioned. The output element is advantageously used for Taking the change position by the first drive in the opposite Direction controlled over a predetermined time interval. The time it takes this is about the starting element from the stop position into the change position to move, is preferably stored in the control device. It can also be provided, the output element by specifying the power of the driving drive z. B. by specifying a predetermined Ansteuerlei position profile on the change position.

It has proven to be advantageous to have the output element shortly before the po potential to reach the change position alternately by both drives Taxes. If the output element can be deflected in the second direction of movement, the change position is reached or already passed. By means of this type Control ensures that even with control fluctuations, for. B. by a stiffness that has occurred and the resulting higher lei required Service or time, reaching the change position with the possibility of loading direction change is guaranteed, and the output element this at least temporarily. By means of a pure time specification or the pre Giving a control performance profile is the targeted control of a given one position cannot be controlled as precisely as if the size of the actuating movement is detected and monitored by sensors. This greater fault tolerance can be achieved by alternately controlling the two drives in the area of Change position when controlling the same can be compensated. It can  here, too, the detection of the change position upon detection of the drives power consumed can be detected. Is the output element in On control direction cannot be deflected, the power consumed by the respective increases drive. Leaves the power consumption of the two drives in two successive drive time intervals due to a low power take a deflection in the respective direction of movement close, the change position is assumed or already passed. If the change position has already been passed through or has just been taken depends on the Larger control time intervals.

If the change position has been taken, the output element is switched on control of the second drive over a second emergency time interval in the system brought the stop located in the control direction. With reaching this Stop is now also the position of the output element with respect to the two th direction of movement known, so that the current position of the output elements with respect to both directions of movement is known. Starting from In this defined position, the output element becomes the emergency reference point positioned, provided the stop position taken; the as an emergency reference point is predestined, is not the predetermined emergency reference point.

If only one of the sensors assigned to the drives has failed, you can the signals of the still functional sensors from the control device to targeted control of the drives can be used. Furthermore, it has proven to be it is advantageous to add a non-volatile memory to the emergency function arrange by the activation time assigned to the different gears interval or control performance profiles for inserting the desired drive ganges are stored by means of the drives. This means that even if one or several sensors a further functionality of the actuating device guaranteed, the predetermined target position is no longer quite as accurate can be approached. It is therefore with a loss of comfort, such as. B. more common Running through the adjustment routine and enlarging for a change of gear time to calculate. It is therefore advantageous to activate the emergency radio  tion to the driver so that he can immediately return to a workshop Eliminate the defect.

The invention is shown schematically in the accompanying drawings and is exclusively described in more detail. It shows:

Fig. 1 actuator for the automated actuation of a manual transmission;

Fig. 2 control device with a device for specifying a driving gear;

Fig. 3 shift gate;

Fig. 4 actuator with additional sensor for the detection of the neutral position;

Fig. 5 signal profile of the sensor for detecting the neutral position;

Fig. 6 actuator with a transmission element;

FIG. 7 side view of FIG. 6.

Referring to Fig. 1, the basic structure of the actuator 1 is described first. This actuating device 1 for actuating a manual transmission 6 by means of an auxiliary power comprises a first drive 3 and a second drive 5 . In this embodiment, two electric motors 21 , 23 are hen vorgese. The first electric motor 21 comprises a segment wheel-shaped output part with a toothing 71 , which with a toothing with axial extension, hereinafter referred to as axial toothing 63 , a control shaft 12 is engaged. The control shaft 12 has on a further section a toothing with radial extension, hereinafter referred to as radial toothing 61 , with which a segment wheel-shaped output part with a toothing 73 of the second electric motor 23 is engaged. The electric motors 21 , 23 are each provided with a sensor 13 , 15 , the signals of which are forwarded to a control device 2 . The electric motors 21 , 23 are controllable by the control device 2 . The control device 2 in turn comprises an emergency control function 55 and egg NEN non-volatile memory 45 , in which the various gears corresponding signals are stored.

The mode of operation of this actuating device 1 is discussed below.

It can be provided that each time an initial start-up, an adjustment route tine will go through. The driver's request can be used for commissioning for example in the presence of the signal of an ignition lock actuation in connection with a signal characterizing a further actuation, for example a derived from the brake lights or a brake actuation chrakterisie renden signal, are recognized by the control device. By the actuated At the same time, the brake becomes a rolling away of the motor vehicle as it passes through the adjustment route tine prevented.

If the adjustment routine is completed or almost completed, the starter becomes released by the control device.

Furthermore, an adjustment routine can also be provided by opening the handle rer door with the handbrake applied in at least one restricted version, in which it is not necessary to remove an inserted gear, is activated.

The limited version of the adjustment routine is protected against Rolling away by an applied brake is not absolutely necessary.

The following is the control of the drives by the control device discussed in more detail.  

At the start of the vehicle, the control shaft is positioned by a corresponding control of the drives 3 , 5 by the control device 2 on a reference point 49 stored in the control device 2 . Was a gear engaged at the start of the vehicle, so the first drive 3 is controlled by the control device 2 to remove the gear. During the control of the first drive 3 , the relative movement of the output part 11 is taken up by means of the sensor 15 assigned to the first drive 3 and passed on to the control device 2 . The control device 2 uses this signal to determine the current position and positions the output part 11 exactly on the change position 53 , which here is the idle position 54 . When the idle position 54 is assumed, the output element 11 , here the selector shaft 12 , is positioned by actuating the second drive 5 to the alley position corresponding to the reference point 49 . Detection of this actuating movement is not necessary if the first or last aisle is the selected reference position 49 in the aisle selection direction 31 . For example, if the first lane is selected as the reference position 49 in the lane selection direction, the selector shaft 12 is brought into the striking position 27 by the second drive 5 . The drive 5 is controlled by the control device 2 such that reaching this stop position 27 is ensured. For example, by specifying a predetermined time interval of a given control profile or via the control power, reaching the striking position 27 by controlling the drive 5 can be ensured.

The driving gear determined by the control device 2 is given as the TARGET position. The control device 2 now uses the signals stored in the memory 45 stored in the driving gear. The drives 3 and 5 are controlled in accordance with these signals. The introduced through the respective drive 3, 5 adjusting movement is determined by the sensor 13, 15, is sensed and the control device 2 fed so that the drives 3, driven in dependence upon which the control device 2 supplied to sensor signals 5 who the. The control shaft 12 is thus adjusted away to the TARGET position. If the path specified for ingestion has been covered, the actuating movement is thus completed. In addition, it can be provided that the signals representing the required force are included, provided that this information is available to the control device.

Is tektiert by the control unit 2, the need for a gear shift de so associated with the driving gear position is the new desired position. By means of the signals stored in the memory 45 , the path to be taken to take the TARGET position 47 assigned to the driving gear is predetermined. It can be provided for direct control without taking reference point 49 briefly. Then the new TARGET position is controlled by forming the difference between the distances to be covered. The drives 3 , 5 are controlled according to the routes to be covered. If a mechanical striking against a stop 25 , 27 is detected during control, which can be arranged in the gearbox or in the housing of the actuator 1 , the striking is evaluated as a misalignment. An attack can z. B. by a missing signal of the driven drive 3 , 5 assigned sensors 13 , 15 can be detected when the drive is activated. Starting from this position, the drives 3 , 5 are controlled to take the reference point 49 . If a stop 25 assigned to a driving gear has been adopted, the idle position 54 is first activated. For this purpose, the direction of the drive 3 driving the selector shaft 12 is reversed. The selector shaft is driven in the opposite direction. If the expected signal from the sensor 13 assigned to the drive 3 is still absent, the emergency function 55 of the control device 2 is activated. If the drive 3 is defective, the desired gear can no longer be engaged automatically. The result is that the vehicle remains lying down. If the sensor 13 indicating the actuating movement is defective, the TARGET position is controlled by the emergency function 55 , is assumed. The functionality of the emergency function 55 will be discussed in detail later.

If the control device 2 again receives a signal indicating an actuating movement from the sensor 13 with deflection of the controlled direction of the drive 3 driving the selector shaft 12 , then there is a misalignment. If a stroke has been taken when inserting a gear, the drive 3 is activated to remove the gear. When the idle position 54 is assumed, the reference point 49 is activated in the aisle selection direction 31 . Starting from the reference point 49 , the TARGET position is controlled as described above.

With the passage of the adjustment routine, a misalignment in the gear selection direction 33 and alley selection direction 31 is corrected. If, when the TARGET position in the aisle selection direction 31 is actuated, a stop at a reference point 49 deviating from this stop 27 has occurred, then a misalignment is recognized. If the control path between the two stops 27 present in the gas selection direction 31 is stored in the control device, a correction can be carried out without actuation of the reference point 49 , by knowing the stop position 27 that has currently been taken.

If the stop 25 is in the gear selection direction 33 , a correction can be carried out by activating the position 26 which is arranged in front of this stop and is assigned to the gear with a predetermined offset 24 . For this purpose, the travel corresponding to Offest 24 must be stored in control device 2 . These corrections are relative corrections by means of which an error that has occurred can be compensated for due to the accumulation of the inaccuracies caused by the error tolerance. However, if the momentary position of the control shaft 12 is completely unknown due to a short-term fault, it is necessary to go through the adjustment routine to rejuvenate.

The emergency function of the control device is described in more detail below. By activating the emergency function 55, it is possible to assume a predetermined target position without the signals indicating the actuating movement. The striking positions 25 , 27 are known from the signals stored in the memory 57 assigned to the emergency function 55 or the memory 45 of the control device. If the stop 25 is taken in the gear selection direction 33 , then the shift shaft 12 is positioned on the idle position 54 by specifying a control time or a control profile. Starting from the idle position 54 , the emergency reference point 51 is assumed in the lane selection direction 31 . The predetermined TARGET position is controlled by means of the signals stored in the non-volatile memory 57 of the emergency function 55 . Each TARGET position, such as a driving gear or the idle position, is assigned a control profile or control time profile assigned in the memory by means of signals. This control of the specified TARGET position is not as precise as the control in normal operation. It can be provided that the emergency reference point is at least briefly occupied for each gear change. The active emergency function 55 is displayed to the driver.

Another embodiment is described with reference to FIG. 2. In this actuating device 2 , the drives 3 , 5 are provided with slip clutches 75 , so that an overload of the respective drive 3 , 5 is prevented with continuous actuation with the stop 25 , 27 already in use. The sensors 13 , 15 , here incremental encoders 17 , 19 , for sensing the actuating movement are each arranged on the driven side of the slip clutch 75 . The slip clutch 75 is designed such that it provides a fixed connec tion between the output part of the drive and the control shaft 12 during normal actuation. If the selector shaft 12 stops while the drive is continuously running, the slip clutch 75 slips. No or a greatly reduced actuating movement is detected by the respective sensor 13 , 15 . The control device evaluates this as a misalignment. The drives 3 , 5 are, as already described with reference to FIG. 1, controlled for readjustment.

In this embodiment, the control device comprises a Zeitmeßmit tel 35th Starting from an engaged gear, the idle position 54 can be controlled by specifying a control time interval of the drive 3 . Signals are stored in the memory 45 of the control device 2 or the emergency function 55 , by means of which a predetermined target position can be controlled by specifying the control times of the drives 3 , 5 . In a departure from the exemplary embodiment shown in FIG. 1, the manual specification of a TARGET position is achieved by positioning a gear shift lever 39 provided with a sensor 41 , such as, for. B. known from DE 38 36 145 A1, manually given by the driver before.

Fig. 3 shows a shift gate of an H circuit. This shift gate 43 is associated with the gear shift lever 39 and is virtually integrated in the control device 2 without Schalthe bel 39 in the controller. 2 The TARGET positions 47 corresponding to the gears 1-5 and R have been defined with an offset 24 in front of the stop 25 assigned to this gear.

In the embodiment shown in Fig. 4, a further, the idle position 65 indicating sensor is provided. In this embodiment, the incremental encoder 17 , 19 sensing the actuating movement are connected to the switching shaft 12 . The operation of this actuating device does not differ from the functioning of the actuating device described with reference to FIG. 1, only that an reaching of the idle position 54 is sensed by the sensor 65 and is forwarded to the control device 2 . By the sensor 65 shown in the embodiment, the signal from the sensor 65 to the control device 2 also indicates the half side on which the selector shaft is located. As a result, the required control direction of the drive 3 is known for taking the idle position directly. The sensor 65 shown is only one exemplary embodiment of a large number of sensors which can be used for the detection of an excellent position.

In the actuating device 1 shown in FIGS. 6 and 7, the drives 3 , 5 are connected via a transmission element 37 which is firmly connected to the control shaft 12 . This transmission element 37 comprises a segment wheel part 38 with a first toothing 71 which is in engagement with the driven part 67 of the drive 3 . When the drive 3 is actuated, the segment gear part 38 and thus the selector shaft 12 are driven in rotation. The transmission element 37 has a further toothing 73 which is arranged perpendicular to the first toothing 71 and parallel and coaxial to the selector shaft and which engages with the driven part 69 of the drive 5 . Due to the radial spacing of the teeth 71 , 73 to the selector shaft 12 , the initiated torque of the respective drive 3 , 5 is set. The toothing 71 , 73 are designed such that the control shaft 12 is decoupled by the drives 3 , 5 in the various directions of movement 7 , 9 can be driven. The second toothing 73 extends over a loading area in the circumferential direction coaxially to the selector shaft, so that when the transmission element 37 is rotatably steered by the first drive 3, the engagement of the second toothing 73 with the driven part 69 is ensured. The transmission element 37 is provided with the sensors 13 , 15 , which detected the respective actuating movement of the control shaft 12 .

The rest of the structure and the mode of operation of this actuating device 1 do not differ from the actuating device 1 described with reference to FIG. 1 .

Reference list

1

Actuator

2nd

Control device

3rd

first drive

5

second drive

6

transmission

7

first direction of movement

9

second direction of movement

11

Output element

12th

Selector shaft

13

sensor

15

sensor

17th

Incremental encoder

19th

Incremental encoder

21

Electric motor

23

Electric motor

24th

Offset

25th

attack

26

Assigned gear. position

27

attack

29

sensor

31

Lane selection direction

33

Gear selection direction

35

Time measuring device

37

Transmission element

38

Segment wheel part

39

Gear shift lever

40

Switch position

41

sensor

43

Shifting gate

45

non-volatile memory

47

TARGET position assigned to gears

49

Reference point

51

Emergency reference point

53

Change position

54

Idle position

55

Emergency function

57

Storage

59

Power consumption detector

61

Radial teeth

63

Axial toothing

65

sensor

67

Stripping section

69

Drive part

71

Gearing

73

Gearing

75

Slip clutch

Claims (22)

1. Actuating device for the automated actuation of a manual transmission, which has an output element which can be driven by a first drive in a first direction and by a second drive in a second direction, each drive being assigned a sensor indicating an actuating movement a movement of the output element is detected and the sen signals are fed to a control device, characterized in that the sensors ( 13 , 15 ) emit signals associated with this movement when the output element ( 11 ) moves to the control device ( 2 ), the signals indicating the respective specify amount of movement, and the STEU ereinrichtung (2) from these signals with reference to an arbitrarily predetermined reference point (49) the actual position of the output element (11) is determined and recognizable with a moving target position of the Ausgangselemen tes (11) with respect sets, whereby the perception of not reaching the target pos ition after completion of an actuating movement or the absence of the signals indicating the actuating movement causes the control device ( 2 ) to activate an emergency function ( 55 ). 2. Actuating device according to claim 1, characterized in that the reference point ( 49 ) is at least temporarily occupied in an adjustment routine which is carried out in predeterminable operating situations and the target position is controlled starting from this position. 3. Actuating device according to claim 2, characterized, that the adjustment routine is run when the vehicle is started up. 4. Actuating device according to claim 3, characterized, that the adjustment routine in the present case, an actuation of an ignition lock indicating signal and another signal indicating actuation, preferably an actuation of the brake indicating signal is activated. 5. Actuating device according to claim 3, characterized, that a restricted adjustment routine, in which a removal of an im Gear engaged gear is not required by opening the driver's door can be activated. 6. Actuating device according to claim 2, characterized in that the adjustment routine in vehicle operation by detection of an reached stop ( 25 , 27 ) during normal actuation, which is evaluated as a result of a misalignment of the output element, is triggered. 7. Actuating device according to claim 1, characterized in that the output element ( 11 ) in the adjustment routine starting from a change position ( 53 ) in which the output element ( 11 ) has two degrees of freedom, the reference point ( 49 ) with respect to the second direction of movement ( 9 ) takes, and in the first direction of movement ( 7 ), if the reference point ( 49 ) should not have been taken, takes it by deflection. 8. Adjusting device according to claim 1, characterized in that the reference point ( 49 ) at least in one direction of movement ( 7 , 9 ) is reached with at least one stop ( 25 , 27 ) with respect to this direction of movement. 9. Actuating device according to claim 7, wherein one of the directions of movement is the lane selection direction, characterized in that the reference point ( 49 ) in the lane selection direction ( 31 ) is reached in a predetermined direction with respect to this direction of movement upon reaching the stop ( 27 ). 10. Actuating device according to claim 7, characterized in that at least one stop ( 27 ) is assigned at least one sensor ( 29 ) for detection of a stop of the output element ( 11 ), the sen signals are passed on to the control device ( 2 ). 11. Adjusting device according to claim 1 and 2, characterized in that the adjusting device ( 2 ) comprises a time measuring means ( 35 ) for specifying a first interval in which the output element ( 11 ) in a first direction of movement ( 7 ) by reaching the stop ( 25 ) is prevented from a further deflection, and a second interval in that the output element ( 11 ) is moved in the opposite direction of this direction of movement for taking the change position ( 53 ). 12. Actuating device according to claim 8, characterized in that at least one of the drives ( 3 , 5 ) is provided with a power consumption detector ( 59 ) which is used to determine whether the stop ( 25 , 27 ) has been reached by a power consumption detector ( 59 ) detected increased power consumption of the respective drive ( 3 , 5 ) is provided. 13. Actuating device according to claim 1, characterized in that the desired position of the output element ( 11 ) by a gear shift lever ( 39 ) can be predetermined, the switching position ( 40 ) is recorded by means of a sensor ( 41 ) assigned to the same, and the control device ( 2 ) is forwarded. 14. Actuating device according to claim 1, characterized in that the desired position by means of a gear selection control device ( 43 ) is predetermined which, taking into account a multiplicity of operating parameters, determines the current cheapest driving gear and forwards this as the desired position to the control device ( 2 ) . 15. Actuating device according to claim 1, characterized in that the control device is assigned a non-volatile memory ( 45 ) in which signals are stored which represent the travel paths which are assigned by means of the sensors ( 13 , 15 ) assigned to the drives ( 3 , 5 ). are recordable and correspond to the target positions ( 47 ) assigned to the different gears in relation to the reference point ( 49 ). 16. Actuating device according to claim 15, characterized in that the signals stored in the non-volatile memory ( 45 ) and corresponding to the travel paths are changed when the drive train configuration changes, in particular when the transmission ( 6 ) is replaced, by reading again. 17. Actuating device according to claim 1, characterized in that the sensors ( 13 , 15 ) the actuating movement of the drives ( 3 , 5 ) directly detect and in the drives ( 3 , 5 ) can be integrated. 18. Actuating device according to claim 1, characterized in that the output element ( 11 ) with activated emergency function ( 55 ) starting from a bel. Predeterminable emergency reference point ( 51 ) assumes the desired position ( 47 ), the output element ( 11 ) the emergency reference point ( 51 ) by triggering the first drive ( 3 ) over a first emergency control interval, after the expiration of which the output element ( 11 ) is applied the stop ( 25 ) located in the control direction is ensured, and by means of the position information obtained with respect to this first direction of movement ( 7 ) with stop, the output element ( 11 ) takes the change position ( 53 ) in the opposite direction by controlling the first drive ( 3 ) a, from which the output element (11) will be deflected by actuation of the second drive (5) via a second Notzeitintervall in the second direction of movement (9), wherein the output member (11) after the second Notzeitintervalls where in the deflection befindli chen stop ( 27 ) is present, and at an emergency reference point that deviates from this position ( 51 ) is positioned on the emergency reference point ( 51 ) by the position information obtained in the course of the attack. 19. Actuating device according to claim 18, characterized in that the output element ( 11 ) at least shortly before the potential Errei chen the change position ( 53 ) is driven alternately in the first ( 7 ) and two-th direction of movement ( 9 ), and the change position ( 51st ) is recognized by gaining freedom of movement in the second direction of movement ( 9 ). 20. Actuating device according to claim 19, characterized in that the change position ( 53 ) by a comparable power consumption of the two drives in successive intervals, corresponding to a guided movement, is detectable. 21. Actuating device according to claim 18, characterized in that the emergency reference point ( 51 ) coincides with the reference point ( 49 ). 22. Actuating device according to claim 18, characterized in that a non-volatile memory ( 57 ) is provided to ensure the emergency function ( 55 ), in which the different driving gears assigned control time intervals for engaging the desired driving gear by means of the drives ( 3 , 5 ) are.