METHOD AND SYSTEM FOR ASCERTAINING AN ORIENTATION OF A TRAILER RELATIVE TO A TRACTOR VEHICLE

Abstract

A method for ascertaining an orientation of a trailer relative to a tractor vehicle, wherein the tractor vehicle comprises a detection device which detects a first object region on the trailer and a second object region on the trailer, including recording the first and second regions by the one detection device, providing the recording to an evaluation device, assigning first and second information items to the first and second regions, and determining the orientation of the trailer relative to the tractor vehicle on the basis of the first and second information items by the evaluation device, wherein the evaluation device is configured for recognition in the first and/or second object regions, wherein the component located inside the first and/or second object regions comprises a supporting jack and/or a supporting jack base and/or a reinforcing cross and/or a connecting shaft.

Claims

1.-15. (canceled)

16. A method for ascertaining an orientation of a trailer relative to a tractor vehicle, wherein the tractor vehicle comprises at least one detection device which detects a first object region on the trailer and a second object region on the trailer, comprising: recording the first object region and the second object region by at least one detection device; providing the recording detected by the at least one detection device to an evaluation device; assigning a first information item to the first object region and a second information item to the second object region by the evaluation device; and determining the orientation of the trailer relative to the tractor vehicle on the basis of the first information item and the second information item by the evaluation device; wherein the evaluation device is configured for component recognition in the first object region and/or second object region; and wherein the component located inside the first object region and/or second object region comprises a supporting jack and/or a supporting jack base and/or a reinforcing cross and/or a connecting shaft.

17. The method as claimed in claim 16, wherein the at least one detection device comprises an optical sensor arranged centrally on the tractor vehicle in the transverse direction of the tractor vehicle.

18. The method as claimed in claim 17, wherein the optical sensor comprises a camera.

19. The method as claimed in claim 17, wherein the first object region is offset with respect to the second object region as seen in the longitudinal direction of the trailer.

20. The method as claimed in claim 19, wherein the detected recording is a projection representation of the first object region and the second object region along a projection direction running parallel to a midaxis of the tractor vehicle.

21. The method as claimed in claim 20, wherein a single detection device is used.

22. The method as claimed in claim 21, wherein the first information item is compared with the second information item in order to determine the orientation of the trailer relative to the tractor vehicle.

23. The method as claimed in claim 22, wherein a separation between at least one further detection device or the at least one detection device and the first object region and/or the second object region is additionally detected by the at least one further detection device or by the at least one detection device.

24. The method as claimed in claim 23, wherein the at least one further detection device is arranged separated from the at least one detection device.

25. The method as claimed in claim 16, wherein the orientation determined is used to control and/or drive the tractor vehicle and/or the trailer.

26. The method as claimed in claim 16, wherein a recording of the first object region at a first instant and a second instant is respectively made by the detection device, the first information item being assigned at the first instant and a further first information item being assigned at the second instant to the first object region, a temporal variation in the orientation of the trailer with respect to the tractor vehicle being determined with the aid of a comparison of the first information item and the further first information item.

27. The method as claimed in claim 16, wherein the method is carried out in a decoupled state between the tractor vehicle and the trailer.

28. The method as claimed in claim 16, further comprising: assigning a first set of information items to the first object region and a second set of information items to the second object region by the evaluation device; and determining the orientation of the trailer relative to the tractor vehicle on the basis of the first set of information items and/or the second set of information items.

29. The method as claimed in claim 16, wherein the first object region and/or the second object region comprises a component of the trailer.

30. The method as claimed in claim 16, wherein the first object region is offset with respect to the second object region as seen in the longitudinal direction of the trailer.

31. The method as claimed in claim 16, wherein the detected recording is a projection representation of the first object region and the second object region along a projection direction running parallel to a midaxis of the tractor vehicle.

32. The method as claimed in claim 16, wherein a single detection device is used.

33. The method as claimed in claim 16, wherein the first information item is compared with the second information item in order to determine the orientation of the trailer relative to the tractor vehicle.

34. The method as claimed in claim 16, wherein a separation between at least one further detection device or the at least one detection device and the first object region and/or the second object region is additionally detected by the at least one further detection device or by the at least one detection device.

35. A system for carrying out a method as claimed in claim 16, comprising: at least one detection device configured to record the first object region and the second object region; and at least one evaluation device configured to assign a first information item to the first object region and a second information item to the second object region and to determine the orientation of the trailer relative to the tractor vehicle on the basis of the first information item and the second information item.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Further advantages and features may be found in the following description of preferred embodiments of the subject of the invention with reference to the figures. Individual features of the individual embodiments may in this case be combined with one another in the scope of the invention.

[0024] FIG. 1 is a tractor and a trailer for a method according to an exemplary embodiment of the present invention in a bottom view and two side views;

[0025] FIG. 2 is the tractor and the trailer of FIG. 1 in a further plan view;

[0026] FIG. 3 is the tractor and the trailer of FIGS. 1 and 2 in a further side view and perspective representation;

[0027] FIGS. 4a to 4c are the trailer of FIGS. 1 to 3 in a bottom view and the further side view of various orientations;

[0028] FIG. 5 is the trailer in the further side view of FIG. 4a;

[0029] FIG. 6 is the trailer in the further side view of FIG. 4b;

[0030] FIG. 7 is the trailer in the further side view of FIG. 4c; and

[0031] FIG. 8 is the tractor and the trailer of FIG. 1 in a bottom view.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] FIG. 1 schematically represents a system consisting of a tractor vehicle 10 and a trailer 20, in particular a semitrailer. Such a system consisting of a semitrailer or trailer 20 and a tractor vehicle 10 is preferably coupled together by means of a coupling mechanism. For this purpose, the tractor vehicle 10 comprises for example a coupling plate 11, in which a kingbolt of the trailer 20 engages in the coupled state. For this purpose, the kingbolt is typically or conventionally inserted, or inserted and fixed for example by means of a hook-shaped element on the coupling plate 11, into a corresponding slot-shaped recess of the coupling plate 11.

[0033] For automated or autonomous coupling of the trailer 20 to the tractor vehicle 10, at least one detection device 15 is provided, which is arranged on the tractor vehicle 10 and is intended to establish the orientation, in particular the relative orientation, of the trailer 20 relative to the tractor vehicle 10. The term orientation is intended in particular to mean the separation of the trailer 20 from the tractor vehicle 10 and/or the relative inclination of the midaxes Z1, Z2, respectively extending in the longitudinal direction of the tractor vehicle 10 and of the trailer 20, with respect to one another. The detection device 15 is preferably a camera. This detection device 15 is for example arranged centrally as seen in the transverse direction QR of the tractor vehicle 10. Preferably, the detection device 15 is arranged behind the linkage plate 11 as seen in the driving direction of the tractor vehicle 10, and for example mounted on the terminal or rear end of the tractor vehicle 10. In this case, the central orientation or arrangement of the detection device 15 means that the detection device 15 is substantially arranged at the height of the midaxis Z1 of the tractor vehicle as seen in the transverse direction QR. Preferably, the system comprises only a single camera, or detection device 15, for determining an orientation of a trailer 20 and a tractor vehicle 10.

[0034] Preferably, the detection device 15 is configured in such a way that it detects a first object region 21 on the trailer 20 and a second object region 22 on the trailer 20 during operation. For this purpose, the detection device 15 must correspondingly be configured in such a way that it detects a corresponding rear area of the tractor vehicle 10 and/or comprises a lens system with which both a first object region 21 and a second object region 22 can be detected, the first object region 21 and the second object region 22 being arranged mutually offset in the longitudinal direction of the trailer 20. Preferably, the at least one detection device 15 is configured in such a way that it can be focused both in a plane of the first object region 21 and in a plane of the second object region 22, a separation between the plane of the first object region 21 and the plane of the second object region 22 comprises a separation of between 1.5 and 8 meters, preferably between 0.5 and 5 meters, and particularly preferably between 0.8 and 7 meters.

[0035] In particular, the at least one detection device 15 records a recording of the first object region 21 and the second object region 22 during operation by means of the at least one detection device 15. The recording of the first object region 21 and the second object region 22 recorded by means of the at least one detection device 15 is subsequently provided to an evaluation device, or forwarded thereto. The evaluation device assigns at least one information item to the first object region 21 and at least one second information item to the second object region 22. The first information item and/or second information item may, for example, be a classification of the first object region 21 and/or second object region 22. For example, the evaluation device identifies with the aid of the recording made that the first object region 21 is a kingbolt and the second object region 22 is a supporting jack, or a part of a supporting jack. The evaluation device is preferably configured for object or item recognition. For this purpose, for example, individual pixels of the image recorded by the camera are respectively assigned to a first object region 21, in particular a component of the trailer 20, and/or a second object region 22, in particular a further component of the trailer. Furthermore, the first information item and/or the second information item comprises for example an indication relating to the position, particularly in the recording of the at least one detection device 15, a size and/or an orientation of the first object region 21 and/or the second object region 22. With the aid of this first and/or second information item, it is then advantageously possible for the evaluation device to determine the orientation of the trailer 20 relative to the tractor vehicle 10. For example, with the aid of the relative position and/or orientation of the first object region 21 relative to the second object region 22, an oblique setting of the trailer 20 may be quantified. It is furthermore conceivable that a separation of the trailer 20 relative to the tractor vehicle 10 is, for example, ascertained with the aid of the size of the first object region 21 and the second object region 22, in particular comparison of the size of the first object region 21 and the second object region 22. In particular, it is found to be advantageous to use only a single camera and to employ the first and second information items of the respective first object region 21 and the second object region 22, since elaborate triangulation or the like can thereby be obviated. Preferably, the evaluation device resorts to a network, for example a neural network, in particular for the item or object recognition.

[0036] For example, FIG. 2 shows an oblique orientation, that is to say in particular an oblique orientation of a midaxis Z2 of the trailer 20, from the perspective of the detection device 15, which detects in particular a first object region 21 in the form of a kingbolt and the second object region 22 in the form of the supporting jack. With the aid of the relative position of the kingbolt relative to the supporting jacks, it is in this case possible to detect the extent to which the trailer 20 is set obliquely relative to the orientation of the tractor vehicle 10. In particular, the first object region 21 is in this case used as a reference for the second object region 22 in order, with the aid of this orientation of the second object region 22 relative to the first object region 21 in the recording of the detection device 15, to draw a conclusion relating to the relative orientation of the trailer 20 relative to the tractor vehicle 10. As an alternative to determining the relative position of the second object region 22, a connecting shaft and/or a counter-plate or baseplate of the trailer 20 may also be employed as the first object region 21.

[0037] FIG. 3 depicts a side view (left) of the trailer 20, in which the midaxis Z2 of the trailer 20 is arranged in alignment with the midaxis Z1 of the tractor vehicle 10. In this relative orientation of the tractor vehicle 10 and the trailer 20, the first object region 21, particularly in the form of a kingbolt, lies centrally between supporting jacks which are employed as the second object region 22. For example, a cross connection connecting the two supporting jacks may also be employed as the second object region 22. The right side view in FIG. 3 represents a side view from the perspective of the tractor vehicle 10, in which the midaxis Z2 of the trailer 20 is oriented obliquely relative to the midaxis Z1 of the tractor vehicle 10. In this orientation, the first object region 21, that is to say the kingbolt, is offset on the left side relative to the supporting jacks. With the aid of this relative position of the kingbolt, that is to say the first object region 21, relative to the supporting jacks, that is to say relative to the second object region 22, it can be detected that the midaxis Z2 of the trailer 20 is set obliquely relative to the midaxis Z1 of the tractor vehicle 10, and in particular it is possible to quantify the oblique setting, that is to say specify an angle with which the midaxis Z1 of the trailer 20 is inclined relative to the midaxis Z1 of the tractor vehicle 10.

[0038] FIGS. 4a to 4c represent three different orientations of a trailer 20 in a bottom view and in a corresponding side view (right). FIG. 4b is again an aligned orientation of the midaxis Z1 of the tractor vehicle 10 and the midaxis Z2 of the trailer 20. In FIG. 4a, a left side of the trailer 20 as seen in the vehicle direction is raised relative to the right side lying opposite in the transverse direction QR. Such an oblique setting may, for example, occur when the trailer 20 is supported with its left wheels on an elevation such as a curbside. As may be seen, the plan view (right) in such a situation shows an oblique setting relative to the conventionally substantially vertically running orientation of the supporting jack, i.e. the second object region 22. To this extent, the orientation of the second object region 22 relative to its conventional orientation may be employed here to establish whether there is a corresponding rotation of the trailer 20 about the midaxis Z2 of the trailer 20. This must optionally likewise be taken into account in the coupling. FIG. 4c once more shows a corresponding oblique setting as already discussed in connection with FIG. 3.

[0039] FIG. 5 once again shows the tilted setting of the trailer 20, as described in FIG. 4a. FIG. 6 once again represents the aligned orientation of the midaxis Z1 of the tractor vehicle 10 and the midaxis Z2 of the trailer 20. In this representation, as detected by the at least one detection device 15, a midpoint of the connecting cross between the two supporting jacks is arranged centrally between the two supporting jacks, exactly like the connecting apparatus in the form of the kingbolt used as the first object region 21. Furthermore, the tires or wheels of the trailer 20 lie outside the region which is arranged, or lies, between the two supporting jacks mutually offset in the transverse direction.

[0040] In contrast thereto, FIG. 7 shows an oblique setting of the trailer 20 and an example of a recording recorded by means of the detection device. In this oblique setting, the kingbolt used as the first object region 21 is displaced by a distance d relative to the center of the connecting cross between the supporting jacks. In particular, the kingbolt used as the first object region 21 is arranged offset toward one of the two supporting jacks in the projection representation which is recorded by the at least one detection device 15. With the aid of this displacement, the oblique setting of the trailer 20 may advantageously be established or found. Besides the referencing between the first object region 21 and the second object region 22, it is advantageously possible additionally to employ a third object region, for example in the form of the wheels or in the form of the tires, for the evaluation or ascertaining of the orientation of the trailer 20 relative to the tractor vehicle. In the present case, the wheels or tires in the orientation represented in FIG. 7, detected by the at least one detection device 15, are offset by a separation c in relation to the center of the stabilizing cross between the supporting jacks 22.

[0041] FIG. 8 again represents the system consisting of the tractor vehicle 10 and trailer 20, particularly in a state of coupling. In particular, the movement circle or the movement relative to the tractor vehicle 10 is represented here. In this case, this movement is coordinated with the aid of the ascertained orientation, in particular current orientation, of the trailer 20 relative to the tractor vehicle 10. In this way, autonomous or automated linkage of the trailer 20 to the tractor vehicle 10 may be carried out.

REFERENCES

[0042] 10 tractor vehicle [0043] 11 linkage plate or semitrailer linkage [0044] 15 detection device [0045] 20 trailer [0046] 21 first object region (for example kingbolt) [0047] 22 second object region [0048] Z1 midaxis of the tractor vehicle [0049] Z2 midaxis of the trailer [0050] QR transverse direction