METHOD FOR EXCHANGING DATA BETWEEN A TRAILER AND A ROAD USER, TRAILER COMMUNICATION MODULE AND TRAILER

Abstract

A method for transmitting data between a trailer and a road user in a vehicle environment is provided, wherein the data are transmitted according to a V2X standard with low latency via a wireless V2X data connection between a trailer communication module of the trailer and a subscriber communication module of the road user. The wireless data connection is between the trailer communication module and the subscriber communication module, or indirectly via a distribution station. The distribution station forwards the transmitted data directly, wherein the trailer communication module autonomously selects and activates an operating mode depending on the respective road user. As a function of the activated operating mode; trailer data relating to the trailer are selected and autonomously transmitted according to the V2X standard via the wireless V2X data connection and/or subscriber data provided by road users are received and autonomously processed.

Claims

1. A method for transmitting data (D1, D5) between a trailer and a road user in a vehicle environment (U), the method comprising the steps of: transmitting the data (D1, D5) according to a V2X standard (V2XS) with a low latency via a wireless V2X data connection between a trailer communication module of the trailer and a subscriber communication module of the road user; establishing the wireless AV2X data connection according to one of the following: i) directly between the trailer communication module and the corresponding subscriber communication module; or, ii) indirectly via a distribution station wherein the distribution forwards the transmitted data (D1, D5) directly; via said trailer communication module, autonomously selecting and activating an operating mode (BM) in dependence upon the corresponding road user; and, at least one of the following steps applying as a function of the activated operating mode (BM): i) selecting and autonomously transmitting trailer data (D1) relating to the trailer according to the V2X standard (V2XS) via the wireless V2X data connection; and, ii) receiving and autonomously processing subscriber data (D5) provided by road users and relating to the road users in accordance with the V2X standard (V2XS).

2. The method of claim 1, wherein a direct data connection, which is established directly between the trailer and one of the road users, is used as a wireless V2X data connection; and, wherein at least one of the following applies: i) the direct data connection is a short-range DSRC data connection or a 5G direct connection; and, ii) the direct data connection is a 5G mobile connection that is established indirectly between the trailer and one of the road users via a distribution station.

3. The method of claim 2, wherein the direct data connection lies in a frequency band between 5,850 and 5.925 GHz and has a connection range (R) of up to 1000 m.

4. The method of claim 1, wherein a V2X data connection is established with a latency (tL) of less than one of the following: 200 ms, less than 100 ms, and less than 50 ms.

5. The method of claim 1, wherein the trailer data (D1) and the subscriber data (D5) are transmitted via wireless data transmission according to the V2X standard (V2X), in respectively associated V2X data packets (V2XP1, V2XP2).

6. The method of claim 1, wherein at least one of the following applies: i) the autonomously transmitted trailer data (D1) are selected as a function of the road user receiving the trailer data (D1); and, ii) the autonomously transmitted trailer data (D1) are selected independently of external software.

7. The method of claim 1, wherein the trailer communication module autonomously re-outputs the subscriber data (D5) received from road users and relating to the road users via the wireless V2X data connection.

8. The method of claim 1, wherein at least one of the following applies: i) the trailer communication module is operated in a coupling mode (KM); ii) in an interface mode (SM), if the trailer communication module plausibly determines that the trailer is coupled to at least one towing vehicle associated with the trailer; and, iii) at least one additional trailer associated with the trailer.

9. The method of claim 8, wherein the trailer communication module is operated in a free mode (FM) when the trailer communication module corresponds to at least one of the following: i) plausibly determining that the trailer is not coupled to any towing vehicle; ii) plausibly determining that the trailer is not coupled to any additional trailer; and, iii) cannot plausibly determine whether the trailer is coupled to at least one of the following: towing vehicle and an additional trailer.

10. The method of claim 8, wherein at least one of the following applies: i) the trailer communication module activates the coupling mode (KM); ii) the interface mode (SM) if, based on the towing vehicle data (D5a) output by the towing vehicle via the wireless V2X data connection; iii) the interface mode (SM) if, based on the towing vehicle data (D5a) output by the towing vehicle via the wireless V2X data connection based on a global towing vehicle position (P5a); iv) based on the additional-trailer data (D5d) output by the additional trailer via the wireless V2X data connection; and, v) based on a coupling message (KB), it is plausibly determined that the trailer is coupled to at least one of the following: at least one towing vehicle and the at least one additional trailer.

11. The method of claim 10, wherein, in the coupling mode (KM), the trailer communication module autonomously does at least one of the following: i) selects; and, ii) adjusts the trailer data (D1) and outputs the data to the vehicle environment (U) for reception by other road users; and, wherein trailer data (D1) to be outputted for this purpose: i) are compared with towing vehicle data (D5a); ii) are compared with the additional-trailer data; and, iii) are checked for plausibility and contradictory trailer data D1 are not transmitted.

12. The method of claim 10, wherein, in the interface mode (SM), at least one of the following are exchanged via the wireless V2X data connection: i) the trailer data; ii) the towing vehicle data (D5a); and, iii) the additional-trailer data (D5d); between at least one of the following: iv) the trailer and the at least one towing vehicle; and, v) the trailer and the at least one additional trailer.

13. The method of claim 12, wherein, in the interface mode (Sly), at least one of the following: i) only those trailer data (D1); ii) towing vehicle data; and, iii) additional-trailer data; are transmitted via the wireless V2X data connection which cannot be transmitted via a standardized CAN interface in accordance with at least one of the following: iv) between at least one towing vehicle and the trailer; v) between the at least one additional trailer and the trailer including at least one of a towing vehicle target acceleration and a towing vehicle target speed.

14. The method of claim 12, wherein at least one of the trailer communication module and the subscriber communication module determine, in the interface mode (SM), whether the CAN interface with respect to at least one of the following: i) between the at least one towing vehicle and the trailer; and, ii) between the at least one additional trailer and the trailer; has failed; and, wherein, in the event of a CAN failure (CA) of the CAN interface, those trailer data (D1) and/or towing vehicle data (D5a) and/or additional-trailer data (D5d) that are transmitted via the CAN interface without a CAN failure (CA) are also transmitted via the wireless V2X data connection.

15. The method of claim 10, wherein, following the activation of the interface mode (SM) and/or the coupling mode (KM), the trailer communication module checks whether the subscriber communication module in the towing vehicle and/or in the additional trailer has failed; and, wherein, in the event of a module failure (MA) of the corresponding subscriber communication module, the trailer communication module outputs a failure warning signal (WS) via the wireless V2X data connection and/or selects the output trailer data (D1) in such a way that towing vehicle data (D5a) and/or additional-trailer data (D5d) lost due to the module failure (MA) are replaced.

16. The method of claim 1, wherein the trailer communication module is operated in a query mode (AM), wherein the trailer communication module processes query signals (SA) in the query mode (AM), wherein the query signals (SA) are contained in the received subscriber data (D5) from the respective traffic participants, and the trailer communication module selects and transmits trailer data (D1) as a function of the query signals (SA).

17. The method of claim 16, wherein the trailer communication module selects and transmits trailer data (D1) only if the road user transmitting the query signal (SA) is trusted.

18. The method of claim 1, wherein: trailer movement information (IB1) and/or trailer additional information (IE1) determined in the trailer are transmitted in the trailer data (D1), wherein: the trailer movement information (IB1) includes a global trailer position (P1) and/or a trailer direction of travel (F1) and/or a trailer actual acceleration (alst1) and/or a trailer target acceleration (aSoll1) and/or a trailer actual speed (vlst1) and/or a trailer target speed (vSoll1); and, the trailer additional information (IE1) contains a trailer danger warning (W1) and/or a piece of trailer load information (IL1) and/or a trailer load state (ZL1) and/or trailer environment signals (S1).

19. The method of claim 1, wherein: subscriber movement information (IB5) and/or subscriber additional information (IE5) are transmitted in the subscriber data (D5); the subscriber movement information (IB5) includes a global subscriber position (P5) and/or a subscriber direction of travel (F5) and/or a subscriber actual acceleration (alst5) and/or a subscriber target acceleration (aSoll5) and/or a subscriber actual velocity (vlst5) and/or a subscriber target velocity (vSoll5); and, the subscriber additional information (IE5) includes a subscriber danger warning (W5) and/or a piece of subscriber load information (IL5) and/or a subscriber load state (ZL5) and/or subscriber environment signals (S5).

20. The method as claimed in claim 18, wherein the movement information (IB1, IB5) is determined by a sensor system, for example a GNSS sensor and/or wheel speed sensors and/or acceleration sensors and/or speed sensors on the trailer and/or on the respective road user; and, the movement information (IB1, IB5) is transmitted from the sensor system to the trailer communication module via a bus system, for example a CAN bus, or the sensor system is arranged at least partially in the trailer communication module.

21. The method of claim 18, wherein the load state (ZL1, ZL5) is detected via a temperature sensor and/or a cargo space camera in the trailer or in the road user.

22. The method of claim 1, wherein the trailer communication module in the trailer is supplied with energy independently of the road users.

23. The method of claim 1, wherein the trailer data (D1) and/or subscriber data (D5) are transmitted encrypted via the wireless V2X data connection.

24. The method of claim 1, wherein the trailer communication module transmits the trailer data (D1) only when a road user with a subscriber communication module is within connection range (R) of the trailer communication module.

25. A trailer communication module for enabling a transmission of data (D1) between a trailer and a road user in a vehicle environment (U), the trailer communication module comprising being configured to carry out the steps of: transmitting the data (D1, D5) according to a V2X standard (V2XS) with a low latency via a wireless V2X data connection between a trailer communication module of the trailer and a subscriber communication module of the road user; establishing the wireless AV2X data connection according to one of the following: i) directly between the trailer communication module and the corresponding subscriber communication module; or, ii) indirectly via a distribution station wherein the distribution forwards the transmitted data (D1, D5) directly; via said trailer communication module, autonomously selecting and activating an operating mode (BM) in dependence upon the corresponding road user; and, at least one of the following steps applying as a function of the activated operating mode (BM): i) selecting and autonomously transmitting trailer data (D1) relating to the trailer according to the V2X standard (V2XS) via the wireless V2X data connection; and, ii) receiving and autonomously processing subscriber data (D5) provided by road users and relating to the road users in accordance with the V2X standard (V2XS)

26. A trailer with a trailer communication module as set forth in claim 25, wherein the trailer communication module is autonomous or is a component of an electronic trailer braking system.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The invention will now be described with reference to the drawings wherein:

[0055] FIG. 1 is a schematic view of a trailer in a vehicle environment;

[0056] FIG. 2 is a schematic view of a vehicle combination; and,

[0057] FIG. 3 is a flowchart of the method according to the present disclosure.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0058] FIG. 1 depicts a trailer 1, which is located in a vehicle environment U. The trailer 1 has a trailer communication module 2 which is configured to establish a low-latency wireless V2X data connection 3 to a subscriber communication module 4 in the vehicle environment U. The subscriber communication module 4 is situated in a road user 5 in the vehicle environment U, for example in a towing vehicle 5a associated with the trailer 1, in an infrastructure facility 5b, or in a third-party vehicle 5c that is not associated with the trailer 1. Furthermore, a subscriber communication module 4 may be situated in an additional trailer 5d associated with the trailer 1, for example if a “Roadtrain,” “Megaliner,” “EuroCombi” is present.

[0059] The wireless V2X data connection 3 can preferably be a direct data connection 3a which is established directly between the trailer 1 and the respective road user 5, for example a short-range DSRC (dedicated short-range communication) data connection 3b or a 5G direct connection 3c via the 5G cellular standard. Such direct data links 3a are used, for example, for standardized V2X (vehicle-to-everything) communication between two vehicles (V2V) or between a vehicle and an infrastructure facility (V2I), for example in the context of a coordinated journey in a platoon. For example, ETSI (C-) ITS ((cooperative) intelligent transport system) and/or DSRC WAVE or other known and standardized methods may be used as the DSRC data connection 3b. In this DSRC data connection 3b and also the 5G direct connection 3c, a frequency band of preferably 5.9 GHz, in particular 5.850 to 5.925 GHz, may be used. These have a connection range R of up to 1000 m.

[0060] The wireless V2X data connections 3 can preferably use a V2X standard V2XS to transmit information or messages wirelessly. According to this V2X standard V2XS, in a V2X primary data package V2XP1, for example a global position P1, P5, an actual speed vlst1, vlst5, a direction of travel F1, F5, an actual acceleration alst1, alst5, et cetera, are transmitted at regular intervals. In a V2X secondary data package V2XP2, further freely selectable information may be transmitted, for example a target acceleration aSoll1, aSoll5, load information IL1, IL5, et cetera.

[0061] Alternatively or in addition, a 5G mobile connection 3d via the 5G mobile communications standard is also possible via an additional distribution station 3e. The distributor station 3e serves only to extend the range, that is, no intelligent processing of the data D1, D5 takes place in the distributor station 3e. Accordingly, the data D1, D5 are essentially merely forwarded without an active request being received, that is, the forwarding occurs without being requested. Accordingly, no direct connection is formed between the road users 5. Here, too, however, a V2X standard V2XS can preferably be used for the transmission of information or messages.

[0062] Due to the use of the respective V2X data connection 3; 3a: 3d according to the V2X standard V2XS, a low latency tL of less than 200 ms, preferably less than 100 ms, in particular less than 50 ms, may be achieved, so that the data exchange D1, D5 takes place very quickly.

[0063] The trailer communication module 2, like the subscriber communication module 4, is configured to transmit trailer data D1 and receive subscriber data D5 via the wireless V2X data connection 3, preferably according to the V2X standard V2XS. The respective data D1, D5 may include far example trailer movement information IB1 or subscriber movement information IB5 of the respective road user 5. For example, a global position P1, P5, a direction of travel F1, F5, an actual acceleration alst1, alst5, a target acceleration aSoll1 aSoll5, an actual velocity vlst1, vlst5, a target velocity vSoll1, vSoll5, et cetera, of the trailer 1 or the respective road user 5 may be considered as movement information IB1, IB5, wherein these are transmitted via the respective V2X data packet V2XP1, V2XP2. The indices “1” and “5” refer to the trailer 1 and the respective road user 5, respectively, wherein the movement information IB5 of the respective road user 5 is transmitted only if it applies to the respective road user 5.

[0064] The movement information IB1, IB5 may be determined by a corresponding sensor system 6, for example a GNSS (global navigation satellite system) sensor 6a, in particular GPS (global positioning system), and/or wheel speed sensors 6b on the wheels and/or acceleration sensors 6c that can measure an actual acceleration alst1, alst5 in an x-direction and/or y-direction and/or z-direction, and thus in particular also a tilting of the trailer 5, and/or speed sensors 6d, et cetera, in the trailer 1 or on the respective road user 5, wherein the sensor system 6 is directly or indirectly connected to the respective communication module 2, 4 in a signal-conducting manner or is contained therein.

[0065] From the global positions P1, P5 alone, a variety of movement information IB1, IB5 may already be derived, for example the actual velocity vlst1, vlst5 or the actual acceleration alst1, alst5 or the direction of travel F1, F5. The movement information IB1, IB5 may also be transmitted in the trailer 1, in the towing vehicle 5a, in the additional trailer 5d, and in the third-party vehicle 5c, for example via a bus system 7 such as a CAN bus 7a, so that the existing sensor system 6 in the trailer 1 or in the respective road user 5 may be used.

[0066] Furthermore, the respective data D1, D5 may also include additional information IE1, IE5, for example a trailer danger warning W1, a subscriber danger warning W5, a piece of trailer load information IL1, a piece of subscriber load information IL5, a trailer load state ZL1, a subscriber load state ZL5, or environment signals S1, S5 of an environment detection system 8, for example an environment camera 8a, a radar sensor 8b, a LIDAR sensor 8c, an ultrasonic sensor 8d, et cetera, included on the trailer 1 and/or on the respective road user 5, if available. These may be transmitted for example via the V2X secondary data package V2XP2.

[0067] The load information IL1, IL5 may include information about the load, for example animals, cold gases, hazardous substances, an empty run, et cetera. These may be provided manually by the driver or in an automated manner. The load state ZL1, ZL5 indicates a state of the load, for example a temperature or an arrangement of the load, that is, whether for example it has tipped over, leaked, et cetera. This can be detected for example via a temperature sensor 6e in the cargo space or a cargo space camera 6f, et cetera, acting as an additional sensor system 6 in the trailer 5 or in the corresponding road user 5. A danger warning W1, W5 may for example include movement-critical driving situations of the trailer 1 or the respective road user 5 that affect the driving dynamics, for example sharp (emergency) braking or imminent overturning, or critical conditions of the load, for example a leaking liquid, et cetera.

[0068] The trailer communication module 2 is accordingly able to receive trailer movement information IB1 as well as trailer additional information IE1, to process it independently, and to transmit it accordingly via the wireless V2X data connection 3 as trailer data D1 according to the V2X standard V2XS, and thus to provide it in the vehicle environment U, The other road users 5 in the vehicle environment U, that is, either all road users 5 or a defined group of participants, may receive these trailer data D1 via their subscriber communication modules 4, and evaluate and respond to the data accordingly. In an identical manner, the trailer communication module 2 may also evaluate and respond to subscriber data D5 received according to the V2X standard V2XS.

[0069] The trailer 1 itself is not dependent on being coupled to a towing vehicle 5a. The trailer communication module 2 thus operates quasi autonomously and can communicate independently of the towing vehicle 5a with the respective road users 5 in the vehicle environment U, that is, it transmits its trailer data D1 according to the V2X standard V2XS not only to the towing vehicle 5a and via the vehicle to the other road users 5. This makes the trailer communication module 2 independent and intelligent, as it can act and/or react autonomously. For this purpose, the trailer communication module 2 may be operated in different operating modes BM, in which it does not necessarily react only to external requirements; but can also act independently of them. Moreover, this also applies to any additional trailer 5d of which the subscriber communication module 4 may have equivalent intelligence or be identical to the trailer communication module 2.

[0070] The V2X wireless data connection 3, in particular the short-range direct data connection 3a (DSRC 3b, 5G direct 3c), may thus be referred to as a type of T2X (trailer-to-everything) data connection, T2T (trailer-to-trailer), T2V (trailer-to-vehicle). T2I (trailer-to-infrastructure), which enables an independent and intelligent data exchange in a standardized form or according to the V2X standard V2XS. Above all, this has the advantage that the wireless V2X data connection 3 also functions if the assigned towing vehicle 5a is not equipped with corresponding technology for wireless data transmission or if the towing vehicle 5a is not currently coupled. This makes the solution vendor-independent and flexible.

[0071] The trailer communication module 2 is powered by an energy source 9 that is independent of the towing vehicle 5a, for example a battery 9a that is arranged in the trailer 1 and that can supply energy even without a coupled towing vehicle 5a. However, the energy source 9 can be charged via a coupled towing vehicle 5a, or via solar panels on the roof, or via recuperation units on the trailer 1, or other known charging methods.

[0072] Thus, the trailer 1 (and, if applicable, each additional trailer 5d) can communicate according to the V2X standard V2XS as an autonomous “vehicle” in the wireless network that is formed by the respective wireless V2X data connection 3, and is not dependent on a towing vehicle 5a that acts as an energy source or as a computing unit or as a master. Thus, a new open and standardized interface from the trailer 1 (and possibly also from each additional trailer 5d) to the outside is created in order to be able to act and react independently.

[0073] Thus, in a method according to FIG. 3, after an initial initialization step ST0, the trailer movement information IB1 and/or the trailer additional information IE1 described above may first be read into the trailer communication module 2 or generated and selected therein (ST1). The trailer movement information IB1 and/or the trailer additional information IE1 are generated primarily in the trailer 1, that is, independently of the presence of a towing vehicle 5a or another road user 5.

[0074] Subsequently, this selected trailer movement information IB1 and/or the selected trailer additional information IE1 may be transmitted in a second step ST2 via the wireless V2X data connection 3 as trailer data D1 according to the V2X standard V2XS in the respective V2X data packets V2XP1, V2XP2. The wireless transmission of the trailer data D1 or even the selection of the trailer data D1 to be output is initiated as a function of an autonomously set operating mode BM. The trailer communication module 2 therefore determines, autonomously and without a request from the respective road user 5 that receives the trailer data D1, which trailer data D1 is actually transmitted.

[0075] The trailer communication module 2 thus has an intelligence or algorithm 2a that enables it to select and activate an operating mode BM autonomously and to output selected trailer data D1 as a function thereof. Simultaneously, the trailer communication module 2 may also receive and autonomously process subscriber data D5 via the wireless V2X data connection 3 (ST3), as a function of an autonomously selected and activated operating mode BM.

[0076] The operation of the trailer communication module 2 is completely independent of the presence of a towing vehicle 5a, for example when the trailer 1 is parked in a depot, and also independent of the wireless V2X data connection 3 used by the towing vehicle 5a or the subscriber communication module 4 used therein, if these exist therein at all. The trailer communication module 2 is thus self-sufficient and intelligent, as it can act and react autonomously. This makes it possible that towing vehicles 5a and/or additional trailers 5d that are associated with the trailer 1 and do not have such a subscriber communication module 4 benefit from the intelligence of the trailer 1 and/or the trailer communication module 2, since, after coupling the trailer 1 to such a towing vehicle 5a or such an additional trailer 5d, the entire vehicle has such an intelligent unit, the trailer communication module 2.

[0077] The intelligent trailer communication module 2 is configured for example to independently adjust the trailer data D1 to be transmitted if a coupled towing vehicle 5a and/or additional trailer 5d is present in which a subscriber communication module 4 is arranged that transmits corresponding towing vehicle data D5a and/or additional-trailer data D5d (see FIG. 2).

[0078] Normally, a towing vehicle 5a or an additional trailer 5d transmits towing vehicle data D5a or additional-trailer data D5d according to the V2X standard V2XS via a wireless V2X data connection 3 used here, in particular a direct data connection 3a, which also at least partially relate to the entire vehicle combination 100 comprising the towing vehicle 5a and the at least one coupled trailer 1 or additional trailer 5d. This follows from the fact that a differentiation between the towing vehicle 5a and the coupled trailer(s) 1, 5d is often not possible, for example for the actual acceleration or the actual speed of the entire vehicle combination 100. Furthermore, the towing vehicle 5a does not always have detailed information from the trailer 1 or the additional trailer 5d.

[0079] Based on this, the trailer communication module 2 is able, in a recognition step ST2a, to plausibly detect a subscriber communication module 4 in the towing vehicle 5a and/or additional trailer 5d associated with the trailer 1, for example based on the towing vehicle data. D5a output by the towing vehicle 5a over a predetermined time period dt, or based on the additional-trailer data D5d output by the additional trailer 5d over a predetermined time period dt. The towing vehicle data D5a or additional-trailer data D5d may also contain a coupling message KB, for example in the V2X secondary data package V2XP2, which provides information on the mutual coupling and which may be used for plausibility checks.

[0080] If this active coupling is detected by the trailer communication module 2, the trailer communication module 2 is switched to a coupling mode KM (operating mode BM) in which the trailer data D1 are selected or adjusted. The trailer communication module 2 possibly no longer outputs all available information as trailer data D1 according to the V2X standard V2XS via the wireless V2X data connection 3, but only coupling data D15. Simultaneously, the towing vehicle 5a continues to transmit towing vehicle data D5a, or the additional trailer 5d continues to transmit additional-trailer data D5d.

[0081] The coupling data D15 include the trailer data D1, which were compared with the towing vehicle data D5a or the additional-trailer data D5d and checked for plausibility. The trailer communication module 2 uses the received towing vehicle data D5a or additional-trailer data D5d to decide whether, for example, the trailer actual speed vlst1 and/or the trailer actual acceleration alst1 and/or the trailer target acceleration aSoll1 and/or the trailer target speed vSoll1 match or confirm the correspondingly transmitted towing vehicle movement information IB5a, or whether the respective trailer data D1 are more accurate. If this is not the case, the respective trailer movement information IB1 is not transmitted as coupling data D15, or rather, only that information for which there are no contradictions with the towing vehicle movement information IB5a. This applies analogously to the additional-trailer data D5d, which may be checked for plausibility accordingly.

[0082] Since the towing vehicle 5a for example does not have access to current trailer movement information IB1 and/or trailer additional information IE1 in every situation, trailer-specific information for which there is no contradiction with the towing-vehicle-specific information may be transmitted in addition in the coupling data D15. Thus, an actual overall picture of the current driving situation of the vehicle combination 100 may be derived from the coupling data D15 together with the towing vehicle data D5a and/or the additional-trailer data D5d.

[0083] If a towing vehicle 5a and/or an additional vehicle 5d has a subscriber communication module 4, this is communicated to the trailer communication module 2, as described, via a plausibility check of the towing vehicle data D5a or the additional-trailer data D5d over the time period dt, or via the coupling message KB contained in the towing vehicle data D5a and/or the additional-trailer data D5d (see detection step ST2a). As a result, the intelligent trailer communication module 2 may additionally be operated in an interface mode SM (operating mode BM), in which the normally existing CAN interface 10 between the trailer 1 and the towing vehicle 5a associated with it or the additional trailer 5d associated with it is extended.

[0084] The CAN interface 10 is normally standardized, so that the exchange of information via the interface is limited and an extension is not possible. However, in the interface mode SM, the wireless V2X data connection 3 between the trailer 1 and the towing vehicle 5a or the additional trailer 5d may be used in parallel with the CAN interface 10, in order to exchange data D1, D5a, D5d that otherwise cannot be exchanged via the CAN interface 10. This parallel path is also low-latency and standardized, according to the V2X standard V2XS, wherein in this case, however, additional information may also be transmitted via the V2X data packets V2XP1, V2XP2. In contrast to the CAN interface 10, the V2X interface is expandable. Based on the transmitted data D1, D5a, D5d, the trader communication module 2 can then act autonomously.

[0085] The exchanged data D1, D5a, D5d, which otherwise cannot be transmitted via the CAN interface 10, may for example be the trailer additional information IE1 as well as the towing vehicle additional information IE5a, that is, for example a trailer danger warning W1, a towing vehicle danger warning W5a, a piece of trailer load information IL1, a piece of towing vehicle load information IL5a, a trailer load state ZL1, a towing vehicle load state ZL5a, or environment signals S1, S5a of an environment detection system 8, for example a camera 8a, on the at least one trailer 1, 5d and/or on the at least one towing vehicle 5a. Analogous information may also be provided by the additional trailer 5d.

[0086] Via the wireless V2X data connection 3, exchanged data D1, D5a, D5d as well as the movement information IB1, IB5a may be used, in particular also a towing vehicle target acceleration aSoll5a or a towing vehicle target speed vSoll5a, from which it is possible to infer, autonomously, (emergency) braking of the towing vehicle 5a in the trailer 1 via the trailer communication module 2, and to respond to it correspondingly. If this is determined, the trailer communication module 2 may autonomously initiate braking of the trailer 1 even before a pneumatic control pressure from the towing vehicle 5a acts pneumatically in the trailer 1 via the coupling head (yellow). This allows braking of the trailer 1 to occur more quickly, so that pushing of the trailer 1 onto the towing vehicle 5a may be avoided in such braking situations. This applies analogously to any additional trailer 5d that can be operated with such an intelligent trailer communication module 2 in an interface mode SM.

[0087] Furthermore, a checking step ST2b may be provided, in which, in particular in interface mode SM, the trailer communication module 2 and/or the subscriber communication module 4 checks whether the CAN interface 10 between the at least one towing vehicle 5a and the trailer 1 and/or the at least one additional trailer 5d and the trailer 1 has failed. If a CAN failure CA of the CAN interface is detected, those trailer data D1 and/or towing vehicle data D5a and/or additional-trailer data D5d that are transmitted via the CAN interface 10 without a CAN failure CA are also transmitted via the wireless V2X data connection 3. It is thus possible to provide redundant data transmission, which is monitored by the trailer communication module 2 and/or the subscriber communication module 4.

[0088] In the checking step ST2b, following the activation of the interface mode SM and/or the coupling mode KM, the trailer communication module 2 may also check continuously or at intervals whether the subscriber communication module 4 in the towing vehicle 5a and/or in the additional trailer 5d has failed. If a module failure MA of the respective subscriber communication module 4 is detected, the trailer communication module 2 may output a failure warning signal WS via the wireless V2X data connection 3 and/or select the output trailer data D1 in such a way that towing vehicle data D5a and/or additional-trailer data D5d lost due to the module failure MA are replaced. This also makes it possible to provide redundancy while maintaining information density.

[0089] If it is plausibly detected by the trailer communication module 2 in the detection step ST2a that the trailer 1 is not coupled to any towing vehicle 5a and/or additional trailer 5d, or if it cannot be plausibly determined that the trailer 1 is coupled to a towing vehicle 5a and/or additional trailer 5d, the trailer communication module 2 is switched to a free mode FM (operating mode BM), In this mode, the trailer communication module 2 can transmit trailer data D1 autonomously and/or receive subscriber data D5.

[0090] In addition, the trailer communication module 2 may be operated in a query mode AM (operating mode BM) in all operating modes BM, wherein this is done based on the subscriber data D5 obtained in the third step ST3. In this query mode AM, query signals SA may also be processed from the subscriber data D5 transmitted via the wireless V2X data connection 3. The query signals SA may be transmitted via a service announcement (standardized) or proprietarily by external road users 5, for example at a roadside 11 or at depots 12. With the aid of these query signals SA, the respective road users 5 may for example query the global trailer position P1 or the trailer load information IL1 or the trailer load state ZL1, whereupon the trailer communication module 2 in the trailer 1 can respond autonomously and in an automated manner, or upon enabling by the driver, provided that the respective query signal SA is trusted.

[0091] Likewise, the trailer communication module 2 may query subscriber movement information IB5 and/or subscriber additional information IE5 from other traffic participants 5, for example from the towing vehicle 5a, via a query signal SA, and process this subscriber data D5 itself and/or continuously broadcast it via the wireless V2X data connection 3, and thus possibly also act as a node.

[0092] In order to optimize integration into the trailer 1, the trailer communication module 2 may be coupled to the electronic trailer braking system 13 (TEBS, electronic braking system for trailers), for example via the CAN bus 7a. In principle, however, a stand-alone solution is also conceivable, for example for trailers 1 without TEBS.

[0093] Preferably, it may further be provided that the data D1, D15, D5, D5a, D5d that are directed to a particular road user 5 or the trailer 1 are transmitted signed and/or encrypted via the wireless V2X data connection 3 in order to increase data security. The respective communication modules 2, 4 are accordingly also configured to encrypt and decrypt the data D1, D15, D5, D5a, D5d.

[0094] Furthermore, detected and/or received data D1, D15, D5, D5a, D5d may be stored in the trailer communication module 2 and transmitted only when a previously registered road user 5 is within a connection range R of the wireless direct connection 3a. On the other hand, the stored data D1, D15, D5, D5a, D5d may also be transmitted or requested at a specific time t.

[0095] It is understood that the foregoing description is that of the preferred embodiments of the invention and that various changes and modifications may be made thereto without departing from the spirit and scope of the invention as defined in the appended claims.

LIST OF REFERENCE CHARACTERS (PART OF THE DESCRIPTION)

[0096] 1 Trailer [0097] 2 Trailer communication module [0098] 2a Algorithm [0099] 3 Wireless V2X data connection [0100] 3a Direct data connection [0101] 3b DSRC data connection [0102] 3c 5G direct connection [0103] 3d 5G mobile connection [0104] 3e Distribution station [0105] 4 Subscriber communication module [0106] 5 Road user [0107] 5a Towing vehicle [0108] 5b Infrastructure facility [0109] 5c Third-party vehicle [0110] 5d Additional trailer [0111] 6 Sensor system [0112] 6a GNSS sensor [0113] 6b Wheel speed sensor [0114] 6c Acceleration sensor [0115] 6d Speed sensor [0116] 6e Temperature sensor [0117] 6f Cargo space camera [0118] 7 Bus system [0119] 7a CAN bus [0120] 8 Environment detection system [0121] 8a Environment camera [0122] 8b Radar sensor 8b [0123] 8c LIDAR sensor [0124] 8d Ultrasonic sensor [0125] 9 Energy source [0126] 9a Battery [0127] 10 CAN interface [0128] 11 Roadside [0129] 12 Depot [0130] 13 Electronic trailer braking system (TEBS) [0131] 100 Vehicle combination [0132] alst1 Trailer actual acceleration [0133] alst5 Subscriber actual acceleration [0134] AM Query mode [0135] BM Operating mode [0136] aSoll1 Trailer target acceleration [0137] aSoll5 Subscriber target acceleration [0138] aSoll5a Towing vehicle target acceleration. [0139] CA CAN failure [0140] D1 Trailer data [0141] D15 Coupling data [0142] D5 Subscriber data [0143] D5a Towing vehicle data [0144] D5d Additional-trailer data [0145] dt Time period [0146] F1 Trailer direction of travel [0147] F5 Subscriber direction of travel [0148] IB1 Trailer movement information [0149] IB5 Subscriber movement information [0150] IB5a Towing vehicle movement information [0151] IE1 Trailer additional information [0152] IE5 Subscriber additional information [0153] IE5a Towing vehicle additional information [0154] IL1 Trailer load information [0155] IL5 Subscriber load information [0156] IL5a Towing vehicle load information [0157] KM Coupling mode [0158] KB Coupling message [0159] MA Module failure [0160] P1 Global trailer position [0161] P5 Global subscriber position [0162] P5a Global towing vehicle position [0163] R Connection range [0164] S1 Trailer environment signal [0165] S5 Subscriber environment signal [0166] S5a Towing vehicle environment signal [0167] SA Query signal [0168] SM Interface mode [0169] t Time [0170] tL Latency time [0171] U Vehicle environment [0172] V2XS V2X standard [0173] V2XP1 V2X primary data packet [0174] V2XP2 V2X secondary data packet [0175] vlst1 Trailer actual speed [0176] vlst5 Subscriber actual speed [0177] vSoll1 Trailer target speed [0178] vSoll5 Subscriber target speed [0179] vSoll5a Towing vehicle target speed [0180] W1 Trailer danger warning. [0181] W5 Subscriber danger warning [0182] W5a Towing vehicle danger warning [0183] WS Failure warning signal [0184] ZL1 Trailer load state [0185] ZL5 Subscriber load state [0186] ZL5a Towing vehicle load state