DE102005045196A1 - Reversing aid for articulated lorry- drivers, includes trailer rear camera, steering sensor and articulation sensor with computer overlaying predicted trajectory on rear-view image - Google Patents

Abstract

A trailer rear camera images its surroundings in the reversing direction. A sensor determines the steering angle through which the steerable wheels of the tractor vehicle are turned. An articulation sensor determines the angle between the longitudinal axes of tractor and trailer. From the two angles, a simulation computer forms a computed trajectory (320) of a reference point on the trailer (e.g. the center point of the trailer axis). The computed trailer trajectory (320) is overlaid onto the camera image display. The computed trajectory (322) of a tractor reference point is also displayed. The display is that of a mobile unit including the simulation computer; e.g. a personal data assistant (PDA) or a mobile telephone. Signals are exchanged by a radio connection, especially a Bluetooth (RTM) connection or a wireless local area network (LAN). Camera and articulation sensor have radio transmitters to relay signals to the computer, and/or a connection is made via the vehicle data bus. The two trajectories are calculated in a simulation plane. The computer includes a transformation unit, this projects the trajectories into the plane of the road, in the camera image. The computer memory stores geometric data of the tractor-trailer combination. This data is entered into the computer using an input unit. The data is called up to calculate trajectories.

Description

The The invention relates to a device for assisting the driver of a towing vehicle when backwards with a vehicle combination, which consists of the towing vehicle and a to the towing vehicle coupled trailer exists.

At the reversing maneuvers a vehicle combination consisting of a towing vehicle and a trailer is it for The driver is often very difficult to adjust a Radeinschlagwinkel, the the vehicle combination on a desired Sollbahn brings, since the track of the trailer for the driver difficult to predict is.

To support the driver of a vehicle combination, it is from the German patent DE 195 02 702 C2 It is known to automatically control the wheel steering angle during maneuvering in such a way that the trailer is driven under a frame on a calculated desired track. In this case, a controller is used, are deposited in the rules that indicate the direction of movement of the trailer for different angular positions of the longitudinal axis of the towing vehicle and the trailer with respect to the Radeinschlagwinkel. Based on these rules, the wheel steering angle is then determined so that it leads the movement of the trailer closer to the desired path.

to Determining the position of the frame becomes the image of a camera evaluated, which is located in the rear of the trailer. The frame will thereby on the characteristic distance of its support legs identified with each other.

Consequently the known maneuvering is limited to the driver when starting to support a given given arrangement. in the Generally need However, with a vehicle combination approached any arrangements or be traversed, which usually can not be characterized in advance are.

In the article "Steering for backing up articulated vehicles "by D.Zöbel, D. Polock, P. Wojke, Department Computer Science, University Koblenz-Landau is presented a system in which the position of the vehicle and the trailer to each other with the expected driving trajectories in a "head up display " to indicate to the driver the expected movement of the team. An integration of this representation in the environment with the expected Obstacles are missing.

It is therefore an object of the present invention, the driver of a Vehicle wagon when driving through any obstacles arranged and assist in approaching arbitrarily arranged positions.

According to the invention this Task by a device having the features of the claim 1 solved.

To The invention will be a device of the aforementioned Art created, which includes the following components: One in the rear of the trailer mountable camera, with an image of one in the rearward direction lying environment of the trailer is detectable, a steering angle sensor with a Radeinschlagwinkel of steerable wheels the towing vehicle is detectable, and / or a kink angle sensor, with a bend angle between the longitudinal axes of the trailer and the towing vehicle can be detected, as well as a simulation computer, in which a trajectory of at least one Aufpunktes the trailer from the wheel steering angle and / or the bending angle is calculable, and a display device with which the camera image can be displayed where the calculated by the simulation computer trajectory of the trailer's point of view can be faded into the camera image.

The inventive device allows it, the driver of a vehicle combination by means of the display device the image of the backspace of the trailer and to represent within this image the trajectory that is itself for one Point of departure of the trailer at a given bend angle and / or at a given wheel slip angle results.

On get that way the driver a foresight on the expected trajectory of the trailer and can adjust the wheel angle so that the trajectory of the trailer on his desired Desired train of the trailer lies. Because he also sees the picture in the backspace to be driven obstacles or approaching positions shows and Thus, the relative position of the trajectory to the obstacles or the position can be removed, the driver can in particular determine whether by means of a current Radeinschlagwinkels the avoidance of Obstacles or approaching the position is possible.

The reference point may be, for example, the center of an axle of the trailer. It can also be the trajectory for several points, such as the centers or contact points of the wheels of the trailer are displayed, or it can be displayed the area, which is likely to be swept by the trailer, the points of view, the trajectories are represented here, lie on a parallel to the trailer transverse axis straight through the trailer.

In an advantageous embodiment the invention is above also provided that in addition a trajectory of at least one Aufpunktes the towing vehicle in the camera image can be faded in.

On get that way the driver of the vehicle combination in addition to the information about the awaiting track of the trailer an information about the expected trajectory of the towing vehicle and can this too with a desired Compare nominal train.

In a further advantageous embodiment of the invention acts it is the display device to the display means of a mobile Device.

Preferably contains the mobile device as well as the simulation computer.

Especially is the mobile device in an advantageous embodiment the invention to a personal data assistant or a mobile phone.

In Another particularly preferred embodiment of the invention it provided that a signal exchange between at least two components the device over a radio connection feasible is.

at the radio link is in a preferred embodiment the invention to a Bluetooth connection.

In an equally preferred embodiment In the invention, the radio link is a wireless LAN connection.

Either the Bluetooth connection as well as the wireless LAN connection known and common used standards, which in particular in particular from the mentioned mobile devices supports become. Thus, you can in the context of the invention, mobile devices, such as personnel Data assistants or cell phones, are used, so far in conventional Are designed manner.

Preferably It is intended that the camera and the angle sensor have a radio transmitter, with the radio signals to the simulation computer transferable are.

In a further advantageous embodiment of the invention it is also provided that the device comprises an interface via which the Simulation computer connectable to a data bus of the towing vehicle is, being over the data bus is a signal representing the Radeinschlagwinkel in the Simulation computer is receivable.

In this embodiment may be the calculation of the trajectory of the Aufpunktes of the trailer on calculated based on a signal representing the Radeinschlagwinkel be, by means of an already existing in the vehicle angle sensor is determined. It can thus be used the circumstance that with equipped with an ESP system Vehicles already in their original equipment via an angle encoder for determining of the wheel angle, its signals over the data bus of the vehicle are available.

Preferably it is further provided in the invention that the trajectory of the trailer's point of view and / or the trajectory of the Aufpunktes of the towing vehicle in the Simulation computer is calculable in a road plane, and that the simulation computer includes a transformation unit to, with the calculated in the road plane trajectory in the camera image is projectable.

In a particularly advantageous embodiment It is above the invention also provided that the simulation computer has a memory, in the geometric data of the vehicle combination can be stored, wherein the geometry data for the calculation of the trajectory can be used.

Preferably In this case, an input means is connected to the simulation computer via which the geometry data of the vehicle combination can be entered.

Based preferred and advantageous embodiments makes it possible the invention in particular, the components of the device according to the invention, not included in the original equipment of a vehicle or trailer are to retrofit in a simple way and over to connect a radio link with each other. In addition, these components can mounted in a very simple manner to the vehicle and back from removed from the vehicle.

This is very advantageous especially for cars, which only occasionally as towing vehicles for one pendant be used.

Further advantages, special features and Advantageous developments of the invention will become apparent from the dependent claims and the following description of preferred embodiments with reference to FIGS.

From the figures shows

1 a schematic representation of a vehicle combination equipped with a device according to the invention,

2 a representation of a kink angle sensor in a plan view,

3 a schematic representation of the display of an image of the inventively used camera, in which the trajectory of a Aufpunktes the trailer is superimposed and

4 an illustration of a Einspurmodell a vehicle combination.

As in 1 is shown a from a towing vehicle 110 and a trailer 112 existing vehicle combination, which as a whole with the reference number 114 is designated, in accordance with the invention with a camera 116 , a kink angle encoder 118 and a simulation computer connected to a display device 120 equipped. The vehicle combination 114 consists of, for example, a four-wheel tractor 110 and a uniaxial trailer 112 , wherein the invention does not apply to vehicle combinations 114 is limited, which are designed in this way.

The camera 116 is preferably implemented as a video camera and thus able to continuously deliver images.

It is at a certain elevation angle and at a certain height from the roadway at the rear of the trailer 114 attached and captured an image of a vehicle in the rearward direction of the vehicle combination 114 surrounding environment 122 of the trailer 114 ,

The kink angle encoder 118 can be performed in a manner known to those skilled in the art and detects the bending angle between the longitudinal axes of the towing vehicle 110 and the trailer 112 ,

A particularly advantageous embodiment of the buckling angle sensor 118 is in the 2 shown. There is the kink angle encoder 118 from two elements 210 and 212 , which has an annular swivel joint 214 connected to each other.

The first element 210 is U-shaped and is so on the trailer drawbar 216 or attached to the trailer drawbar coupling device attached that the axis of rotation 218 to the trailer 112 relative to the towing vehicle 110 is pivotable through the center of the swivel joint 214 runs. The coupling device is arranged along the opening in the U-shape of the first element, wherein the usually provided for operating the coupling device handle 219 up from the gap opening of the first element 210 protrudes.

The second element 212 is preferably also U-shaped and in particular has a gap opening for receiving the towing vehicle 210 connected coupling tongue 220 on. When coupling the trailer 112 is the at which the coupling drawbar 220 attached coupling head through the swivel joint 214 inserted into the coupling device, wherein the coupling tongue 220 in the gap opening of the second element 212 is introduced.

The bend angle between the two elements 210 and 212 is detected by means of an arrangement in which an annular code carrier concentric with the hinge 214 on one of the elements 210 . 212 is arranged, and on the other element 210 . 212 a sensor is arranged, which detects a signal by a scan of the code carrier, which determines the relative angular position of the two elements 210 . 212 and / or a change in the relative angular position of the elements 210 . 212 describes. From these signals, the kink angle is determined in an evaluation unit.

Of the code carrier can have an absolute code, in which each angular position clearly a codeword is assigned, so that the bending angle in the evaluation unit based on the detected code words of the absolute code is determinable. Alternatively, the code carrier may carry an incremental code, so that from the sensor signals only the change of the angular position is determinable. The determination of the absolute value of the bending angle takes place starting from an initial value in accordance with the Incrementalsignale, where as output value, for example, a kink angle of 0 ° provided may be, detects its presence by means of another Sen sor which scans a reference mark in a corresponding angular position is arranged on another track of the code carrier. At this Embodiment can the bending angle after first setting an angle determined by 0 ° become.

The simulation computer 120 is preferably included in a programmable mobile device having a processor for performing calculations, a memory, and an input device such as a keyboard has. By means of the input device can be used for the calculation of the trajectory of the trailer 112 or the trajectory of a Aufpunktes the trailer 112 required geometry data, which will be specified later in detail, are entered.

For example, the mobile device is a personal data assistant (PDA), a mobile phone or similar mobile device. The mobile device can be in one of the dashboard of the towing vehicle 110 arranged holding device can be introduced, as it is already present in many vehicles, at least for mobile phones.

In principle, however, within the scope of the invention, any programmable unit suitable for carrying out calculations, which is connected to a display device and an input device, can be used as a simulation computer 120 be used. In particular, this does not have to be integrated in a mobile device, but can also be arranged firmly in the region of the vehicle. At least the geometric data relating to the vehicle can also be stored during the initial setup in a non-volatile memory of the device.

In a preferred embodiment of the invention is the simulation computer 120 via an interface 124 passive with the data bus of the towing vehicle 110 which is, for example, the Controller Area Network (CAN) usually used in vehicles. About the interface 124 it is the simulation computer 120 in particular possible, a wheel steering angle of the steerable wheels 126 of the towing vehicle 110 to receive representative signal. This signal is thereby by means of a steering angle sensor of the towing vehicle 110 which is already equipped with vehicles that have an ESP system (ESP: Electronic Stability Program).

In addition, over the interface 124 also information about the in the transmission of the towing vehicle 110 inlaid gear are received. If it is found that a reverse gear has been engaged, the calculation of the trajectory of the trailer 112 be started automatically.

Alternatively, however, it may be provided that in the region of a steering wheel of the towing vehicle 110 a steering angle sensor mounted on the steering column and signal with the simulation computer 120 is connected.

The data transmission between the previously illustrated components of the device according to the invention can be carried out in a conventional manner via cables. In the area of the towing vehicle 110 The cables can be routed in the cable channels provided. To connect the camera 116 and the kink angle sensor 118 can one in the area of the rear of the towing vehicle 110 arranged connector, as it is commonly used to an electrical connection between the towing vehicle 110 and a trailer 112 manufacture.

In a particularly preferred embodiment of the invention, however, it is provided that at least the data exchange between the unit, which the simulation computer 120 includes, and the camera 116 as well as the kink angle encoder 118 via a radio connection. For this purpose, the components mentioned have corresponding transmitting and receiving means, as they are usually already provided in mobile devices, such as those mentioned above by way of example. The radio link is preferably designed according to an existing standard. In particular, this is, for example, a Bluetooth connection or wireless LAN connection (LAN: Local Area Network), which is known in principle to the person skilled in the art.

Furthermore, the interface can also 124 for connection of the simulation computer 120 to the data bus of the towing vehicle 110 be designed as a suitably trained radio interface. Is in place of the interface 124 provided an additional steering angle sensor, the data communication between the steering angle sensor and the simulation computer is preferably also via a radio link of the aforementioned type.

From the camera 116 in particular that of the surrounding area 122 Captured image to the simulation computer 120 or the simulation computer 120 transmitted comprehensive unit and displayed to the driver of the towing vehicle on the display device. This is preferably done permanently during the operation of the towing vehicle 110 that is, during both forward and reverse driving, allowing the driver the surrounding area 122 behind the trailer 112 can see. The camera thus fulfills in particular the function of an "additional exterior mirror" or rear-view mirror and allows the otherwise generally invisible rear space behind the trailer 112 view.

To assist the driver in rearranging the vehicle combination 114 It is inventively provided in the camera image displayed by means of the display device in the simulation computer 120 calculated trajectory of at least one receptor point of the trailer 112 einzu dazzle.

As a reference point, for example, the center of the trailer axle can be selected. Alternatively, it is also possible, the trajectories of the wheel centers of the trailer 112 or the wheel bearing points or the area swept by the trailer when shifting backwards.

Exemplary is in 3 schematically illustrated a camera image, which results in this case. The picture shows different obstacles 310 located in the rearward direction surrounding area 122 of the trailer 112 and a trajectory along which the center of the trailer axle is expected to move at a given wheel steering angle, which is indicated by the reference numeral 320 is provided.

Furthermore, the trajectory of a Aufpunktes the towing vehicle 110 , For example, the center of the rear axle of the towing vehicle 110 be faded into the camera image, wherein in the 2 as an example, such a trajectory is shown, which with the reference numeral 322 is provided.

To calculate the trajectory 320 a corresponding software program is preferably executed in the simulation computer. The calculation is based on a single-track model of the vehicle combination 114 which is in 4 is illustrated. By way of example, this is once again based on a four-wheeled towing vehicle 110 with a uniaxial trailer 112 went out.

The wheel steering angle δ of the steerable wheels serves as a parameter or input variable of the model 126 of the towing vehicle 110 , the bending angle γ between the longitudinal axes of the towing vehicle 110 and the trailer 112 , As well as geometric data of the vehicle combination, as already mentioned about one with the simulation computer 120 connected input means can be entered. It is the wheelbase l _{F of} the towing vehicle, the distance l _AK between the center of the rear axle of the towing vehicle and the coupling head of the trailer hitch and the distance l _A between the coupling head of the trailer hitch and the center of the trailer axle.

Based on this model takes place in the simulation computer 120 the calculation of the path of the center of the trailer axle when Rückwärtsrangieren the vehicle combination 114 , The calculation is based on the assumption that the speed of the vehicle combination 114 when backward maneuvering is small, so that the slip angle of the steerable wheels 126 of the towing vehicle 110 negligible is small.

Under these assumptions moves the towing vehicle 112 during travel along a circular path whose radius in the known manner by the Radeinschlagwinkel δ and the wheelbase l _{F of} the towing vehicle 110 is determined. This relationship makes it possible to calculate the path of the coupling head of the trailer coupling in a fixed two-dimensional coordinate system whose coordinate plane preferably corresponds to the road plane and whose origin can be placed, for example, on the center of the rear axle of the towing vehicle. In this case, a time parameter or the angle swept on the circular path during the movement of the towing vehicle can be used as the path parameter.

The trajectory of the center point of the trailer axle results from this as a so-called drag curve, the calculation of which is fundamentally known to the person skilled in the art, and which is characterized, for example, by the relationship between the bending angle γ and the path parameter used. The initial value for the calculation of this relationship is the current, by means of the buckling angle sensor 118 measured bending angle γ used.

A detailed presentation of the kinematics of vehicle combinations can while, for example, the publication D. Zöbel "Mathematical Modeling of the Kinematics of Vehicles "in Kamil Hrubina (Editor), Mathematical Modeling of Technical Processes, Pages 178-200, Socrates / Erasmus Summer School, Presov, Slovak Republic, 2.-13. July 2001 (available at http://www.unikoblenz.de/~zoebel/pdf/Mamotep2.pdf.) are taken, which can be easily transferred to the calculation to be carried out in the context of the invention is.

Based on the path of the center of the rear axle of the towing vehicle 110 and the relationship between the orbital parameter and the buckling angle γ, the trajectory of the center point of the trailer axle in the selected coordinate system can then be determined as a function of the selected orbital parameter resulting from backward steering based on the current wheel slip angle δ. It is preferably calculated to the point at which the maximum bending angle γ of the vehicle combination is reached, in the memory of the simulation computer 120 is stored.

Out This trajectory then allows the trajectories to be more arbitrary Points of reference based on their relative position to the center of the trailer axis to calculate.

Preferably, it is provided that the simulation computer 120 Base points for the trajectories of the selected Aufpunkte calculated as a function of several values of the path parameter and interpolated the complete trajectory on the basis of the support points in a suitable manner.

The calculated trajectories of the selected points of the trailer in this way 112 are then using a in the simulation computer 120 integrated and preferably also executed as a software program transformation unit in the camera image or projected into it.

For this it is necessary to relate the camera image to the coordinate system used in the calculation of the trajectory. To enable this, the position of the camera must be 116 on the trailer 112 and the elevation angle and the opening angle at which the camera image is taken, be known.

It is intended that the camera 116 on the central axis of the trailer 112 is mounted at a certain height above the roadway, preferably by means of the input means in the simulation computer 120 is entered. The elevation angle is preferably due to the design of the holder of the camera 116 given and also in the simulation computer 120 saved. However, it can also be provided that the elevation angle during assembly of the camera 116 determined and in the simulation computer 120 is entered. The also in the simulation computer 120 stored opening angle of the camera 116 is determined by their design and the memory of the simulation computer 120 saved.

In particular, based on this information, the transformation unit then determines that of the camera 116 detected section of the coordinate plane, which is shown in the camera image in a likewise detectable from the information perspective distortion. Then, the transformation unit determined the portion of the trajectories of the selected receptor points of the trailer located in the section of the coordinate plane detected by the camera 112 and fades it in a corresponding distortion in the camera image displayed by means of the display device.

In addition, as already mentioned, the trajectory of at least one Aufpunktes the towing vehicle 110 calculated from the calculated orbit of the center of the rear axle of the towing vehicle 110 is determined in the same way is also displayed in the camera image. The trajectories of the selected Aufpunkte of the towing vehicle 110 and the trailer 112 can be differentiated, for example, in color.

The calculation of the trajectories or their insertion in the camera image is started when the simulation computer via the interface 124 determines that a reverse gear is in the transmission of the towing vehicle 110 has been inserted, or if the driver manually enters the calculation by a corresponding input via the with the simulation computer 120 connected input device starts. It will stop when over the interface 124 it is determined that in the transmission, a forward gear is engaged, or when manually via the input means, a termination signal is input.

During the backward routing, the calculation or insertion of the trajectories into the camera image takes place in respectively adjacent cycles by a clock frequency of the simulation computer 120 certain duration in dependence on the current values of Radeinschlagwinkel δ and the bending angle γ, so that the expected trajectories are superimposed in the current camera image.

Thus, an advantageous device for assisting the driver of a vehicle combination 114 created in the backward routing, where this the expected trajectories selected points of the trailer 112 displayed in the image of a camera oriented in the rearward direction, so that he expected the expected trajectory, especially with respect to behind the trailer 112 obstacles 210 or to adjust so that these obstacles are avoided or a certain position is approached.

However, the invention is not limited to the embodiments presented so far. In particular, the device can be adapted to any vehicle combination 114 be adjusted. For vehicle combinations 114 with two-axle trailers in particular a second angle encoder is required, with which in addition to the bending angle between the longitudinal axis of the towing vehicle and the trailer drawbar, the relative angle between the two trailer axles is determined.

Farther can on the detection of Radeinschlagwinkel δ or on the detection of the bending angle γ using be waived by angle encoders and the missing parameter an image recognition are determined, but with a lower Accuracy in the calculation of trajectories is to be expected. Alternatively, the wheel steering angle in the calculation with δ = 0 ° assumed which reduces the accuracy of the calculation of the trajectory but also decreases considerably.

110

towing vehicle

112

pendant

114

vehicle combination

116

camera

118

Bend angle encoder

120

simulation computer

122

from the camera detected environment

124

interface to the bus connection

126

steerable Wheels of the vehicle

210

first Element of the buckling angle sensor

212

second Element of the buckling angle sensor

214

swivel

216

drawbar

218

axis of rotation

219

handle

220

drawbar

310

obstacle

320

trajectory

322

trajectory

δ

wheel lock

γ

bending angle

l _AK

distance between the center of the rear axle of the

towing vehicle and the coupling head of the trailer hitch

l _A

distance between the coupling head of the trailer hitch

and the center of the rear axle of the trailer

l _F

wheelbase of the towing vehicle

Claims (13)

Device for assisting the driver of a towing vehicle ( 110 ) when reversing with a vehicle combination ( 114 ), which from the towing vehicle ( 110 ) and one to the towing vehicle ( 110 ) coupled trailer ( 112 ) comprising the following components: - one in the rear of the trailer ( 112 ) mountable camera ( 116 ), with which an image of an area lying in the rearward direction ( 122 ) of the trailer ( 112 ) is detectable, - a steering angle sensor with which a wheel steering angle (δ) of steerable wheels ( 126 ) of the towing vehicle ( 110 ) is detectable and / or - a kink angle sensor ( 118 ), with which a bending angle (γ) between the longitudinal axes of the trailer ( 112 ) and the towing vehicle ( 110 ), and - a simulation computer ( 120 ), in which a trajectory ( 320 ) at least one Aufpunktes the trailer ( 112 ) can be calculated from the wheel steering angle (δ) and / or the bend angle (γ), and - a display device with which the camera image can be displayed, - wherein the means of the simulation computer ( 120 ) calculated trajectory of the Aufpunktes the trailer ( 120 ) can be faded into the camera image. Apparatus according to claim 1, characterized in that in addition a trajectory ( 322 ) at least one point of the towing vehicle ( 110 ) is calculable in the simulation computer and can be faded into the camera image. Device according to Claim 1 or 2, characterized in that the display device is the display means of a mobile device. Device according to one of the preceding claims, characterized in that the mobile device, the simulation computer ( 120 ) contains. Device according to one of the preceding claims, characterized characterized in that the display device is a Personal Data Assistant or a mobile phone. Device according to one of the preceding claims, characterized in that a signal exchange between at least two of its components ( 116 ; 118 ; 120 ; 124 ) is feasible via a radio link. Device according to claim 6, characterized in that that the radio connection is a Bluetooth connection is. Device according to claim 6, characterized in that that the wireless connection is a wireless LAN connection is. Device according to one of the preceding claims, characterized in that the camera ( 116 ) and the kink angle sensor ( 118 ) have a radio transmitter, with the radio signals to the simulation computer ( 120 ) are transferable. Device according to one of the preceding claims, characterized in that the simulation computer ( 120 ) with a data bus of the towing vehicle ( 110 ) is connectable, wherein on the data bus a the Radeinschlagwinkel (δ) representing signal in the simulation computer ( 120 ) is receivable. Device according to one of the preceding claims, characterized in that the trajectory ( 320 ) of the Aufpunktes of the trailer ( 112 ) and / or the trajectory ( 322 ) of the Aufpunktes of the towing vehicle ( 110 ) in the simulation computer ( 120 ) is calculable in a roadway plane, and that the simulation computer ( 120 ) comprises a transformation unit with which the trajectory calculated in the road plane ( 320 ) can be projected into the camera image. Device according to one of the preceding claims, characterized in that the simulation computer ( 120 ) has a memory, in the geometry data (l _A , l _AK , l _F ) of the vehicle combination ( 114 ), wherein the geometry data (l _A , l _AK , l _F ) for the calculation of the trajectory ( 320 ; 322 ) can be used. Device according to one of the preceding claims, characterized in that with the simulation computer ( 120 ) An input means is connected, via which the geometry data (l _A , l _AK , l _F ) can be entered.