DE102009007990A1 - Trailer data determining method, involves utilizing distance sensors provided in rear region of towing vehicle, for determining trailer data, and determining and processing different distances between vehicle and trailer - Google Patents

Trailer data determining method, involves utilizing distance sensors provided in rear region of towing vehicle, for determining trailer data, and determining and processing different distances between vehicle and trailer Download PDF

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Publication number
DE102009007990A1
DE102009007990A1 DE102009007990A DE102009007990A DE102009007990A1 DE 102009007990 A1 DE102009007990 A1 DE 102009007990A1 DE 102009007990 A DE102009007990 A DE 102009007990A DE 102009007990 A DE102009007990 A DE 102009007990A DE 102009007990 A1 DE102009007990 A1 DE 102009007990A1
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Germany
Prior art keywords
trailer
distance
determining
towing vehicle
data
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DE102009007990A
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German (de)
Inventor
Carsten Dipl.-Ing. Heilenkötter
Thomas Dipl.-Ing. Niemann
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Hella GmbH and Co KGaA
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Hella KGaA Huek and Co
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Priority to DE102009007990A priority Critical patent/DE102009007990A1/en
Publication of DE102009007990A1 publication Critical patent/DE102009007990A1/en
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/245—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating push back or parking of trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/874—Combination of several systems for attitude determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9317—Driving backwards
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The method involves utilizing distance sensors (3, 4) e.g. parking distance sensors, arranged in an outdoor area of a rear bumper of a towing vehicle (1), for determining trailer data. Different distances between the towing vehicle and a trailer (2) outside a vehicle center are determined and processed while driving. Distance data of the distance sensors are determined. Length of the trailer and distance of an axis of the trailer are determined from distance measurements (10, 11). Trajectories for the towing vehicle with the trailer are calculated with the trailer data.

Description

Die Erfindung betrifft ein Verfahren zur Bestimmung von Anhängerdaten.The The invention relates to a method for determining trailer data.

Bekannt sind Abstandserkennungssysteme zwischen Zugfahrzeug und einem Anhänger und Verfahren zur Bestimmung des Anhängerwinkels bzw. des Knickwinkels bei einem Fahrzeuggespann. Derartige Verfahren und Systeme sind beispielsweise aus den Druckschriften DE 10 2005 019 550 A1 , DE 10 2004 059 596 B4 und DE 10 2006 007 805 A1 bekannt.Are known distance detection systems between towing vehicle and a trailer and method for determining the trailer angle or the bending angle in a vehicle combination. Such methods and systems are for example from the publications DE 10 2005 019 550 A1 . DE 10 2004 059 596 B4 and DE 10 2006 007 805 A1 known.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zu schaffen, das mit einfachen bzw. vorhandenen Mitteln Anhängerdaten bestimmen kann, so dass diese weiter verwendet werden können.Of the Invention has for its object to provide a method that with simple or existing means trailer data can be determined so that they can continue to be used.

Die Lösung dieser Aufgabe erfolgt mit einem Verfahren mit den Merkmalen des Patentanspruchs 1. Bevorzugte Ausgestaltungen der Erfindung sind in den Unteransprüchen angegeben.The Solution to this problem is done with a method with the Features of claim 1. Preferred embodiments of Invention are specified in the subclaims.

Bei einem Verfahren zur Bestimmung von Anhängerdaten werden erfindungsgemäß im hinteren Bereich des Zugfahrzeugs vorhandene Abstandssensoren zur Ermittlung der Anhängerdaten genutzt, indem während der Fahrt die unterschiedlichen Abstände zwischen Zugfahrzeug und Anhänger außerhalb der Fahrzeugmitte bestimmt und weiterverarbeitet werden. Dadurch ist es möglich, die im Zugfahrzeug vorhandenen Abstandssensoren auch bei einer Anhängerfahrt zu nutzen, wobei zunächst aus den Fahrdaten Anhängerdaten bestimmt werden, die dann im weiteren Betrieb verwendet werden können.at a method of determining trailer data According to the invention in the rear of the towing vehicle existing distance sensors used to determine the trailer data, while driving the different distances between towing vehicle and trailer outside the Vehicle center determined and processed. This is it is possible, the existing in the towing vehicle distance sensors also to use in a trailer trip, where initially off the driving data trailer data are determined, which then in further operation can be used.

Bevorzugt werden die Abstandsdaten von zwei in den Außenbereichen des rückseitigen Stoßfängers angeordneten Sensoren bestimmt. Bevorzugt sind die Abstandssensoren als Parkabstandssensoren ausgelegt. Die im hinteren Bereich eines Kraftfahrzeugs, insbesondere in den Stoßfängern, vorhandenen Parkabstandssensoren oder Park Distance Control Sensoren können auf diese Weise auch im Anhängerbetrieb verwendet werden. Insbesondere mit den äußeren Sensoren kann dann eine Abstandsmessung zwischen dem Zugfahrzeug und dem Anhänger durchgeführt werden.Prefers are the distance data of two in the outdoor areas Rear bumper arranged Sensors determined. Preferably, the distance sensors are used as parking space sensors designed. The at the rear of a motor vehicle, in particular in bumpers, available parking distance sensors or Park Distance Control sensors can work this way too be used in trailer operation. Especially with the outside Sensors can then take a distance measurement between the towing vehicle and the trailer.

Bevorzugt wird aus den Abstandsmessungen der Abstand der Achse des Anhängers zur Kupplung des Zugfahrzeugs bestimmt. In einer anderen bevorzugten Ausgestaltung wird aus den Abstandsmessungen die Länge des Anhängers bestimmt. Durch die Ermittlung dieser Daten wird bestimmt, welche Abmessungen der Anhänger hat und wo die Achse liegt. Bevorzugt wird auf der Basis dieser Daten bzw. mit den so erhaltenen Anhängerdaten eine Trajektorie für das Zugfahrzeug mit dem Anhänger berechnet. Mit den so erhaltenen Anhängerdaten kann während des normalen Fahrbetriebs eine Trajektorie ermittelt bzw. vorausberechnet werden, die insbesondere beim langsamen Fahren durch schmale Einfahrten oder im Rückwärtsfahrbetrieb als zusätzliche Überprüfungs- oder Warndaten für den Fahrer verwendet werden können.Prefers becomes the distance measurements from the distance of the axle of the trailer intended for coupling the towing vehicle. In another preferred Embodiment becomes the distance measurements from the length of the trailer. By identifying this data determines what dimensions the trailer has and where the axis lies. It is preferred on the basis of this data or with the trailer data thus obtained a trajectory for the towing vehicle is charged with the trailer. With the so obtained trailer data can during the normal Driving operation, a trajectory is calculated or predicted, especially when driving slowly through narrow driveways or in reverse drive mode as an additional verification or warning data can be used for the driver.

Bei der Berechnung der Anhängerdaten wird bevorzugt ein mittiger Aufbau des Anhängers über der Achse des Anhängers angenommen. Dadurch ist die Berechnung wesentlich vereinfacht bzw. ohne weitere Angaben mit Hilfe der aus den Abstandssensoren gewonnenen Daten möglich. In einer bevorzugten Ausgestaltung der Erfindung wird eine Vielzahl von Einzelmessungen durchgeführt und aus diesen Einzelmessungen wird ein Mittelwert gebildet. Dadurch wird eine hohe Genauigkeit bei der Berechnung erreicht. In einer anderen bevorzugten Weiterentwicklung der Erfindung wird das Verfahren durch die elektrische Kontaktierung des Zugfahrzeugs mit dem Anhänger eingeleitet. Dadurch wird eine automatische Ermittlung der Anhängerdaten eingeleitet. Bevorzugt wird diese Einleitung noch überprüft, nämlich dadurch, dass die Kontaktierung durch Messungen der Abstandssensoren bestätigt werden. Nach Kontaktierung werden von beiden Abstandssensoren Messungen in einem bestimmten Nahbereich erwartet.at the calculation of the trailer data is preferably a center Structure of the trailer above the axle of the trailer accepted. As a result, the calculation is significantly simplified or without further information with the help of the distance sensors Data possible. In a preferred embodiment of the invention a variety of individual measurements is carried out and From these individual measurements an average value is formed. Thereby a high accuracy in the calculation is achieved. In a Another preferred development of the invention is the method by the electrical contacting of the towing vehicle with the trailer initiated. This will automatically detect trailer data initiated. Preferably, this introduction is still checked namely the fact that the contacting by measurements the distance sensors are confirmed. After contacting Both measurements are taken in a given distance Close range expected.

In einer bevorzugten Ausgestaltung der Erfindung wird der Winkel, mit dem der Anhänger dem Zugfahrzeug nachläuft, mit folgender Gleichung ermittelt, nämlich: α = arcsin(m1 – m22c ). In a preferred embodiment of the invention, the angle at which the trailer tracks the towing vehicle, determined by the following equation, namely: α = arcsin ( m1 - m2 2c ).

Dabei sind m1 und m2 die Abstandsmesswerte der Abstandssensoren und c der seitliche Abstand der Abstandssensoren von der Fahrzeugmitte.there m1 and m2 are the distance measurements of the distance sensors and c the lateral distance of the distance sensors from the vehicle center.

Nachfolgend wird die Erfindung anhand eines in der Zeichnung dargestellten bevorzugten Ausführungsbeispiels weiter erläutert. Im Einzelnen zeigen die schematischen Darstellungen in:following the invention is based on a preferred illustrated in the drawing Embodiment further explained. In detail show the schematic representations in:

1: eine Prinzipdarstellung in Geradeausfahrt; 1 : a schematic diagram in straight-ahead driving;

2: eine Prinzipdarstellung bei Kurvenfahrt für zwei unterschiedliche Anhänger; und 2 : a schematic representation when cornering for two different trailers; and

3: eine Darstellung einer Messsituation. 3 : a representation of a measurement situation.

In 1 ist ein Zugfahrzeug 1 mit einem Anhänger 2 in Geradeausfahrt dargestellt. Im Heckbereich des Zugfahrzeugs 1 sind Abstandssensoren 3 und 4 angeordnet. Diese sind insbesondere außermittig bevorzugt in den äußeren Dritteln, insbesondere den äußeren Fünfteln des Stoßfänger angeordnet. Es handelt sich dabei bevorzugt um Parkabstandssensoren, die in dem Zugfahrzeug 1 auch genutzt werden, wenn kein Anhänger vorhanden ist. Der Anhänger 2 ist mit einer Deichsel 5 an dem Zugfahrzeug 1 angehängt. Mit Pfeilen 10 und 11 sind die Abstandsmessungen der Abstandssensoren 3 und 4 angedeutet, die den Abstand zwischen Fahrzeug 1 und Anhänger 2 an zwei Stellen außermittig feststellen.In 1 is a towing vehicle 1 with a trailer 2 shown in straight ahead. In the rear area of the towing vehicle 1 are distance sensors 3 and 4 arranged. These are particular except centrally preferably arranged in the outer thirds, in particular the outer fifths of the bumper. These are preferably parking space sensors that are in the towing vehicle 1 also be used if no trailer is present. The trailer 2 is with a drawbar 5 on the towing vehicle 1 attached. With arrows 10 and 11 are the distance measurements of the distance sensors 3 and 4 indicated the distance between the vehicle 1 and followers 2 determine in two places off-center.

In 2 sind beim Zugfahrzeug 1 zusätzlich Räder 6 dargestellt und ebenso sind bei zwei gleichzeitig dargestellten Anhängern 2 und 2' Räder 7 und 7' dargestellt. Es handelt sich also insbesondere um einen Anhänger mit einem mittigen Räderpaar. Dabei kann der Anhänger 1 ein- oder zweiachsig sein. Aus der Darstellung der hier für die verschiedenen Kurvenfahrten dargestellten Abstandsmessungen 10 und 10' bzw. 11 und 11' wird deutlich, dass die von den Abstandssensoren 3 und 4 aufgenommenen Messungen in Abhängigkeit von der Kurvenfahrt und der Länge des Anhängers 2 und 2' zu unterschiedlichen Ergebnissen führen. Ein gleicher Kurvenradius führt bei unterschiedlichen Anhängerabmessungen zu unterschiedlichen Knickwinkeln und damit auch zu unterschiedlichen Abstandsmessungen.In 2 are with the towing vehicle 1 additional wheels 6 are shown and also are at two simultaneously shown trailers 2 and 2 ' bikes 7 and 7 ' shown. It is thus in particular a trailer with a central pair of wheels. This can be the trailer 1 be one or two axes. From the representation of the distance measurements shown here for the various cornering 10 and 10 ' respectively. 11 and 11 ' it becomes clear that the distance sensors 3 and 4 recorded measurements as a function of the cornering and the length of the trailer 2 and 2 ' lead to different results. A same radius of curvature leads with different trailer dimensions to different bending angles and thus also to different distance measurements.

In 3 ist die detaillierte Berechnung beschrieben. Der Winkel α, mit dem der Anhänger dem Zugfahrzeug hinterherläuft, ergibt sich aus den Messwerten m1 und m2 der äußeren Abstandssensoren S1 und S2 zu α = arcsin(m1 – m22c ). In 3 the detailed calculation is described. The angle α at which the trailer travels behind the towing vehicle results from the measured values m1 and m2 of the outer distance sensors S1 and S2 α = arcsin ( m1 - m2 2c ).

Mit c als seitlichem Abstand der Abstandssensoren zur Fahrzeugmitte. Während der Geradeausfahrt, die aus dem Lenkwinkelsignal bestimmt werden kann, kann die Deichsellänge d aus den gemittelten Messwerten m1 und m2 zu d = m1 + m22 – (a – b)berechnet werden.With c as the lateral distance of the distance sensors to the center of the vehicle. During straight-ahead driving, which can be determined from the steering angle signal, the drawbar length d can be calculated from the averaged measured values m1 and m2 d = m1 + m2 2 - (a - b) be calculated.

Dabei ist a der Abstand des Kugelkopfs der Anhängerkupplung zur Mitte der Hinterachse und b der Abstand der Abstandssensoren S1 und S2 zur Hinterachsmitte.there a is the distance of the ball head of the trailer hitch to Center of the rear axle and b the distance of the distance sensors S1 and S2 to the rear axle center.

Die Länge e, die den Abstand der Kupplung des Anhängers zur Achsmitte des Anhängers beschreibt ergibt sich zu e = (R + a·tanα)·sinα – acosα The length e, which describes the distance of the coupling of the trailer to the axle center of the trailer results to e = (R + a · tanα) · sinα - a cos

Dabei ist R der Rollradius des Zugfahrzeugs, der sich z. B. mit dem Lenkwinkel und den Daten für die Fahrzeuggeometrie aus einem Einspurmodell oder einer Look-Up-Table für das Fahrzeug ergibt.there R is the rolling radius of the towing vehicle, the z. B. with the steering angle and the data for the vehicle geometry from a single track model or gives a look-up table for the vehicle.

Damit kann dann auf die Gesamtlänge l des Anhängers geschlossen werden zu l = 2e – d. This can then be concluded on the total length l of the trailer l = 2e - d.

Die Güte der Einzelwerte kann durch vielfache Messung und Mitteilung verbessert werden.The Goodness of the individual values can be achieved by multiple measurement and notification be improved.

Mit dem erfindungsgemäßen Verfahren können Anhänger im laufenden Betrieb vermessen werden. Die Abstandsmesssysteme können daher so erweitert werden, dass auch Fahrzeuge mit Anhänger rückwärts geparkt werden können. Außerdem kann der Fahrer auf Gefahrensituationen, die in der Vorwärtsfahrt durch zu große Lenkwinkel entstehen, hingewiesen werden.With the method of the invention can Trailer can be measured during operation. The distance measuring systems can therefore be extended so that even vehicles with Trailers can be parked backwards. In addition, the driver can be on dangerous situations in the driving forward due to excessive steering angles, be pointed out.

ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION

Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Zitierte PatentliteraturCited patent literature

  • - DE 102005019550 A1 [0002] - DE 102005019550 A1 [0002]
  • - DE 102004059596 B4 [0002] DE 102004059596 B4 [0002]
  • - DE 102006007805 A1 [0002] DE 102006007805 A1 [0002]

Claims (11)

Verfahren zur Bestimmung von Anhängerdaten, dadurch gekennzeichnet, dass im hinteren Bereich des Zugfahrzeugs vorhandene Abstandssensoren zur Ermittlung der Anhängerdaten genutzt werden, indem während der Fahrt die unterschiedlichen Abstände zwischen Zugfahrzeug und Anhänger außerhalb der Fahrzeugmitte bestimmt und weiterverarbeitet werden.Method for determining trailer data, characterized in that existing distance sensors for determining the trailer data are used in the rear region of the towing vehicle by the different distances between tractor and trailer outside the vehicle center are determined and further processed while driving. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Abstandsdaten von zwei in den Außenbereichen des rückseitigen Stoßfängers angeordneten Sensoren bestimmt werden.Method according to claim 1, characterized in that that the distance data from two in the outdoor areas of Rear bumper arranged Sensors are determined. Verfahren nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass die Abstandssensoren als Parkabstandssensoren ausgelegt sind.Method according to one of claims 1 or 2, characterized in that the distance sensors as parking distance sensors are designed. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass aus den Abstandsmessungen der Abstand der Achse des Anhängers zur Kupplung des Zugfahrzeugs bestimmt wird.Method according to one of the preceding claims, characterized in that from the distance measurements of the distance the axle of the trailer is determined for coupling the towing vehicle. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass aus den Abstandsmessungen die Länge des Anhängers bestimmt wird.Method according to one of the preceding claims, characterized in that from the distance measurements the length of the trailer is determined. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass mit den erhaltenen Anhängerdaten Trajektorien für das Zugfahrzeug mit Anhänger berechnet werden.Method according to one of the preceding claims, characterized in that with the obtained trailer data Trajectories for the towing vehicle with trailer be calculated. Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass bei der Berechnung ein mittiger Aufbau des Anhängers über der Achse des Anhängers angenommen wird.Method according to one of the preceding claims, characterized in that in the calculation of a central structure of the trailer over the axle of the trailer Is accepted. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine Vielzahl von Einzelmessungen durchgeführt wird und daraus ein Mittelwert gebildet wird.Method according to one of the preceding claims, characterized in that a plurality of individual measurements carried out and from this an average value is formed. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Verfahren durch die elektrische Kontaktierung des Zugfahrzeugs mit dem Anhänger eingeleitet wird.Method according to one of the preceding claims, characterized in that the method by the electrical Contacting the towing vehicle with the trailer initiated becomes. Verfahren nach Anspruch 9, dadurch gekennzeichnet, dass die Kontaktierung durch Messungen der Abstandssensoren bestätigt wird.Method according to claim 9, characterized in that that the contacting confirmed by measurements of the distance sensors becomes. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Winkel, mit dem der Anhänger dem Zugfahrzeug nachläuft ermittelt wird aus α = arcsin(m1 – m22c ), wobei m1 und m2 die Abstandsmesswerte der Abstandssensoren sind und c der seitliche Abstand der Abstandssensoren von der Fahrzeugmitte ist.Method according to one of the preceding claims, characterized in that the angle at which the trailer follows the towing vehicle is determined α = arcsin ( m1 - m2 2c ) where m1 and m2 are the distance measurements of the distance sensors and c is the lateral distance of the distance sensors from the vehicle center.
DE102009007990A 2009-02-07 2009-02-07 Trailer data determining method, involves utilizing distance sensors provided in rear region of towing vehicle, for determining trailer data, and determining and processing different distances between vehicle and trailer Ceased DE102009007990A1 (en)

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