DE102014214760A1 - Method and control device for determining an angle between longitudinal axes of a combination of vehicle segments - Google Patents

Method and control device for determining an angle between longitudinal axes of a combination of vehicle segments

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Publication number
DE102014214760A1
DE102014214760A1 DE102014214760.3A DE102014214760A DE102014214760A1 DE 102014214760 A1 DE102014214760 A1 DE 102014214760A1 DE 102014214760 A DE102014214760 A DE 102014214760A DE 102014214760 A1 DE102014214760 A1 DE 102014214760A1
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Germany
Prior art keywords
vehicle segment
segment
vehicle
position
segments
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Pending
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DE102014214760.3A
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German (de)
Inventor
Alexander Banerjee
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ZF Friedrichshafen AG
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ZF Friedrichshafen AG
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Priority to DE102014214760.3A priority Critical patent/DE102014214760A1/en
Publication of DE102014214760A1 publication Critical patent/DE102014214760A1/en
Application status is Pending legal-status Critical

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups
    • G01B21/22Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups for measuring angles or tapers; for testing the alignment of axes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60DVEHICLE CONNECTIONS
    • B60D1/00Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58Auxiliary devices
    • B60D1/62Auxiliary devices involving supply lines, electric circuits, or the like

Abstract

A method for determining an angle between longitudinal axes (9, 10) of a combination of a plurality of vehicle segments, namely an angle between a longitudinal axis (10) of a first, front vehicle segment and a longitudinal axis (9) of a second, rear vehicle segment, wherein position data of at least one of a position (Z) of at least one reference point of the first, front vehicle segment is determined, wherein from position data at least one of the second, rear vehicle segment associated GPS receiver (12) has a position (T) at least a reference point of the second, rear vehicle segment is determined, and wherein from the determined positions (Z, T) of the reference points of the first, front vehicle segment and the second, rear vehicle segment, the angle between the longitudinal axes (9, 10) of the first, front vehicle segment and of the second, rear vehicle segment becomes.

Description

  • The invention relates to a method for determining an angle between longitudinal axes of a combination of vehicle segments according to the Oberbergriff of claim 1 and a control device for performing the method.
  • For operating carriages of a plurality of coupled vehicle segments, which are coupled either mechanically or virtually articulated, the knowledge of an angle between the longitudinal axes of the vehicle segments of the team is important, especially when maneuvering, parking, starting and braking. So far, it is difficult to easily and reliably determine the angle between longitudinal axes of vehicle segments of a team.
  • From the DE 10 2013 013 584 A1 It is known to detect an angle between a trailer and a tractor of a team metrologically contactless. For this purpose, sensors are installed on the trailer, these sensors being designed as near-field radar sensors or ultrasonic sensors or light sensors or lidar sensors.
  • Another method by which an angle between longitudinal axes of articulated vehicle segments of a team can be determined, is from the DE 10 2008 057 027 A1 known. After that, a special sensor system is also used, by means of which the relative position between the vehicle segments of the vehicle combination can be determined. The sensor includes two rangefinders.
  • Proceeding from this, the object of the present invention is to provide a novel method for determining an angle between longitudinal axes of a vehicle-body combination and a control device for carrying out the method.
  • This object is achieved by a method according to claim 1.
  • According to the invention, a position of at least one reference point of the first, front vehicle segment is determined from position data of at least one GPS receiver assigned to the first vehicle segment, wherein position data of at least one GPS receiver assigned to the second, rear vehicle segment is a position of at least one reference point of the second, rear vehicle Vehicle segment is determined, and is calculated from the determined positions of the reference points of the first, front vehicle segment and the second, rear vehicle segment, the angle between the longitudinal axes of the first, front vehicle segment and the second, rear vehicle segment. With the present invention, a method is proposed which calculates the angle between the longitudinal axes of the vehicle segments on the basis of position data of at least one GPS receiver per vehicle segment. This makes a simple and reliable determination of the angle between the longitudinal axes of vehicle segments of a team possible.
  • According to a first advantageous development of the invention, a drawbarless combination of two vehicle segments, namely a front vehicle segment and a rear vehicle segment, the angle α between the longitudinal axes of the first, front vehicle segment and the second, rear vehicle segment is calculated according to the following equations:
    Figure DE102014214760A1_0002
    wherein x Z and y Z are position data of the position of a reference point of the first front vehicle segment, where x T and y T are position data of the position of a reference point of the second rear vehicle segment, and L Z , L T are geometric constants of the vehicle segments of the vehicle , This development is used in a drawbarless combination of vehicle segments.
  • According to a second advantageous development of the invention, in a drawbar combination of two vehicle segments, namely a front vehicle segment and a rear vehicle segment, which has a front drawbar axis, the angle α between the longitudinal axes of the first, front vehicle segment and the second, rear vehicle segment calculated according to the following equations:
    Figure DE102014214760A1_0003
    wherein x Z and y Z are position data of the position of a reference point of the first front vehicle segment, where x T1 and y T1 are position data of the position of a first reference point of the second rear vehicle segment, where x T2 and y T2 position data of the position of a second reference point the second, rear vehicle segment are; and L Z , L TP and L D are geometric constants of the vehicle segments of the team. This development is used in a drawbar combination of vehicle segments.
  • Preferably, position data are used by GPS receivers arranged on longitudinal axes of the vehicle segments. Position data of GPS receivers not arranged on longitudinal axes of the vehicle segments are corrected by the offset to the respective longitudinal axis. Hereby, the angle between the longitudinal axes of the vehicle segments can be determined particularly simple and accurate.
  • The control device according to the invention is defined in claim 8.
  • Preferred developments emerge from the subclaims and the following description. Embodiments of the invention will be described, without being limited thereto, with reference to the drawings. Showing:
  • 1 a schematic of a first team of several vehicle segments;
  • 2 a one - track model for the team of 1 ;
  • 3 possible solutions of equations for the team of 1 ;
  • 4 the single track model of 2 with another GPS receiver;
  • 5 the single track model of 2 in extended position;
  • 6 a schematic of a second group of several vehicle segments;
  • 7 a first view of a single track model for the team of 6 ;
  • 8th a second view of the single track model for the team of 6 ;
  • 9 possible solutions of equations for the team of 6 ;
  • 10 the single track model of 7 with another GPS receiver; and
  • 11 the single track model of 7 in extended position.
  • The present invention relates to a method and a control device for determining an angle between longitudinal axes of a combination of several vehicle segments.
  • In the following, the invention will be described with reference to embodiments in which the vehicle segments are coupled mechanically articulated. However, the invention can also be used when the vehicle segments of a team are virtually coupled.
  • 1 schematically shows a team of vehicle segments 1 . 2 namely, from a front vehicle segment 2 and a rear vehicle segment 1 where the rear vehicle segment 1 two rear, non-steered and non-rotating axles 3 . 4 having a wheel axle group 5 form. The front vehicle segment 2 has a rear, non-steered and non-rotatable axle 6 and via a front, steered and non-rotatable axle 7 , A non-rotatable axle should be understood to mean an axle which, in contrast to a drawbar axle, can not be rotated about a vertical axis.
  • In the embodiment of 1 is the rear vehicle segment 1 with the front vehicle segment 2 in a crosspoint 8th articulated coupled.
  • 2 shows a one - track model for the team of 1 , where the wheel axle group 5 of the rear vehicle segment 1 as well as the two wheel axles 6 and 7 of the front vehicle segment 2 in the Single track model of 2 are simplified to a track that the same on the longitudinal axes 9 . 10 the coupled vehicle segments 1 . 2 lie of the team.
  • With the present invention can now, for example, for the team of 1 and 2 easy and reliable the angle α between the longitudinal axes 9 and 10 the vehicle segments 1 and 2 of the team.
  • For this purpose, from position data of the front vehicle segment 2 associated GPS receiver 11 a position of a reference point of the front vehicle segment 2 determined. Further, from position data of the rear vehicle segment 1 associated GPS receiver 12 a position of a reference point of the rear vehicle segment 1 determined. These reference points are those points of the vehicle segments 1 . 2 to which the GPS receivers are positioned. From the determined positions of the reference points of the front vehicle segment 2 and the rear vehicle segment 1 then the angle α between the longitudinal axes 9 . 10 the two vehicle segments 1 . 2 calculated. In 2 is the point or position where the GPS receiver is 11 of the front vehicle segment 2 is positioned with Z, whereas the point or position at which the GPS receiver 12 of the rear vehicle segment is marked T.
  • For the in 1 and 2 shown, drawbarless team from the two coupled vehicle segments 1 and 2 namely, from the front vehicle segment 2 and the rear vehicle segment 1 , the angle α between the longitudinal axes 9 and 10 the two vehicle segments 1 and 2 calculated according to the following equations:
    Figure DE102014214760A1_0004
    where x Z and y Z are position data of the position Z of the reference point of the first front vehicle segment, where x T and y T are position data of the position T of the reference point of the second rear vehicle segment, and L Z , L T are geometric constants of the vehicle segments of the vehicle Team are.
  • The geometric constant Lz is the distance between the coupling point 8th the two vehicle segments 1 and 2 and the position Z of the front vehicle segment 2 associated GPS receiver 11 , The geometric constant L T is the distance between the coupling point 8th the two vehicle segments 1 . 2 and the position T of the rear vehicle segment 1 associated GPS receiver 12 ,
  • Im in 1 and 2 shown embodiment are the positions T and Z of the two GPS receiver 11 . 12 each on the longitudinal axis 9 respectively. 10 of the respective vehicle segment 1 respectively. 2 ,
  • Should not it be possible to have one or more GPS receivers on the respective longitudinal axis 9 . 10 of the respective vehicle segment 1 . 2 To position, so determined in the above manner kink angle α between the longitudinal axes 9 . 10 the two vehicle segments 1 . 2 subsequently corrected. Is the offset d T , d Z of the respective GPS receiver 1 . 12 to the longitudinal axis 9 . 10 of the respective vehicle segment 1 . 2 Known, the correction of the bending angle α is as follows:
    Figure DE102014214760A1_0005
    where α COR depends on the offset d T , d Z of the respective GPS receiver 1 . 12 to the longitudinal axis 9 . 10 of the respective vehicle segment 1 . 2 corrected bending angle α is.
  • Then, when the angle α between the longitudinal axes of the vehicle segments of the drawbarless team of 1 and 2 is calculated in the above manner, there are basically two possible solutions of the above equations, as this 3 visualized. The first solution is in 3 shown in solid lines and the second possible solution in dashed lines.
  • In order to select the possible solution for the current driving situation of the team from the two basically valid solution options, it is proposed according to a first variant of the invention, on at least one of the coupled vehicle segments 1 . 2 , in the embodiment of 4 at the rear vehicle segment 1 , an additional GPS receiver 13 to obstruct and the same provided by the same position values of the further reference point W, at which the other GPS receiver 13 is positioned to use to select the valid solution of the above system of equations.
  • The positioning of the other GPS receiver 13 at the rear vehicle segment 1 is preferred because it is more suitable for positioning because of its length. This is the other GPS receiver 13 as well as the GPS receiver 12 arranged at a position, which in turn preferably on the longitudinal axis of the respective vehicle segment 1 is, and as close as possible to the coupling point 8th is positioned.
  • Another possibility for selecting the solution of the above system of equations suitable for the current driving situation is that the corresponding solution of the system of equations is obtained by evaluating a steering angle σ from the consideration of a so-called extended position of the vehicle. 5 shows an extended position of the team, in which the angle α between the longitudinal axes 9 and 10 the vehicle segments 1 and 2 Zero. With knowledge of the steering angle σ can then out of this extended position for the resulting as a result of the steering angle σ angle α between the longitudinal axes 9 and 10 the vehicle segments 1 and 2 the valid and appropriate solution of the above system of equations are selected.
  • 6 shows an alternative combination of coupled vehicle segments 1 . 2 , which differs from the team of 1 thereby distinguishes the rear vehicle segment 1 in addition to the non-steered and non-rotatable wheel axle 5 In addition, a non-steered, but rotatable tiller axle 14 having, wherein the two vehicle segments 1 and 2 of the 6 at the coupling point 8th via a so-called drawbar of the drawbar axis 14 are coupled. In addition to the longitudinal axes 9 and 10 the coupled vehicle segments 1 and 2 is a longitudinal axis 15 the drawbar of the drawbar axle 14 shown.
  • For the train of the 6 , for which the Einspurmodelle the 7 . 8th Validity, the angle α between the longitudinal axes 9 and 10 the coupled vehicle segments 1 and 2 calculated according to the following equations, wherein the angle α between the longitudinal axes 9 and 10 the sum α1 and α2, wherein the angle α1 the angle between the longitudinal axis 9 of the vehicle segment 1 and the drawbar longitudinal axis 15 and the angle α2 the angle between the Zugdeichsellängsachse 15 and the longitudinal axis 10 of the vehicle segment 2 equivalent.
    Figure DE102014214760A1_0006
    wherein x Z and y Z are position data of the position of a reference point of the first front vehicle segment, where x T1 and y T1 are position data of the position of a first reference point of the second rear vehicle segment, where x T2 and y T2 position data of the position of a second reference point the second, rear vehicle segment are; and L Z , L TP and L D are geometric constants of the vehicle segments of the team.
  • The geometric constant L TP is the distance between the rear vehicle segment 1 associated rear GPS receiver 12a and the drawbar axis 14 ,
  • The geometric constant L D is the distance between the coupling point 8th and the drawbar axis 14 ,
  • The geometric constant L Z u is the distance between the coupling point 8th and the position Z of the front vehicle segment 2 associated GPS receiver 11 is.
  • Also for the team of 6 to 8th become GPS receivers 11 . 12a and 12b used on the respective longitudinal axis 9 respectively. 10 of the respective vehicle segment 1 respectively. 2 lie.
  • Should it not be possible, with a drawbar combination one or more GPS receivers on the respective longitudinal axis 9 respectively. 10 of the respective vehicle segment 1 respectively. 2 To position, a correction of the above calculations is required. This correction takes place in two stages, with a first correction stage being carried out before the calculation of the angle α and a second correction stage after the calculation of the angle α.
  • In the first correction stage, which is carried out before the calculation of the angle α, the following correction calculations are made:
    Figure DE102014214760A1_0007
    Figure DE102014214760A1_0008
    where d T1 , d T2, the respective offset of the rear vehicle segment 1 associated GPS receiver 12a . 12b to the longitudinal axis 9 of the rear vehicle segment 1 and where ε T is the angle subtended by the positions of this GPS receiver 12a . 12b extending straight line with a straight line which is perpendicular to the longitudinal central axis 9 of the rear vehicle segment 1 runs.
  • After calculating the angle α using the quantities calculated in the first correction stage, after the calculation of the angle α, the same is corrected in a second correction stage as follows: α COR = α + ε Z where α COR is the corrected kink angle α, and where ε Z is an angle that the longitudinal center axis 10 of the front vehicle segment 2 and include a straight line defined by the position of the on the front vehicle segment 2 positioned GPS receiver 11 and the coupling point 8th extends.
  • Also for the equations of the equation system for determining the angle α between the longitudinal axes 9 and 10 of the tiller team of 6 to 8th exist according to 9 basically two valid solution options, wherein in accordance with the equivocal team, the valid for the current driving situation valid solution of the equation system can be determined in turn in two different ways, namely, first according to 10 by placing another GPS receiver 16 on one of the vehicle segments 1 or 2 , in 10 on the front vehicle segment 2 as close as possible to the coupling point 8th , and according to 11 by considering the steering angle σ from the so-called extended position of the team out.
  • Then, if the steering angle σ is greater than 0, it can be assumed that α exceeds 0. Then, when the steering angle σ is smaller than 0, it is considered that α becomes smaller than 0.
  • The consideration of the steering angle is particularly suitable for start-up and maneuvering maneuvers.
  • For strong braking maneuvers the consideration of the steering angle from the extended position is not sufficient. Therefore, the use of the additional GPS receiver is within the meaning of the variants of 4 and 10 prefers.
  • The present invention further relates to a control device for carrying out the method. The control device comprises means for carrying out the method according to the invention. These resources are hardware and software resources. The hardware-side means are data interfaces in order to exchange data with the modules performing the method according to the invention. Furthermore, the hardware means are a processor and a memory, a memory for storing data and a processor for processing data. The software resources are program modules for carrying out the method according to the invention.
  • LIST OF REFERENCE NUMBERS
  • 1
    vehicle segment
    2
    vehicle segment
    3
    wheel axle
    4
    wheel axle
    5, 5 '
    Radachsengruppe
    6, 6 '
    wheel axle
    7, 7 '
    wheel axle
    8, 8 '
    coupling point
    9, 9 '
    longitudinal axis
    10, 10 '
    longitudinal axis
    11
    GPS receiver
    12, 12a, 12b
    GPS receiver
    13
    GPS receiver
    14
    drawbar axis
    15, 15 '
    Zugdeichsellängsachse
    16
    GPS receiver
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • DE 102013013584 A1 [0003]
    • DE 102008057027 A1 [0004]

Claims (8)

  1. A method for determining an angle between longitudinal axes of a combination of several vehicle segments, namely an angle between a longitudinal axis of a first, front vehicle segment and a longitudinal axis of a second, rear vehicle segment, characterized in that from position data of at least one of the first, front vehicle segment associated GPS receiver determining a position of at least one reference point of the first front vehicle segment; from position data of at least one GPS receiver assigned to the second, rear vehicle segment, a position of at least one reference point of the second, rear vehicle segment is determined; from the determined positions of the reference points of the first, front vehicle segment and the second, rear vehicle segment, the angle between the longitudinal axes of the first, front vehicle segment and the second, rear vehicle segment is calculated.
  2. A method according to claim 1, characterized in that in a drawbarless combination of two vehicle segments, namely a front vehicle segment and a rear vehicle segment, the angle α between the longitudinal axes of the first, front vehicle segment and the second, rear vehicle segment is calculated according to the following equations:
    Figure DE102014214760A1_0009
    wherein x Z and y Z are position data of the position of a reference point of the first front vehicle segment, where x T and y T are position data of the position of a reference point of the second rear vehicle segment, and L Z , L T are geometric constants of the vehicle segments of the vehicle ,
  3. A method according to claim 1, characterized in that in a drawbar combination of two vehicle segments, namely a front vehicle segment and a rear vehicle segment, which has a front drawbar axis, the angle α between the longitudinal axes of the first, front vehicle segment and the second, rear Vehicle segment is calculated according to the following equations:
    Figure DE102014214760A1_0010
    wherein x Z and y Z are position data of the position of a reference point of the first front vehicle segment, where x T1 and y T1 are position data of the position of a first reference point of the second rear vehicle segment, where x T2 and y T2 position data of the position of a second reference point the second, rear vehicle segment are; and L Z , L D , L TP are geometric constants of the vehicle segments of the team.
  4. A method according to claim 2 or 3, characterized in that one of the possible solution of the equations is selected by evaluating position data of at least one further the first, front vehicle segment and / or the second, rear vehicle segment associated GPS receiver.
  5. A method according to claim 2 or 3, characterized in that one of the possible solution of the equations is selected by evaluating a steering angle and an extended position of the team.
  6. Method according to one of claims 1 to 5, characterized in that position data of arranged on longitudinal axes of the vehicle segments GPS receivers are used.
  7. Method according to one of claims 1 to 6, characterized in that position data are corrected by not arranged on longitudinal axes of the vehicle segments GPS receivers by the offset to the respective longitudinal axis.
  8. Control device, characterized by means for carrying out the method according to one or more of claims 1 to 7.
DE102014214760.3A 2014-07-28 2014-07-28 Method and control device for determining an angle between longitudinal axes of a combination of vehicle segments Pending DE102014214760A1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018209791A1 (en) * 2018-06-18 2019-12-19 Zf Friedrichshafen Ag Method and control device for determining trailer orientation

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EP1810913A1 (en) * 2006-01-18 2007-07-25 ZF-Lenksysteme GmbH Method for assisting the driver of a motor vehicle with a trailer when reversing
US20080147282A1 (en) * 2006-12-15 2008-06-19 Georg Kormann Tracking system configured to determine a parameter for use in guiding an implement attached to a work machine
DE102008057027A1 (en) 2008-11-12 2010-05-20 Beyo Gmbh Method and system for determining a position and / or orientation of a movable load
US20110050903A1 (en) * 2009-04-08 2011-03-03 Topcon Positioning Systems, Inc. Method for determining position and orientation of vehicle trailers
US20120123641A1 (en) * 2008-08-20 2012-05-17 Autonomous Solutions, Inc. Follower vehicle control system and method for forward and reverse convoy movement
DE102013013584A1 (en) 2013-07-23 2013-12-05 Friedhelm Hilken Trailing axle for use with tractor for transporting e.g. biomass, for fermentaion, has sensor detecting wheel speed of axle of assigned wheel, and angle sensor detecting turning angle of trailing axis assigned to wheel
US20140005918A1 (en) * 2012-06-29 2014-01-02 Liu Qiang Method and system for estimating a trailer position of a trailer associated with a vehicle
US20140188344A1 (en) * 2011-04-19 2014-07-03 Ford Global Technologies, Llc System and method of calibrating a trailer backup assist system

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1810913A1 (en) * 2006-01-18 2007-07-25 ZF-Lenksysteme GmbH Method for assisting the driver of a motor vehicle with a trailer when reversing
US20080147282A1 (en) * 2006-12-15 2008-06-19 Georg Kormann Tracking system configured to determine a parameter for use in guiding an implement attached to a work machine
US20120123641A1 (en) * 2008-08-20 2012-05-17 Autonomous Solutions, Inc. Follower vehicle control system and method for forward and reverse convoy movement
DE102008057027A1 (en) 2008-11-12 2010-05-20 Beyo Gmbh Method and system for determining a position and / or orientation of a movable load
US20110050903A1 (en) * 2009-04-08 2011-03-03 Topcon Positioning Systems, Inc. Method for determining position and orientation of vehicle trailers
US20140188344A1 (en) * 2011-04-19 2014-07-03 Ford Global Technologies, Llc System and method of calibrating a trailer backup assist system
US20140005918A1 (en) * 2012-06-29 2014-01-02 Liu Qiang Method and system for estimating a trailer position of a trailer associated with a vehicle
DE102013013584A1 (en) 2013-07-23 2013-12-05 Friedhelm Hilken Trailing axle for use with tractor for transporting e.g. biomass, for fermentaion, has sensor detecting wheel speed of axle of assigned wheel, and angle sensor detecting turning angle of trailing axis assigned to wheel

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018209791A1 (en) * 2018-06-18 2019-12-19 Zf Friedrichshafen Ag Method and control device for determining trailer orientation

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