DE102019105787B4 - Motor vehicle with a tail lift and method for safety monitoring of a tail lift movement for a corresponding motor vehicle - Google Patents

Abstract

Motor vehicle (10), preferably commercial vehicle, comprising: a) a tail lift (1) that can be moved by remote control; b) a first sensor device (2a) having a first detection area (3a), the first sensor device (2a) being designed with the first detection area (3a) to at least partially detect a movement area (4) of the tail lift (1);c) at least one second sensor device (2b1, 2b2) having a second detection area (3b1, 3b2), wherein the at least second sensor device (2b1, 2b2 ) is designed to detect with the second detection area (3b1, 3b2) an area outside the movement area (4) of the tail lift (1), preferably a side and/or front area of the motor vehicle; andd) a safety device (5) which is designed to receive sensor data from the first and at least one second sensor device (2a, 2b1, 2b2) and to determine on the basis of the received sensor data whether an emergency stop of the tail lift (1) is to be initiated, wherein :e) the first and/or at least one second sensor device (2a, 2b1, 2b2) comprises a camera device of a bird view system and/or is/is part of a camera network made up of at least four cameras, image data from the at least four cameras of the camera network being linked to one another can be linked in order to obtain a bird's-eye view of the motor vehicle (10); and/orf) the at least one second sensor device (2b1, 2b2) comprises a front view camera, preferably a front view camera of an emergency brake assistance system and/or an adaptive cruise control system.

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 monitoring the movement of a tail lift 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. As such, a side wall of a motor vehicle or trailer is referred to, which is usually vertical when not in use and horizontally inclined 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 roadway level can be lowered horizontally. In the state of the art, such a tail lift—usually arranged at the rear—is often also referred to as a tail lift or lifting platform.

The pamphlet DE 10 2008 060 767 A1 discloses in this regard a protective device for a loading arrangement of a transport vehicle. At least one laser sensor (L1, L2) is arranged on the transport vehicle and/or on the loading arrangement of the transport vehicle in order to detect people and objects that are located in a specified danger area, with a warning message being generated and/or a drive mechanism of the loading arrangement immediately is stopped when the laser sensor (L1, L2) detects a person or an object in the specified danger zone.

The DE 20 2016 104 476 U1 shows a monitoring system for tail lifts, the monitoring system being arranged on the tail lift of a vehicle body, a processing unit being connected to a plurality of radar wave elements pointing downwards and serving to detect passing objects, the processing unit being connected to a circuit breaker, the circuit breaker being connected to the Switching off a power supply to the tail lift can be used.

In the DE 93 03 338 U1 describes a motor vehicle with a monitoring device for the rear of the vehicle, which has a circuit with an integrated sensor that causes the drive motor to be switched off and at the same time a circuit that monitors the function of the sensor and restricts the range of action of the motor vehicle if the sensor fails.

The pamphlet DE 10 2008 028 434 A1 discloses a tail lift in which the motor drive or drives can be controlled with a controller. In order to create a tail lift that can be operated remotely without endangering people or property, it is proposed that the controller has a control panel with which the presence of one or more safety criteria can be queried, and the controller and/or the control panel have a Have a circuit from which a control command originating from the control panel can be switched through to one or more motorized drives only if the signal is positive, the presence of one or more safety criteria.

With most of today's conventional tail lift systems, the driver has to leave the vehicle to operate the tail lift (tilting/raising/lowering) and using the operating elements (e.g. levers, buttons, manual control bulb) arranged outside of the vehicle - mostly in the vicinity of the tail lift etc.) control the movement of the tail lift. As a result of the operator having a direct view of the area of movement 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.

The disadvantage of this method, however, is that it requires a considerable amount of time and concentration for the driver—due to leaving the motor vehicle and monitoring the movement of the tail lift. Consequently, there is a need for a solution that enables simplified and yet safer operation of the tail lift of a motor vehicle.

Accordingly, it is therefore the object of the invention to provide a solution that requires less time and less concentration on the part of the driver when operating the tail lift of a motor vehicle without endangering people and property in the working 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 area of movement of the tail lift by the driver, there is a preferably automatic monitoring by means of sensors, with further for the earliest possible or anticipatory detection of possible dangerous situations, an area outside the immediate range of movement of the tail lift is also monitored.

For this purpose, the motor vehicle according to the invention, preferably a commercial vehicle, z. B. a truck, a, preferably remote-controlled, movable tail lift and a sensor device, which is to be referred to in the following as the "first" sensor device for better differentiation. 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. The “detection area” should be understood to mean any spatial segment that can be detected by sensors from the current location of the sensor devices. In contrast, 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, in particular during loading or unloading processes, can be moved.

In addition to the detection of the direct range of movement of the tail lift by the first sensor device, the motor vehicle includes at least one further sensor device, preferably for anticipatory detection of impending dangerous situations - for example, whether a person is approaching the range of movement 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 range of the at least one second sensor device can be used to detect a spatial range in which or through which the tail lift is not immediately moving. 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, security 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 security 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 an object detection on the basis of the received sensor data. For example, an emergency stop can be initiated if an object is detected in the area of movement of the tail lift. In addition or as an alternative, the determination of whether an emergency stop is to be initiated can also be based on other factors, such as the location, the direction of movement and/or the distance of an object from the movement area of the tail lift, with such criteria being discussed in more detail below .

The deliberate use or merging of the sensor data relating to the immediate range of movement of the tail lift (first sensor device) with sensor data relating to an area outside the range of movement of the tail lift (at least one second sensor device) advantageously increases the operational safety of the tail lift, since this also impending dangerous situations can be recognized in advance. The remote controllable operation of the tail lift, for example from the driver's cab, in conjunction with the above-mentioned monitoring also advantageously allows the tail lift to be operated in a way that saves time and concentration, without resulting in danger to persons and property in the working area of the tail lift.

The above-mentioned first and/or at least one second sensor device of the motor vehicle can/can in this context e.g. B. be designed as ultrasonic, radar, laser and / or lidar sensor (s). Additionally or alternatively, the first and/or at least one second sensor device can also be a camera device. It is also particularly advantageous if sensor devices from assistance systems already present in the motor vehicle are used.

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 bird view system. The bird view systems known in the prior art, some of which are also called surround view systems, designate driver assistance systems in which the driver is offered an (artificial) image of his vehicle surroundings and/or his motor vehicle from a bird's eye view. In addition or as an alternative, the first and/or at least one second sensor device can be part of a camera network made up of at least four cameras, with image data from the at least four cameras of the camera network being able to be linked with one another in order to obtain a bird's-eye view of the motor vehicle. The expression "bird view display" should in turn mean an image, preferably designate a complete all-round image of the vehicle surroundings and/or the motor vehicle from a bird's-eye view, the corresponding four cameras for this purpose preferably being arranged on all sides of the motor vehicle (front, rear, left and right side). Additionally or alternatively, the first and/or at least one second sensor device can comprise a wide-angle camera, preferably with an angle of view of at least 130°, particularly preferably with an angle of view of at least 180°. Advantageously, a total of large spatial area can be detected around the motor vehicle, whereby possible hazardous situations, such. B. the approach of a person to the movement range 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 include 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 mounted on the outside of the motor vehicle takes an image of the area surrounding the motor vehicle and the (possibly additionally processed) image is displayed on a display device mounted in the interior of the motor vehicle for the driver to see. Such mirror replacement systems generally have the advantage that the cameras used are significantly smaller compared to mirrors and environmental influences are also easier to control. 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. In addition or as an alternative, a legally prescribed field of view of the motor vehicle can also be displayed from image data from 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 operational safety when operating the tail lift.

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 should be understood to mean 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 brake 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 in combination with radar data, to identify objects in front of the motor vehicle or motor vehicles driving ahead in order to carry out speed control or collision avoidance on this basis of this determination. This dual use of the front view camera, which is often present as standard, for monitoring the tail lift can also advantageously be implemented economically to monitor the tail lift. This variant is also particularly advantageous if the tail lift is arranged on the side of the motor vehicle, i. H. if the motor vehicle is a side loader, for example.

According to a further aspect of the invention, the first and/or at least one second sensor device can be embodied purely as an image acquisition device, without an evaluation of image data for object recognition taking place 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. Preferably, the first and/or at least one second sensor device are thus only designed to transmit image data to the security device. A particularly cost-effective way of monitoring the operation of the tail lift is thus provided in an advantageous manner.

According to a further aspect of the invention, the motor vehicle can also include a preferably central fusion device, it being possible for the preferably central fusion device to be part of the safety device. The merging device can also be designed to merge the sensor data of the first and at least one second sensor device to form a common environment model of the motor vehicle and to make this environment model available to the safety device for detecting impending dangerous situations.

The collected or processed information from the sensor devices with regard to other road users, infrastructure, static objects, road conditions, etc.—ie the vehicle environment—can be understood as an environment model. Methods known in the prior art, such as grid-based and/or object-based methods for environment modeling, can be used for this purpose. Advantageously, the combination or fusion of the sensor data thus enables a more precise detection of Objects can be achieved, 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 report of an impending, i. H. a dangerous situation that is about to emerge or is not yet acutely present 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 area 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 specific threshold value. The "distance" can refer to the shortest spatial connection of an object in the second detection area to the edge or 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 impending dangerous situation if a predicted trajectory of an object in the second detection area intersects the area of movement of the tail lift. In this case, the safety device or the fusion device can be designed to determine a possible future movement of the object depending on the environment model or the environment data and/or directly depending on the sensor data of the first and at least one second sensor device.

Irrespective of the specific criteria by which an impending dangerous situation is detected, the driver can be warned early on in an advantageous manner by outputting an optical and/or acoustic message of an imminent dangerous situation before an acute dangerous situation actually exists. Accordingly, this person 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 advantageously allow the most foresighted and thus early detection of dangerous situations, preferably those that are just about to develop.

Furthermore, since corresponding monitoring of the tail lift or its range of movement 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 gear and/or a shunting operation of the motor vehicle takes place. In addition or alternatively, 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 hand brake has been activated and/or if the motor vehicle is stationary. The determination or recognition of whether the motor vehicle is being maneuvered or is stationary can be determined, for example, on the basis of the vehicle speed, the gear engaged, the engine speed and/or on the basis of location data. Advantageously, this coupling of the tail lift monitoring to specific operating situations enables a resource-saving and therefore more efficient operation of the motor vehicle.

According to a further aspect of the invention, movement of the tail lift can be controllable from inside the motor vehicle. 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. The term “remotely controlled” is to be understood here to mean in general any possibility of specifically influencing and controlling the tail lift mechanically, hydraulically or pneumatically, electrically and/or electronically. This takes place at a distance, ie at a distance or a distance from said device, ie not via operating elements mounted directly above or on the tail lift itself or in its immediate vicinity. According to a further aspect, moving 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, a considerable time saving 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 radar transmitter and radar receiver. Due to the fact that radar sensors work largely independently of visibility, ie also in the dark, fog, rain, etc., and have a long range, this makes it possible to increase the reliability of tail lift monitoring, especially in combination with camera devices. The radar sensor is preferably a side radar sensor of a turning assistance system and/or a front radar sensor of an—above-described—emergency braking assistance system 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, ie if the motor vehicle is a side loader, for example.

The aspects described above with regard to a motor vehicle with a tail lift can - as is immediately apparent to a person skilled in the art - also be transferred to motor vehicles with tail lift-like attachments, such as garbage trucks and/or transport vehicles with a sliding platform. Accordingly, these embodiments are also to be considered disclosed and claimed. Furthermore, a vehicle combination (e.g. an articulated vehicle) in which the trailer comprises a tail lift, which can preferably be moved by remote control, should also be considered 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 safety monitoring of a tail lift movement for a motor vehicle, as described in this document. Accordingly, the motor vehicle disclosed within the scope of the method can also have all the features of the motor vehicle that have already been described in this document for the motor vehicle. This means that the features of the motor vehicle that are disclosed in terms of the device should also be disclosed and claimable in connection with the method.

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

According to a further aspect of the invention, the threatening 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, an impending, i. H. a dangerous situation that is about to emerge or is not yet acutely present 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 area of the tail lift is detected.

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

In addition or as an alternative, the threatening 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 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.

Altogether, all of these criteria enable a reliable detection of the impending dangerous situation and thus as much advance as possible looking monitoring of tail lift movement.

• 1: Eine schematische Darstellung eines Kraftfahrzeugs in Seitenansicht gemäß einer ersten Ausführungsform der Erfindung;
• 2: Eine schematische Darstellung eines Kraftfahrzeugs in Draufsicht gemäß einer zweiten Ausführungsform der Erfindung;
• 3: Eine schematische Darstellung eines Kraftfahrzeugs 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 1: A schematic representation of a motor vehicle in side view according to a first embodiment of the invention;
• 2 1: A schematic representation of a motor vehicle in plan view according to a second embodiment of the invention;
• 3 1: A schematic representation of a motor vehicle in plan view according to a third embodiment of the invention; and
• 4 : A flow chart of a method for safety monitoring of a tail lift movement for a motor vehicle according to a first embodiment of the invention.

Identical or functionally equivalent elements are denoted by the same reference symbols in all figures and some of them 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 present case, the motor vehicle 10 is an articulated vehicle, ie a combination of a tractor unit and a semi-trailer. The motor vehicle 10 includes at the rear - in particular the semi-trailer - a remote-controlled, preferably from the driver's cab, movable tail lift 1. As indicated by the arrows in 1 clarified, this tail lift 1 can first be tilted horizontally from a vertical driving position and then lowered horizontally. As an alternative to the embodiment variant of the tail lift 1 shown, it can also be designed as a foldable and/or retractable tail lift 1 and/or in other places, e.g. B. be arranged on the side of the motor vehicle 10 without departing from the scope of the invention.

The spatial area in or through which the tail lift 1 can be moved - by means of motor drive means (e.g. in the form of a hydraulic drive) not shown in detail - is referred to as the movement area 4 of the tail lift 1 (area marked with dots in 1 ). Is there an object 7, e.g. B. a person or an obstacle in this area, there is a direct danger for these objects 7 (e.g. crushing) or damage to the tail lift itself due to possible collisions.

In order to recognize such immediate dangerous situations, motor vehicle 10 includes a first sensor device 2a, having a first detection area 3a (in 2 shown), wherein the first sensor device 2a is designed to at least partially detect a movement range 4 of the tail lift 1 with the first detection range 3a. For this purpose, the first sensor device 2a can be designed, for example, as a camera, which is arranged on an upper rear end area of the motor vehicle 10 and from there looks downwards frontally or diagonally downwards. In addition to this detection of the immediate area of movement 4 of the tail lift 1 by the first sensor device 2a, the motor vehicle 10 includes at least one second sensor device 2b 1 , preferably for anticipatory detection of impending dangerous situations - for example, whether a person is approaching the area of movement 4 of the tail lift ₁ . This at least one second sensor device 2b ₁ has a second detection area 3b ₁ (in 2 shown) and is designed to detect an area outside of the movement area 4 of the tail lift 1 with the second detection area 3b ₁ . In the present case, the second detection area 3b ₁ is a side area of the motor vehicle 10. Furthermore, the first and/or at least one second sensor device of the motor vehicle can/can B. as ultrasonic, radar, laser and / or lidar sensor (s) and / or as camera device (s).

Furthermore, the motor vehicle 10 includes a security device 5, which is designed to receive sensor data from the first and at least one second sensor device 2a, 2b ₁ . In the present case, this can be done via the data lines shown in dashed lines between the safety device 5 and the two sensor devices 2a, _2b1 . Furthermore, the safety device 5 is 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 7 is detected in the movement area 4 of the tail lift 1 . Additionally or alternatively, an emergency stop can also be initiated if a movement of an object 7 in the second detection area 3b ₁ towards the movement area 4 of the tail lift 1 is detected and/or if a distance of an object 7 in the second detection area 3b ₁ to the movement area 4 of the tail lift 1 falls below a certain threshold. The advantage of the invention, however, lies precisely in the fact that by monitoring an area outside of the immediate range of movement 4 of the tail lift 1 by means of at least one two th sensor device 2b ₁ enables the earliest possible detection of an impending, ie a developing or not yet acutely present, dangerous situation, whereby risk situations that require an emergency stop can be reliably detected and/or early initiation of countermeasures to avoid a emergency stop situation mentioned above is made possible.

The following are in 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 are explained in greater detail again. 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, this is also an articulated vehicle. This includes - in addition to a rear tailgate 1 that is not visible when closed - a first sensor device 2a, for example in the form of a rear camera, having a first, z. B. conical, detection area 3a. Alternatively, the first detection area 3a, ie the spatial segment that can be detected by sensors from the current location of the first sensor device 2a, can also be a different type of spatial segment (e.g. pyramidal, prismatic, linear, planar, etc.). Furthermore, the first sensor device 2a is designed to at least partially detect a movement range 4 of the tail lift 1 with the first detection range 3a, wherein the first detection range 3a of the first sensor device 2a can be smaller or - as in the present case - larger than the movement range 4 of the tail lift 1.

Motor vehicle 10 also has a second sensor device 2b ₁ , 2b ₂ , 2b ₃ , this presently including two camera devices 2b ₁ and 2b ₂ arranged on the left and right of the semitrailer and a front view camera 2b ₃ . The second sensor device 2b ₁ , 2b ₂ , 2b ₃ also has a second detection area 3b ₁ , 3b ₂ , _{3b 3} and is designed to _connect the left and right side area ₍ 3b 1 and 3b ₁ and 3b ₂ ) and a front area (3b ₃ ) of the motor vehicle 10, ie an area outside the range of movement 4 of the tail lift 1 to detect. Here, both the camera devices of the second sensor device 2b ₁ , 2b ₂ , 2b ₃ and those of the first sensor device 2a are designed as wide-angle cameras, which are each part of a bird view system of the motor vehicle 10 . i.e. In addition to monitoring the tail lift, the camera data from the first and second sensor devices 2a, 2b ₁ , 2b ₂ , 2b ₃ can also be linked to form a bird's-eye view of the motor vehicle 10, which can be displayed to the driver in the driver's cab, for example, for additional support when maneuvering. This dual 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 overall, whereby possible dangerous situations, e.g. B. the approach of an object 7 to the movement area 4 of the tail lift 1, can be detected as early as possible. For this purpose, the motor vehicle comprises, as already mentioned above, a central security device 5 which receives the sensor data from the first and second sensor devices 2a, 2b ₁ , 2b ₂ , 2b ₃ . In the present case, the central security device 5 has a fusion device 6, which is designed to fuse the sensor data of the first and second sensor devices 2a, 2b ₁ , 2b ₂ , 2b ₃ into a common environment model of the motor vehicle 10 and this environment model of the security device 5 for recognition provide 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 In the illustrated embodiment, however, the camera devices of the second sensor device 2b ₁ , 2b ₂ are not camera devices of a bird view system, but rather camera devices of a mirror replacement system. In other words, the camera devices are designed to capture an area of the surroundings of motor vehicle 10, which is conventionally reflected to the driver by a mirror, here by the left-hand or right-hand exterior mirror. In an advantageous manner, an economical dual use of the existing driver assistance systems is thus also achieved in this embodiment.

4 shows a flowchart of a method for monitoring a tail lift movement for a motor vehicle 10 according to a first embodiment of the invention. The method here includes step S1, in which the sensor data of the first sensor device 2a and the at least one second sensor device 2b ₁ , 2b ₂ are combined to form a common environment model of the motor vehicle 10 . Methods known in the prior art, such as, for example, grid-based and/or object-based methods for environment modeling, can be used here. In step S2, an impending hazardous situation is then identified using the environmental model of motor vehicle 10. For example, in this context, an impending dangerous situation based on a movement of an object 7, z. B. a person, in the second detection area 3b ₁ , 3b ₂ towards the movement area 4 of the tail lift 1 can be detected. In addition or as an alternative, an impending dangerous situation can also be identified using a Falling below a safety distance of an object 7 in the second detection area 3b ₁ , 3b ₂ to the movement area 4 of the tail lift 1 can be detected. If an impending hazardous situation was identified, a message of an impending hazardous situation is then output in step S3. This can be done, for example, in the form of an optical and/or acoustic warning.

Although the invention has been described with reference to specific embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents substituted without departing from the scope of the invention. Accordingly, the invention should not be limited to the disclosed embodiments, but should include all embodiments falling 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.

Reference List

1

tail lift

2a

First sensor device

2b1, 2b2, 2b3

Second sensor device

3a

First detection area

3b1, 3b2, 3b3

Second detection area

4

range of motion

5

security device

6

fusion facility

7

object

10

motor vehicle

Claims (13)

Motor vehicle (10), preferably commercial vehicle, comprising: a) a tail lift (1) that can be moved by remote control; 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 ), wherein the at least second sensor device (2b ₁ , 2b ₂ ) is 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 to initiate an emergency stop of the tail lift (1). is, wherein: e) the first and/or at least one second sensor device (2a, 2b1, 2b2) comprises a camera device of a bird view system and/or is/is part of a camera network made up of at least four cameras, image data from the at least four cameras of the camera network can be linked to one another in order to obtain a bird's-eye view of the motor vehicle (10); and/or f) the at least one second sensor device (2b ₁ , 2b ₂ ) comprises a front view camera, preferably a front view camera of an emergency brake assistance system and/or an adaptive cruise control system. Motor vehicle (10) after claim 1 , characterized in that the first and/or at least one second sensor device (2a, 2b ₁ , 2b ₂ ) comprises a wide-angle camera, preferably with a field of view of at least 130°, particularly preferably with a field of view of at least 180°. Motor vehicle (10) according to one of the preceding claims, characterized in that a) 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 an area surrounding 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 of 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 first and/or at least one second sensor device (2a, 2b ₁ , 2b ₂ ) is/is designed purely as an image acquisition device, without the sensor side evaluating image data for object recognition . Motor vehicle (10) according to one of the preceding claims, characterized by a central fusion device (6), which is preferably part of the security device (5), the central fusion device (6) being designed to combine the sensor data of the first and at least one second Sensor device (2a, 2b ₁ , 2b ₂ ) to one to merge common environment model of the motor vehicle (10) and to provide the environment model of the security device (5) for detecting 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 detected; 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) the movement area (4) of the tail lift (1) intersects. 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; and/or b) exclusively detecting an area outside the range of movement (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) only evaluates the sensor data of the first and at least one second sensor device (2a, 2b ₁ , 2b ₂ ) if the motor vehicle is stationary and /or the motor vehicle (10) is in reverse gear and/or the motor vehicle (10) is being maneuvered. Motor vehicle (10) according to one of the preceding claims, characterized in that movement of the tail lift (1) can be controlled from inside the motor vehicle (10). 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 ) a radar sensor, preferably a side radar sensor of a turning assistance system and / or a front radar sensor of an emergency brake assistance and/or an adaptive cruise control system. Method for monitoring 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 form a common environment model of the motor vehicle (10) ; - Recognizing an impending dangerous situation based on the environment model of the motor vehicle (10); and - outputting a message of an impending dangerous situation. procedure after claim 12 , characterized in that the impending dangerous situation a) 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 ) falling below a safety distance from the movement area (4) of the tail lift (1); and/or c) an intersection of 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).

Images