DE102019105787A1 - Motor vehicle with a tail lift and a method for monitoring the safety of a tail lift movement for a corresponding motor vehicle - Google Patents

Abstract

The invention relates to a motor vehicle, preferably a utility vehicle, such as a truck, for example, the motor vehicle comprising a remotely movable tail lift, a first sensor device, at least one second sensor device and a safety device. Here, the first sensor device is designed to at least partially detect a movement area of the tail lift, while the at least one second sensor device is designed to detect an area outside the movement area of the tail lift, for example a side and / or front area of the motor vehicle. The combined evaluation or amalgamation of the sensor data from the various areas by the safety device advantageously increases the operational safety when operating the tail lift, since this also enables impending dangerous situations to be recognized in advance. The invention also relates to a method for safety monitoring of a tail lift movement for a corresponding motor vehicle.

Description

The invention relates to a motor vehicle, preferably a utility vehicle, such as a truck, with a tail lift. The invention also relates to a method for safety monitoring of a tail lift movement for a corresponding motor vehicle.

Especially in the commercial vehicle sector, tail lifts are often used when unloading at terminals or in urban distribution traffic. A side wall of a motor vehicle or a trailer is referred to as such, which is usually vertical when not in use and is inclined horizontally for easy loading and unloading of freight, for example by means of a hydraulic and / or electric drive, and then up to a ramp or road level can be lowered horizontally. In the prior art, such a tail lift, which is usually arranged at the rear, is often also referred to as a tail lift or a tail lift.

With most of the tail lift systems commonly used today, the driver of the vehicle has to leave the vehicle to operate the tail lift (tilt / raise / lower) and use control elements (e.g. levers, buttons, hand control bulb) arranged on the outside of the vehicle - usually close to the tail lift etc.) control the movement of the tail lift. Due to the associated direct view of the operator on the movement area of the tail lift, possible objects, in particular people, in the danger area of the tail lift can be reliably detected and / or damage to the tail lift can be prevented.

However, the disadvantage of this method is that the driver - by leaving the motor vehicle and monitoring the movement of the tail lift - is associated with a considerable expenditure of time and concentration. As a result, there is a need here for a solution that enables simplified and yet safe operation of the tail lift of a motor vehicle.

Accordingly, it is therefore the object of the invention to provide a solution that takes less time and less concentration on the part of the driver to operate the tail lift of a motor vehicle, without endangering people and property in the work area of the tail lift.

This object is achieved by a motor vehicle and a method having the features of the independent claims. Advantageous embodiments and applications of the invention are the subject matter of the dependent claims and are explained in more detail in the following description with partial reference to the figures.

A basic idea is that instead of the direct monitoring of the movement area of the tail lift by the driver, preferably automatic monitoring by means of sensors occurs, whereby an area outside the immediate movement area of the tail lift is also monitored for the earliest possible or predictive detection of possible dangerous situations .

For this purpose, the motor vehicle according to the invention, preferably a commercial vehicle, for. B. a truck, a, preferably remotely controlled, movable tail lift and a sensor device, which will be referred to below as the “first” sensor device for better distinguishability. This first sensor device has an associated “first” detection area and is designed to at least partially detect a movement area of the tail lift with this first detection area. Each space segment that can be detected by sensors from the current location of the sensor devices is to be understood as a “detection area”. On the other hand, the term “movement area” - which can alternatively also be referred to as a work or danger area - characterizes a spatial area in or through which the tail lift can be moved, in particular during loading and unloading processes.

In addition to the detection of the immediate range of motion of the tail lift by the first sensor device, the motor vehicle preferably includes at least one further sensor device, preferably for the most anticipatory detection of impending dangerous situations - for example, whether a person is approaching the range of motion of the tail lift. This sensor device, hereinafter referred to as at least one “second” sensor device, has an associated “second” detection area and is designed to use this second detection area to detect an area outside the movement area of the tail lift. In other words, the detection area of the at least one second sensor device can be used to detect a spatial area in which or through which a movement of the tail lift does not occur immediately. For example, the second detection area can be a side and / or front area of the motor vehicle.

Furthermore, the motor vehicle according to the invention comprises a, preferably central, safety device which is designed to receive sensor data from the first and at least one second sensor device. This can be done for example via a radio and / or cable connection between the safety device and the sensor devices. Furthermore, the safety device is designed to determine on the basis of the received sensor data whether an emergency stop of the tail lift is to be initiated. For this purpose, the security device can be designed to carry out object recognition on the basis of the received sensor data. For example, an emergency stop can be initiated if an object is detected in the movement area of the tail lift. In addition or as an alternative, the determination of whether an emergency stop is to be initiated can also take place on the basis of other factors, such as the location, the direction of movement and / or the distance of an object to the movement area of the tail lift, with such criteria being discussed in more detail below .

By consciously using or merging the sensor data relating to the immediate range of motion of the tail lift (first sensor device) with sensor data relating to an area outside the range of motion of the tail lift (at least one second sensor device), the operational reliability of the tail lift is advantageously increased, as this also increases the only impending dangerous situations can be recognized in advance. The remote-controlled operation of the tail lift, for example from the driver's cab, in conjunction with the aforementioned monitoring, advantageously enables time and concentration-saving actuation of the tail lift without resulting in any danger to people or property in the work area of the tail lift.

The aforementioned first and / or at least one second sensor device of the motor vehicle can / can in this context, for. B. be designed as an ultrasonic, radar, laser and / or lidar sensor (s). In addition or as an alternative, the first and / or at least one second sensor device can also be a camera device. It is also particularly advantageous if sensor devices are used by assistance systems already present in the motor vehicle.

Based on this idea, according to a first aspect of the invention, the first and / or at least one second sensor device can comprise a camera device of a birdview system. The bird view systems known in the prior art, some of which are also called surround view systems, refer to driver assistance systems in which the driver is offered an (artificial) image of his vehicle environment and / or his motor vehicle from a bird's eye view. Additionally or alternatively, the first and / or at least one second sensor device can be part of a camera network comprising at least four cameras, with image data from the at least four cameras of the camera network being able to be linked to one another in order to obtain a birdview representation of the motor vehicle. The expression “birdview display” should in turn denote an image, preferably a complete all-round image, of the vehicle environment and / or the motor vehicle from a bird's eye view, with the corresponding four cameras for this purpose preferably on all sides of the motor vehicle (front, rear, left and right Side) are arranged. In addition or as an alternative, the first and / or at least one second sensor device can comprise a wide-angle camera, preferably with an image angle of at least 130 °, particularly preferably with an image angle of at least 180 °. In an advantageous manner, a large overall spatial area around the motor vehicle can thereby be captured, thereby creating possible dangerous situations, e.g. B. the approach of a person to the movement area of the tail lift can be detected early.

According to a further aspect of the invention, the at least one second sensor device can also comprise a camera device of a mirror replacement system. Such mirror replacement systems known in the prior art refer to driver assistance systems in which mirror devices for an indirect view are replaced and / or supplemented by cameras or image recording units. These can be designed so that a camera attached to the outside of the motor vehicle takes an image of the surroundings of the motor vehicle and the (possibly additionally processed) image is displayed for the driver to be able to see on a display device installed in the interior of the motor vehicle. Such mirror replacement systems generally have the advantage that the cameras used are significantly smaller compared to mirrors and that environmental influences can also be better controlled. In this context, the area detected by the at least one second sensor device can also or alternatively correspond to the surroundings of the motor vehicle, which is conventionally reflected by a mirror, preferably an exterior mirror. Furthermore, a legally prescribed field of view of the motor vehicle can additionally or alternatively also be able to be represented from image data of the at least one second sensor device. In an advantageous manner, an economical dual use of the driver assistance systems can also be achieved here, with the mirror replacement systems in turn being able to cover a large spatial area around the motor vehicle, which increases the operational reliability of the tail lift operation.

According to a further aspect of the invention, the at least one second sensor device can also include a front view camera. A front view camera is to be understood as a camera whose field of view is essentially oriented in the normal direction of travel. The front view camera is preferably a front view camera of an emergency braking assistance system and / or an adaptive cruise control system. These driver assistance systems - known per se in the prior art - usually use image data from the front view camera, often also in combination with radar data, to detect objects in front of the motor vehicle or vehicles driving ahead, in order to carry out speed control or collision avoidance on this basis. This dual use of the front view camera, which is often provided as standard for monitoring the tail lift, can thus also be used in an advantageous manner for monitoring the tail lift. This variant is also particularly advantageous if the tail lift is arranged on the side of the motor vehicle, ie if the motor vehicle is, for example, a side loader.

According to a further aspect of the invention, the first and / or at least one second sensor device can be designed as a pure image acquisition device without an evaluation of image data for object recognition on the sensor side. In other words, the first and / or at least one second sensor device should not be a “smart camera” or “intelligent camera”, for example. The first and / or at least one second sensor device are thus preferably designed only to transmit image data to the security device. This advantageously provides a particularly cost-effective way of monitoring the tail lift operation.

According to a further aspect of the invention, the motor vehicle can also comprise a, preferably central, fusion device, wherein the, preferably central, fusion device can be part of the safety device. The fusion device can also be designed to merge the sensor data of the first and at least one second sensor device to form a common model of the surroundings of the motor vehicle and to provide this model of the surroundings to the safety device for recognizing impending dangerous situations.

The collected or processed information from the sensor devices with regard to other road users, infrastructure, static objects, road conditions, etc. can be used as an environment model. H. the vehicle environment - be understood. For this purpose, methods known in the prior art, such as, for example, grid-based and / or object-based methods for environment modeling, can be used. In an advantageous manner, a more precise detection of objects can be achieved through the combination or fusion of the sensor data, which increases overall operational reliability.

According to a further aspect of the invention, the safety device can also output a message of an impending dangerous situation if a movement of an object in the second detection area towards the movement area of the tail lift is detected. The term “object” should be understood to mean a person, an animal, as well as a thing or an object. In other words, a message of an imminent, i.e. H. an emerging or not yet acutely existing dangerous situation can be output if a movement of an object in the second detection area in the direction of the tail lift or in the direction of the movement range of the tail lift is detected.

In addition or as an alternative, the safety device can also output a message of an impending dangerous situation if the distance between an object in the second detection area and the movement area of the tail lift falls below a certain threshold value. The “distance” can refer to the shortest spatial connection of an object in the second detection area to the edge or the geometric center of the movement area of the tail lift.

In addition or as an alternative, the safety device can output a message of an imminent dangerous situation if a predicted trajectory of an object in the second detection area intersects the movement area of the tail lift. Here, the safety device or the fusion device can be designed to determine a possible future movement of the object as a function of the environment model or the environment data and / or directly as a function of the sensor data of the first and at least one second sensor device.

Regardless of the specific criteria by means of which an impending dangerous situation is recognized, an early warning of the driver can be achieved in an advantageous manner by outputting a, for example optical and / or acoustic, message of an impending dangerous situation, before an acute dangerous situation actually exists. Accordingly, the operator can then possibly initiate appropriate countermeasures and thus prevent an emergency stop of the tail lift that delays the loading or unloading process.

According to a further aspect of the invention, the at least one second sensor device can be designed to detect a side and / or front area of the motor vehicle with the second detection area. In addition or as an alternative, the at least one second sensor device can also be designed to exclusively detect an area outside the movement area of the tail lift. Both aspects make it possible in an advantageous manner to identify dangerous situations that are as anticipatory as possible and therefore as early as possible, preferably only in the process of developing.

Since corresponding monitoring of the tail lift or its range of motion is not necessary in all operating situations of the motor vehicle, according to a further aspect of the invention the safety device can only evaluate the sensor data of the first and at least one second sensor device if the motor vehicle is in reverse and / or maneuvering of the motor vehicle takes place. In addition or as an alternative, the safety device can only evaluate the sensor data of the first and at least one second sensor device if a parking brake and / or handbrake has been activated and / or if the motor vehicle is at a standstill. The determination or recognition of whether the vehicle is maneuvering or at a standstill can be determined, for example, on the basis of the vehicle speed, the gear engaged, the rotational speed and / or on the basis of location data. In an advantageous manner, this coupling of the tail lift monitoring to certain operating situations enables the motor vehicle to be operated in a way that conserves resources and is therefore more efficient.

According to a further aspect of the invention, a movement of the tail lift from inside the motor vehicle can be controllable. In other words, a driver can operate the tail lift from inside the motor vehicle, for example from the driver's cab, without having to be in the immediate vicinity of the tail lift. I.e. it can be a remote-controlled movable tail lift. In this context, “remotely controlled” movable should generally be understood to mean any possibility of targeted mechanical, hydraulic or pneumatic, electrical and / or electronic influence and control of the tail lift. This takes place at a distance, that is to say a distance or a distance from the device in question, that is to say not via operating elements attached directly above or on the tail lift itself or in its immediate vicinity. Accordingly, according to a further aspect, a movement of the tail lift can also be controllable by means of a portable operating element outside and / or at a distance from the motor vehicle. In an advantageous manner, considerable time savings can be achieved as a result, since the driver does not have to leave the motor vehicle to operate the tail lift.

According to a further aspect of the invention, the first and / or at least one second sensor device can comprise a radar sensor. The radar sensor can be a combination of a radar transmitter and a radar receiver. Due to the fact that radar sensors are largely independent of view, i. H. working even in darkness, fog, rain, etc., and having a long range, this enables the reliability of the tail lift monitoring to be increased, especially in combination with camera equipment. The radar sensor is preferably a side radar sensor, a turning assistance system and / or a front radar sensor of an emergency braking assistance system - described above - and / or an adaptive cruise control system. The latter variant is in turn particularly advantageous if the tail lift is arranged on the side of the motor vehicle, i. H. if the motor vehicle is, for example, a side loader.

The aspects described above with regard to a motor vehicle with a tail lift can - as immediately apparent to a person skilled in the art - also be transferred to motor vehicles with attachments similar to a tail lift, such as garbage trucks and / or transport vehicles with a sliding platform. Correspondingly, these embodiments are also to be considered disclosed and claimed. Furthermore, a vehicle combination (for example an articulated vehicle) in which the trailer comprises a tail lift that can be moved, preferably remotely, is to be regarded as a motor vehicle according to the claims. In other words, in these cases, the motor vehicle should also include the trailer.

Furthermore, according to the invention, a method is also provided, preferably for securing monitoring of a tail lift movement for a motor vehicle, as described in this document. Accordingly, the motor vehicle disclosed in the context of the method can also have all of the features of the motor vehicle that have already been described for the motor vehicle in this document. That is to say, the features of the motor vehicle disclosed in accordance with the device should therefore also be disclosed and claimable in connection with the method.

The method here includes the step of merging the sensor data from the first and at least one second sensor device to form a common model of the surroundings of the motor vehicle. For this purpose, methods known in the prior art, such as, for example, grid-based and / or object-based methods are used to model the environment. The method also includes the step of recognizing an impending dangerous situation using the model of the surroundings of the motor vehicle. This can be done on the basis of predetermined criteria, such as the position, size and / or direction of movement of an object in the vehicle environment. In this context, an object detection based on the environment model and / or the received sensor data preferably also takes place. The method also includes the output of a message of an impending dangerous situation. This can take place, for example, in the form of an optical and / or acoustic warning message. By merging or combining the sensor data relating to the immediate range of motion of the tail lift (first sensor device) with sensor data relating to an area outside the range of motion of the tail lift (at least one second sensor device), a method for securing monitoring of a tail lift movement is advantageously provided by means of which even emerging dangerous situations can be recognized in advance.

According to a further aspect of the invention, the impending dangerous situation can be a movement of an object in the second detection area towards the movement area of the tail lift. In other words, a threatening, i.e. H. be an emerging or not yet acutely existing dangerous situation if a movement of an object is detected in the second detection area in the direction of the tail lift or in the direction of the movement range of the tail lift.

In addition or as an alternative, the impending dangerous situation can also be an object falling below a safety distance in the second detection area to the movement area of the tail lift. A fixed or variable distance value to the edge or geometric center point of the movement area of the tail lift can be referred to as the safety distance.

In addition or as an alternative, the impending dangerous situation can also be an intersection of a predicted trajectory of an object in the second detection area with the movement area of the tail lift. In this context, a possible future movement of the object can thus also be determined as a function of the environment model or the environment data and / or directly as a function of the sensor data of the first and at least one second sensor device.

All in all, all of these criteria enable reliable detection of impending dangerous situations and thus the most anticipatory monitoring of the tail lift movement.

• 1: Eine schematische Darstellung eines Kraftfahrzeug in Seitenansicht gemäß einer ersten Ausführungsform der Erfindung;
• 2: Eine schematische Darstellung eines Kraftfahrzeug in Draufsicht gemäß einer zweiten Ausführungsform der Erfindung;
• 3: Eine schematische Darstellung eines Kraftfahrzeug in Draufsicht gemäß einer dritten Ausführungsform der Erfindung; und
• 4: Ein Flussdiagramm eines Verfahrens zur Sicherungsüberwachung einer Hubladebühnenbewegung für ein Kraftfahrzeug gemäß einer ersten Ausführungsform der Erfindung.

The aspects and features of the invention described above can be combined with one another as desired. Further details and advantages of the invention are described below with reference to the accompanying drawings. Show it:

• 1 : A schematic representation of a motor vehicle in side view according to a first embodiment of the invention;
• 2 : A schematic representation of a motor vehicle in plan view according to a second embodiment of the invention;
• 3 : A schematic representation of a motor vehicle in plan view according to a third embodiment of the invention; and
• 4th : A flow chart of a method for securing monitoring of a tail lift movement for a motor vehicle according to a first embodiment of the invention.

The same or functionally equivalent elements are denoted by the same reference symbols in all figures and in some cases are not described separately.

1 shows a schematic representation of a motor vehicle 10 in side view according to a first embodiment of the invention. In the motor vehicle 10 In the present case, it is an articulated vehicle, ie a combination of a tractor unit and a semi-trailer. The motor vehicle includes 10 At the rear - especially the semitrailer - a remote-controlled tail lift, preferably from the driver's cab, movable 1 . As indicated by the arrows in 1 made clear, this tail lift can 1 be inclined horizontally from a vertical driving position and then lowered horizontally. Alternative to the variant of the tail lift shown 1 this can also be used as a foldable and / or wheelchair-accessible tail lift 1 be performed and / or in other places, e.g. B. on the side of the vehicle 10 be arranged without departing from the scope of the invention.

The spatial area in or through which the tail lift 1 - is movable by means of motorized drive means not shown in detail (e.g. in the form of a hydraulic drive) - is used as a movement area 4th the tail lift 1 designated (dotted area in 1 ). Is there an object during a loading or unloading process? 7th , e.g. B. a person or an obstacle in this area, there is a risk of possible collisions immediate danger to these objects 7th (e.g. bruises) or damage to the tail lift itself.

In order to recognize such immediate dangerous situations, the motor vehicle includes 10 a first sensor device 2a , having a first detection area 3a (in 2 shown), wherein the first sensor device 2a is formed with the first detection area 3a a range of motion 4th the tail lift 1 at least partially to be recorded. The first sensor device can do this 2a be designed for example as a camera that is attached to an upper rear end region of the motor vehicle 10 is arranged and looks from there frontally downwards or diagonally below. In addition to this recording of the immediate area of motion 4th the tail lift 1 by the first sensor device 2a includes the motor vehicle 10 , preferably for the most anticipatory detection of impending dangerous situations - for example, whether a person is in the area of movement 4th the tail lift 1 approaches - at least one second sensor device 2b ₁ . This at least one second sensor device 2b ₁ has a second detection area 3b ₁ (in 2 shown) and is formed with the second detection area 3b ₁ an area outside the range of motion 4th the tail lift 1 capture. In the present case, it is the second detection area 3b ₁ around a side area of the motor vehicle 10 . Furthermore, the first and / or at least one second sensor device of the motor vehicle can e.g. B. be designed as an ultrasonic, radar, laser and / or lidar sensor (s) and / or as a camera device (s).

The motor vehicle also includes 10 a security scheme 5 , which is designed, sensor data of the first and at least one second sensor device 2a , 2b ₁ to recieve. In the present case, this can be done via the data lines shown in dashed lines between the security device 5 and the two sensor devices 2a , 2b ₁ respectively. Furthermore, the security device 5 designed to determine on the basis of the received sensor data whether an emergency stop of the tail lift 1 is to be initiated. For example, an emergency stop can be initiated if an object 7th in the range of motion 4th the tail lift 1 is captured. In addition or as an alternative, an emergency stop can also be initiated if an object moves 7th in the second detection area 3b ₁ towards the range of motion 4th the tail lift 1 is recognized and / or if a distance of an object 7th in the second detection area 3b ₁ to the range of motion 4th the tail lift 1 falls below a certain threshold. However, the advantage of the invention lies precisely in the fact that by monitoring an area outside the immediate range of motion 4th the tail lift 1 by means of the at least one second sensor device 2b ₁ an as early as possible detection of an impending, i.e. an emerging or not yet acutely existing, dangerous situation is made possible, whereby risk situations that require an emergency stop can be reliably recognized and / or an early initiation of countermeasures to avoid the above-mentioned emergency stop Situation is made possible.

In the following, the 2 and 3 the detection areas 3a , 3b _1, 3b ₂ , 3b ₃ of the individual sensor devices 2a , 2b ₁ , 2b ₂ , 2b ₃ clarified again in more detail. 2 shows a schematic representation of a motor vehicle 10 in plan view according to a second embodiment of the invention. In the present case, it is also an articulated vehicle. This includes a tail lift, which is not visible when closed, and is arranged at the rear 1 - a first sensor device 2a , for example in the form of a rear camera, have a first, z. B. conical, detection area 3a . Alternatively, it can be the first detection area 3a , ie that of the current location of the first sensor device 2a sensor-detectable space segment, also act around a different (z. B. pyramidal, prismatic, linear, plane, etc.) space segment. Furthermore, there is the first sensor device 2a formed with the first detection area 3a a range of motion 4th the tail lift 1 at least partially, the first detection area 3a the first sensor device 2a smaller or - as shown - larger than the range of motion 4th the tail lift 1 can be.

Furthermore, the motor vehicle 10 also a second sensor device 2b ₁ , 2b ₂ , 2b ₃ on, these two camera devices arranged on the left and right on the semitrailer in the present case 2b ₁ and 2b ₂ as well as a front view camera 2b ₃ includes. The second sensor device 2b ₁ , 2b ₂ , 2b ₃ furthermore has a second detection area 3b _1, 3b ₂ , 3b ₃ on and is formed with the second detection area 3b _1, 3b ₂ , 3b ₃ the left and right side areas ( 3b ₁ and 3b ₂ ) and a front area ( 3b ₃ ) of the motor vehicle 10 , ie an area outside the range of motion 4th the tail lift 1 , capture. Here are both the camera devices of the second sensor device 2b ₁ , 2b ₂ , 2b ₃ , as well as that of the first sensor device 2a designed as wide-angle cameras, each part of a birdview system of the motor vehicle 10 are. I.e. In addition to the tail lift monitoring, the camera data from the first and second sensor devices 2a , 2b ₁ , 2b ₂ , 2b ₃ also to a birdview representation of the motor vehicle 10 can be linked, which can be displayed to the driver, for example in the driver's cab, for additional support when maneuvering. Through this double use of the sensor devices 2a , 2b ₁ , 2b ₂ , 2b ₃ of the motor vehicle 10 can advantageously cover a large spatial area around the motor vehicle 10 are recorded, whereby possible dangerous situations, z. B. approaching an object 7th to the range of motion 4th the tail lift 1 can be recognized as early as possible. For this purpose, as already mentioned above, the motor vehicle comprises a central safety device 5 , which the sensor data of the first and the second sensor device 2a , 2b ₁ , 2b ₂ , 2b ₃ receives. In the present case, the central security device 5 thereby a fusion device 6th on, which is designed, the sensor data of the first and second sensor device 2a , 2b ₁ , 2b ₂ , 2b ₃ to a common environment model of the motor vehicle 10 to merge and this environmental model of the protection scheme 5 to provide for the detection of impending dangerous situations.

3 shows a schematic representation of a motor vehicle 10 in plan view according to a third embodiment of the invention. In contrast to the in 2 The embodiment shown is the camera devices of the second sensor device 2b ₁ , 2b ₂ however, not about camera devices of a birdview system, but about camera devices of a mirror replacement system. In other words, the camera devices are designed in an area of the surroundings of the motor vehicle 10 to capture, which is conventionally reflected to the driver by a mirror, here by the left or right side exterior mirror. In this embodiment, too, an economical double use of the existing driver assistance systems is achieved in an advantageous manner.

4th shows a flow chart of a method for securing monitoring of a tail lift movement for a motor vehicle 10 according to a first embodiment of the invention. The method here includes the step S1 , in which a merging of the sensor data of the first sensor device 2a and the at least one second sensor device 2b ₁ , 2b ₂ to a common environment model of the motor vehicle 10 he follows. Methods known in the prior art, such as grid-based and / or object-based methods for environment modeling, can be used here. In step S2 an impending dangerous situation is then based on the model of the surroundings of the motor vehicle 10 recognized. For example, in this context an impending dangerous situation can be based on the movement of an object 7th , e.g. B. a person in the second detection area 3b _1, 3b ₂ towards the range of motion 4th the tail lift 1 be recognized. In addition or as an alternative, an imminent dangerous situation can also be based on an object falling below a safety distance 7th in the second detection area 3b ₁ , 3b ₂ to the range of motion 4th the tail lift 1 be recognized. If an impending dangerous situation was recognized, it takes place in step S3 then the output of a message of an impending dangerous situation. This can take place, for example, in the form of an optical and / or acoustic warning message.

Although the invention has been described with reference to particular exemplary embodiments, it will be apparent to a person skilled in the art that various changes can be made and equivalents used as replacements without departing from the scope of the invention. Accordingly, it is intended that the invention not be limited to the disclosed embodiments, but that it encompass all embodiments that fall within the scope of the appended claims. In particular, the invention also claims protection for the subject matter and the features of the subclaims independently of the claims referred to.

List of reference symbols

1

Tail lift

2a

First sensor device

2b ₁ , 2b ₂ , 2b ₃

Second sensor device

3a

First detection area

3b _1, 3b ₂ , 3b ₃

Second detection area

4th

Range of motion

5

Protection scheme

6th

Fusion device

7th

object

10

Motor vehicle

Claims (14)

Motor vehicle (10), preferably commercial vehicle, comprising: a) a remote-controlled movable tail lift (1); b) a first sensor device (2a) having a first detection area (3a), the first sensor device (2a) being designed to at least partially detect a movement area (4) of the tail lift (1) with the first detection area (3a); c) at least one second sensor device (2b ₁ , 2b ₂ ), having a second detection area (3b ₁ , 3b ₂ ), the at least second sensor device (2b ₁ , 2b ₂ ) being designed with the second detection area (3b ₁ , 3b ₂ ) to detect an area outside the movement area (4) of the tail lift (1), preferably a side and / or front area of the motor vehicle; and d) a safety device (5) which is designed to receive sensor data from the first and at least one second sensor device (2a, 2b ₁ , 2b ₂ ) and to determine on the basis of the received sensor data whether an emergency stop of the tail lift (1) is to be initiated . Motor vehicle (10) after Claim 1 , characterized in that the first and / or at least one second sensor device (2a, 2b ₁ , 2b ₂ ) a) comprises a camera device of a birdview system; and / or b) are / is part of a camera network comprising at least four cameras, image data from the at least four cameras of the camera network being able to be linked to one another in order to obtain a birdview representation of the motor vehicle (10); and / or c) a wide-angle camera, preferably with an image angle of at least 130 °, particularly preferably with an image angle of at least 180 °. Motor vehicle (10) according to one of the preceding claims, characterized in that a) that the at least one second sensor device (2b ₁ , 2b ₂ ) comprises a camera device of a mirror replacement system; and / or b) that the area detected by the at least one second sensor device (2b ₁ , 2b ₂ ) corresponds to the surroundings of the motor vehicle (10) which is conventionally reflected by a mirror, preferably an exterior mirror; and / or c) that a legally prescribed field of view of the motor vehicle (10) can be displayed from image data from the at least one second sensor device (2b _1, 2b ₂ ). Motor vehicle (10) according to one of the preceding claims, characterized in that the at least one second sensor device (2b ₁ , 2b ₂ ) comprises a front view camera, preferably a front view camera of an emergency braking assistance and / or an adaptive cruise control system. Motor vehicle (10) according to one of the preceding claims, characterized in that the first and / or at least one second sensor device (2a, 2b ₁ , 2b ₂ ) are / is designed as a pure image acquisition device without an evaluation of image data for object recognition on the sensor side . Motor vehicle (10) according to one of the preceding claims, characterized by a central fusion device (6), which is preferably part of the safety device (5), the central fusion device (6) being designed to receive the sensor data of the first and at least one second To merge the sensor device (2a, 2b ₁ , 2b ₂ ) into a common model of the surroundings of the motor vehicle (10) and to provide the model of the surroundings of the safety device (5) for recognizing impending dangerous situations. Motor vehicle (10) according to one of the preceding claims, characterized in that the safety device (5) outputs a message of an impending dangerous situation if a) a movement of an object (7) in the second detection area (3b ₁ , 3b ₂ ) towards the movement area ( 4) the tail lift (1) is recognized; and / or b) a distance of an object (7) in the second detection area (3b ₁ , 3b ₂ ) to the movement area (4) of the tail lift (1) falls below a certain threshold value and / or c) a predicted trajectory of an object (7) in second detection area (3b) intersects the movement area (4) of the tail lift (1). Motor vehicle (10) according to one of the preceding claims, characterized in that the at least one second sensor device (2b ₁ , 2b ₂ ) is designed with the second detection area (3b ₁ , 3b ₂ ) a) a side and / or front area of the Motor vehicle to capture; and / or b) only to detect an area outside the movement area (4) of the tail lift (1). Motor vehicle (10) according to one of the preceding claims, characterized in that the first and second detection areas (3a, 3b _1, 3b ₂ ) do not overlap. Motor vehicle (10) according to one of the preceding claims, characterized in that the safety device (5) evaluates the sensor data of the first and at least one second sensor device (2a, 2b ₁ , 2b ₂ ) only if the motor vehicle is at a standstill and / or a reverse gear of the motor vehicle (10) is engaged and / or maneuvering of the motor vehicle (10) takes place. Motor vehicle (10) according to one of the preceding claims, characterized in that a movement of the tail lift (1) from inside the motor vehicle (10) can be controlled. Motor vehicle (10) according to one of the preceding claims, characterized in that the first and / or at least one second sensor device (2a, 2b ₁ , 2b ₂ ) has a radar sensor, preferably a side radar sensor, a turning assistance system and / or a front radar sensor of an emergency braking assistance system. and / or an adaptive cruise control system. Method for safety monitoring of a tail lift movement for a motor vehicle (10) according to one of the preceding claims, comprising the steps: - merging the sensor data of the first and at least one second sensor device (2a, 2b ₁ , 2b ₂ ) to a common environment model of the motor vehicle (10); - Recognizing an impending dangerous situation on the basis of the model of the surroundings of the motor vehicle (10); and output of a message of an impending dangerous situation. Procedure according to Claim 13 , characterized in that the threatening dangerous situation a) is a movement of an object (7) in the second detection area (3b ₁ , 3b ₂ ) towards the movement area (4) of the tail lift (1); and / or b) an object (7) in the second detection area (3b ₁ , 3b ₂ ) falls below a safety distance to the movement area (4) of the tail lift (1); and / or c) intersecting a predicted trajectory of an object (7) in the second detection area (3b ₁ , 3b ₂ ) with the movement area (4) of the tail lift (1).

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