METHOD FOR INSPECTING A VEHICLE AND INSPECTION SYSTEM

Description

[0001] The invention relates to a method for inspecting a vehicle on a site with a management system according to the appended claim 1, as well as an inspection system for carrying out the method according to the appended claim 24.

[0002] As with all vehicles, especially commercial vehicles, autonomously operated vehicles must also undergo a departure check. This involves working through a checklist of certain vehicle functions that must be checked for correct functioning before each departure. It also checks whether the vehicle can drive off safely, i.e., whether there are no people or objects on or underneath the vehicle. Since a driver or inspector is not always available for this check in autonomous vehicles, the existing vehicle environment sensors of the autonomous vehicle or externally installed sensors of a control device are used, for example, as described in DE 10 2020 007 456 A1. A check can then be carried out accordingly.But even with manually operated vehicles, departure control can be carried out via the vehicle's surrounding sensors.

[0003] However, there are places where it is difficult to capture the surroundings for monitoring purposes, such as underneath the vehicle, for example, in the case of a long vehicle combination. While there are suggestions to install cameras or sensors underneath the vehicle, as described in DE 10 2017 115 582 A1 and DE 10 2020 001 198 A1, these require frequent cleaning due to their increased susceptibility to contamination. Furthermore, even with two cameras, it is difficult to capture the entire underside of the vehicle, for example, a vehicle combination, because these two cameras are rigidly mounted to the vehicle body.

[0004] Stationary systems are also known for determining the condition of a vehicle from underneath, as described, for example, in WO 06 / 059998 A1, US 2006170768 A1, US 2008211914 A1, US 2010238290 A1, US 2019304099A1 or US 2019304100 A1. For this purpose, the driver drives his vehicle over a sensor system, for example. The sensors in the system take high-resolution images of the underbody and, using software or an algorithm, evaluate the condition of, for example, the underbody, the exhaust, the ball joints or the shock absorbers. The disadvantage of these methods is that the vehicle must already be moving in order for the underbody to be detected. However, as part of the drive-off check, it must be determined before the journey begins whether there is anything underneath the vehicle.

[0005] Furthermore, methods are known in the prior art in which a vehicle can be inspected by a drone, as described, for example, in US 2019266715 A1 or US 10825097 B. For this purpose, a flying drone flies around the vehicle and detects scratches and dents, whereby the drone can also fly or drive under the vehicle. Application for a drive-off check is not intended, but only for an inspection of the tires, underbody, or exhaust system. Furthermore, the operation of a drone is associated with high energy consumption, as it must be kept in the air continuously. Therefore, the operating time of such a drone without recharging is limited.WO2019026321A1 discloses a rail transport system comprising an automated guided vehicle transporting passengers, a safety inspection vehicle traveling in front of the transport vehicle, and a communication means for providing a connection to communicate a travel permission signal between the transport vehicle and the safety inspection vehicle. The transport vehicle is equipped with a braking device, and the braking device is actuated if the transport vehicle does not receive the travel permission signal upon exceeding a timeout period. Since obstacles on a track in rail transport systems in which an automated guided vehicle travels on the track cannot be avoided by steering, obstacle detection is a problem that can be solved with the safety inspection vehicle and the communication means to improve the safety and operability of transport systems.The safety inspection vehicle has a sensor for obstacle detection in the direction of travel on the rails. As soon as an obstacle is detected, a corresponding stop signal is sent to the transport vehicle so that it can brake. Another autonomous inspection device belonging to the prior art is disclosed in document US10497108 B1.

[0006] The object of the invention is to provide a method for inspecting a vehicle on a site using a management system that allows a reliable determination of whether a vehicle is prevented from leaving the site or not using simple means and without modifying the vehicle being inspected. A further object is to provide a corresponding inspection system.

[0007] This object is achieved by a method and an inspection system according to the independent claims. The subclaims specify preferred developments.

[0008] According to the invention, a method for inspecting a vehicle on a site (e.g. port area, parking lot, petrol station, depot) with a management system is provided, preferably within the scope of a departure check, wherein the management system is designed to coordinate vehicles on the site by means of at least one management function, i.e. to control and / or monitor and / or command them, wherein the management system is further designed to control an inspection vehicle, preferably wirelessly, wherein the inspection vehicle has a sensor system with at least one sensor for outputting sensor signals depending on an environment detected by the at least one sensor, with at least the following steps: Determining whether at least one vehicle on the site intends to leave a parking space; generating at least one control command by the management system and transmitting the at least one control command to the inspection vehicle such that the inspection vehicle moves along an inspection path to a parking position or the parking space of the vehicle intending to leave; detecting an environment around the inspection vehicle at the vehicle's parking space using the sensor system in the inspection vehicle, while a detection range of the at least one sensor is at least partially directed towards the sub-area beneath the vehicle and / or towards the vehicle; and determining, depending on the sensor signals generated by the sensor system, whether there is an obstacle that could impede or prevent the vehicle from leaving in order to carry out a departure check.

[0009] According to the invention, an inspection arrangement comprising a management system and an inspection vehicle controllable by the management system is also provided, wherein the management system has a corresponding management control so that the method according to the invention can be carried out with the inspection arrangement.

[0010] Advantageously, a mobile inspection vehicle (cf. remote-controlled vehicle) is used which, through suitable movement along the inspection path, can specifically detect the entire or at least the relevant part of the sub-area beneath the vehicle, i.e. between the ground and the vehicle, with its sensors in order to then also be able to determine whether there are persons and / or objects beneath the vehicle that could impede the safe departure of the vehicle. However, the vehicle itself can also be detected by the mobile inspection vehicle in order to deduce whether there is a functional impairment of the vehicle. A reason for the impediment can then also be derived from the condition of the vehicle that would impede the safe departure of the vehicle. This takes advantage of the fact that the vehicle is located on a site with a management system, i.e.Certain administrative functions are already taking place, which can be advantageously expanded through the operation of the inspection vehicle.

[0011] Preferably, it is assumed that the inspection vehicle is assigned to the premises of the management system and / or that the inspection vehicle can only move within the premises of the management system. The inspection vehicle can therefore be easily integrated into the management system to expand its functionality and is also coordinated with operations on the respective premises. Preferably, the current position of the inspection vehicle can be monitored by the management system as it travels the inspection path using a position detection system on the inspection vehicle, enabling targeted coordination between the inspection vehicle and the management system.

[0012] Preferably, it is further provided that the sensor signals generated by the sensor system of the inspection vehicle and characterizing the environment around the inspection vehicle at the parking location are transmitted to the management system, preferably via a wireless communication system. Depending on the sensor signals generated by the sensor system, the management system determines whether there is an obstacle preventing the vehicle from departing. Accordingly, the evaluation can be performed in the management system, so that no extensive computing power is required on the inspection vehicle itself. Therefore, only the raw data or at least pre-processed data need be transmitted to the management system, which then handles the more computationally intensive part of the evaluation.In particular, it can be provided that the determination of whether there is an impediment preventing the vehicle from leaving is carried out manually in the management system, e.g. by a teleoperator, or automatically by a recognition algorithm or by image processing, so that in the case of manual evaluation, computing effort can also be saved in the management system.

[0013] Preferably, it is further provided that the inspection path is defined in advance by the management system and The inspection path is transmitted to the inspection vehicle as a control command, or control commands are transmitted to the inspection vehicle in such a way that the inspection vehicle follows the predefined inspection path. This allows for better planning.

[0014] Preferably, it can also be provided that the inspection path can be adjusted by the management system, particularly depending on the sensor signals. For example, if an obstacle is detected or something changes in the planning and coordination of the vehicles on the site, the management system can adjust the inspection path accordingly, so that the planned movement of the inspection vehicle subsequently changes.

[0015] Preferably, it can further be provided that the inspection path of the inspection vehicle is determined depending on whether one or more vehicles on the site intend to depart from a parking space, so that the inspection vehicle moves along the inspection path one after the other to the parking positions or spaces of all vehicles intending to depart, wherein the inspection path is preferably also determined depending on a planned departure time of the respective vehicle. This can save time, and individual inspection vehicles are not required for each planned departure. The departure process can thus be optimized.

[0016] Preferably, it is further provided that the inspection vehicle has a central control system that automatically controls a drive system and / or a steering system of the inspection vehicle depending on the at least one control command. Therefore, an autonomously operable inspection vehicle is provided that operates without a driver. In this case, it can additionally be provided that the central control system also controls the drive system and / or the steering system of the inspection vehicle depending on the sensor signals generated by the sensor system of the inspection vehicle, in particular adapts an inspection speed of the inspection vehicle and / or the inspection path depending on the sensor signals. The inspection vehicle can therefore also react specifically to obstacles or objects in the environment detected by the sensors if the central control system itself has installed a corresponding image processing algorithm.The inspection vehicle can then also autonomously avoid obstacles or react to detected obstacles.

[0017] Preferably, it can additionally be provided that the inspection speed of the inspection vehicle is limited to a maximum speed, wherein the maximum speed is, for example, 20 km / h, preferably 17 km / h, in particular 14 km / h, and / or is preferably determined depending on the surroundings. This minimizes the danger posed by the inspection vehicle on the site, since such low maximum speeds allow for timely response, and even in the event of a collision, no major damage occurs.

[0018] Preferably, the inspection vehicle further comprises a lighting device on a rear side and / or on a front side of the inspection vehicle for illuminating the surroundings of the inspection vehicle, for example in the dark, so that reliable detection of persons and / or objects in the lower area or also of the condition of the vehicle is possible even then. Furthermore, to improve the detection range of the sensor system, the at least one sensor of the sensor system is a fisheye camera, for example with a detection range of 180° or more, wherein preferably at least two sensors are provided which have different, preferably oppositely oriented, detection ranges, for example detection ranges oriented towards the front and the rear of the inspection vehicle.This allows a sufficiently large area of ​​the inspection vehicle's surroundings to be covered, eliminating the need for complex movement paths of the inspection vehicle to capture the entire sub-area of ​​the vehicle. To ensure sufficient coverage of the sub-area, preferably to be able to drive under the vehicle to be inspected, and / or to minimize the danger posed by the inspection vehicle, it is further provided that the overall height of the inspection vehicle is a maximum of 0.5 m, in particular a maximum of 0.35 m, and / or the mass of the inspection vehicle is less than 10 kg, preferably less than 5 kg.

[0019] Preferably, it is further provided that the at least one control command to the inspection vehicle is generated in such a way that the inspection vehicle follows a non-linear course in the area of ​​the parking position or at the parking space of the vehicle, in particular in the sub-area below the vehicle, for example, by driving in a serpentine pattern, for example by appropriately defining the inspection path. This ensures that every area of ​​the sub-area, in particular behind the wheels, as well as of the vehicle itself, can be detected by the sensors on the inspection vehicle.

[0020] Preferably, it is further provided that the at least one control command to the inspection vehicle is generated in such a way that the inspection vehicle extends into the sub-area beneath the vehicle and / or completely travels through the sub-area beneath the vehicle in order to align the detection range of the at least one sensor with the sub-area beneath the vehicle, wherein this is preferably done in such a way that the entire sub-area beneath the vehicle can be detected by the sensors of the sensor system. By appropriately aligning and controlling the movement of the inspection vehicle, it can be ensured that the sub-area is also sufficiently detected, wherein the inspection vehicle is also designed, due to its height, to drive into the sub-area itself.

[0021] Preferably, it is further provided that, in addition to the detection of a person in the lower area, another obstacle preventing the vehicle's departure exists if, based on the sensor signals generated by the inspection vehicle's sensor system, it is determined that at least one object is located in the lower area below the vehicle, selected from the group consisting of: wheel chocks under the vehicle's wheels, supports of a vehicle's trailer, a load, nails, screws, wooden boards, pallets, tarpaulins, and stakes. Such objects can impair the safe and reliable departure of the vehicle and can be easily detected by the inspection vehicle with appropriate control.

[0022] Preferably, it is further provided that a reason for the impediment preventing the vehicle from departing is determined based on at least one condition selected from the group consisting of: lighting condition, wheel condition, door condition, tarpaulin condition, load condition, weather condition, brake system condition, and drive condition, with the respective condition being determined based on the sensor signals generated by the sensor system of the inspection vehicle. Thus, not only the sub-area can be inspected, but also the condition or functional impairments of the respective component of the vehicle itself.

[0023] For this purpose, it can preferably be further provided that the condition of the vehicle, in particular the braking system condition and the drive condition, is determined via an acoustic sensor of the inspection vehicle's sensor system by evaluating the noises occurring in the environment around the inspection vehicle, which are detected by the acoustic sensor at the vehicle's parking location. Acoustic monitoring can provide additional information that cannot be clearly derived from purely optical monitoring by the other sensors of the sensor system, for example, small holes or other leaks in fluid-carrying pneumatic lines.

[0024] Preferably, it is further provided that the at least one control command is transmitted to the inspection vehicle and / or control signals for coordinating a vehicle on the respective site via a wireless communication system, for example WLAN, LTE, 5G, LoraWan, etc. This enables simple coordination and control of the inspection vehicle as well as the vehicle within the scope of the respective management function. Preferably, it is further provided that, if an obstacle exists that prevents the vehicle from departing, the management system and / or the inspection vehicle generates and outputs control signals to the vehicle in such a way that the vehicle is prevented from departing and / or that an obstacle exists that prevents the vehicle from departing.This takes advantage of the fact that the management system is able to specifically coordinate a vehicle on the respective site via a first management function and, if necessary, also actively intervene in the operation of the vehicle. This can be done directly from the management system or indirectly via the inspection vehicle assigned to the management system. If no approval is granted because a person and / or an object was detected in the sub-area or the condition of the vehicle does not permit this, the management system can react accordingly, either directly or indirectly via the inspection vehicle. To achieve this, it can be specifically provided that, based on the control signals, a parking brake of the vehicle is engaged or remains engaged and / or the vehicle is switched off if an impediment exists.

[0025] It is preferably further provided that if there is no reason for the inspection vehicle to prevent it from moving, i.e. if no person and / or object has been detected by the inspection vehicle in the sub-area, the inspection vehicle moves into a clearance area on the premises, e.g. in front of the vehicle (in the starting direction of travel). The vehicle can then use vehicle surroundings sensors to detect whether the inspection vehicle is in the clearance area and can therefore determine for itself whether the management system has authorized the vehicle to depart. Depending on the sensor signals generated by the inspection vehicle, the existence of a reason for the inspection is further checked until departure and / or when the vehicle departs from the parking space. This makes it easy to inform the vehicle (or the driver of the vehicle) that the departure check has been positive.A departure is authorized without requiring further feedback from the management system. The inspection vehicle can then continue to monitor the sub-area in the authorized area, at least briefly during departure.

[0026] Preferably, it is further provided that, when the charge level of an inspection vehicle's energy storage device falls below a certain limit, the inspection vehicle will drive itself, either independently or via the management system, to a charging station installed on the respective site. This allows automatic charging at the appropriate time.

[0027] Preferably, it is further provided that, depending on the sensor signals from the inspection vehicle's sensor system, the type of vehicle braking system of the vehicle, in particular of a trailer of the vehicle, is determined. This allows additional information about the inspection vehicle to be obtained that may be helpful for the vehicle's safe departure, for example, whether the newly coupled trailer in the parking area has an electronic braking system. The towing vehicle can then adjust its operation accordingly upon departure.

[0028] The invention is explained in more detail below with reference to the figures. They show: Fig. 1 shows a schematic view of a vehicle on a site with a management system; Fig. 2 shows a schematic view of an inspection vehicle; and Fig. 3 shows a flowchart of the method according to the invention.

[0029] Figure 1shows a schematic of a vehicle 1, which in the illustrated embodiment consists of a towing vehicle 1a and a trailer 1b. The vehicle 1 can, in principle, also be a single-part unit and can be operated both manually and automatically. The vehicle 1 is stationary in a parking space 10, for example in a parking lot, at a loading ramp, at a fuel pump, etc. The parking space 10 can be located on public property 11a, for example at a service station or a gas station, or on closed property 11b, e.g., a port area or a depot.

[0030] The parking space 10 is located in an area of ​​influence 12 of an administration system V (management system), wherein the administration system V is designed to monitor and coordinate the activities of vehicles 1 within the area of ​​influence 12, wherein certain administration functions F can be carried out for this purpose under the control of the administration system V, in particular an administration controller 80. The monitoring and coordination takes place, if necessary, in coordination with a fleet operator or a fleet management system, wherein the administration system V described here can also be integrated into the fleet management system or be a component thereof. Via the administration system V, for example, the arrival, whereabouts or processing and departure A of the vehicle 1 on the premises 11a, 11b can be planned or coordinated in terms of time and location.The respective terrain 11a, 11b preferably also has a terrain environment sensor system 11c, with which the management system V can record the terrain 11a, 11b, in particular in the area of ​​influence 12, with different types of sensors, in particular a camera.

[0031] The management system V is capable of communicating with a vehicle 1 within the sphere of influence 12, in particular via a wireless communication system 4, for example WLAN, LTE, 5G, LoraWan, etc. For this purpose, information concerning the vehicle 1 can be exchanged and certain control functions of the vehicle 1 can be assumed, in particular if the vehicle 1 is or can be operated autonomously or semi-autonomously. For example, the vehicle 1 can be given a path on the respective terrain 11a, 11b along which it should / may move to a destination, or other instructions regarding the tasks to be performed or the authorizations on the respective terrain 11a, 11b.The management system V can therefore influence the operation of the vehicle 1 in a certain way, which represents a first management function F1, whereby this can be done by informative instructions to a driver (if present) and / or by active intervention in a vehicle control system 5.

[0032] A second management function F2 of the management system V is to take over the control of an automatically controlled or controllable inspection vehicle 20 with a drive system 21, a steering system 22 and possibly also a braking system 23, as in Fig. 2shown in a highly schematic manner. For this purpose, the management system V can transmit control commands B to a central controller 24 of the inspection vehicle 20 via the wireless communication system 4. These commands are then processed by the central controller 24 of the inspection vehicle 20 and transmitted to the corresponding systems 21, 22, 23, so that the inspection vehicle 20 moves along a predetermined inspection path IP on the respective terrain 11a, 11b. The inspection path IP is preferably defined in the management system V.

[0033] In this case, either the inspection path IP can be transmitted directly as a control command B to the central control 24 of the inspection vehicle 20, which the inspection vehicle 20 then follows autonomously or independently, or the control commands B contain braking and / or steering and / or drive instructions specified by the management system V (manually or automatically) to the respective systems 21, 22, 23, based on which the inspection vehicle 20 follows the specified inspection path IP.

[0034] The inspection vehicle 20 controlled by the management system V serves to perform certain control tasks, in particular to ensure, before the departure A of a vehicle 1 from the parking space 10, that no persons 30 and / or objects 40 are located in a sub-area 6 below the vehicle 1, i.e. the towing vehicle 1a or the trailer 1b, or to check overall whether there are any obstructions G that prevent or hinder a departure A of the vehicle 1. Therefore, the second management function F2 of the management system V enables monitoring or inspecting a vehicle 1 on the respective premises 11a, 11b, whereupon the management system V can then in turn influence the operation of the vehicle 1 within the framework of the first management function F1.For example, the management system V can prevent the vehicle 1 from starting its journey if an impediment reason G has been determined with the help of the inspection vehicle 20.

[0035] Therefore, a departure check AK can take place via the two described management functions F1, F2 and, if necessary, further management functions F, wherein, if a reason for hindrance G exists, the departure A of vehicle 1 is automatically prevented by the first management function F1 of the management system V generating and transmitting a control signal S1 to vehicle 1. The corresponding control signal S1 is normally transmitted directly from the management controller 80 of the management system V to vehicle 1 via the wireless communication system 4. Alternatively, however, it can also be provided that the control signal S1 is generated by the inspection vehicle 20 in coordination with the management system V and / or transmitted to vehicle 1 via the wireless communication system 4.

[0036] The control signal S1 is processed accordingly by the vehicle control system 5 of the vehicle 1 and then, for example, triggers the engagement of a parking brake 7 of the vehicle 1 or other braking means of the vehicle 1, so that the vehicle 1 is actively prevented from exiting A. However, within the scope of the first management function F1 or further management functions F, equivalent alternatives are also possible, which can prevent the vehicle 1 from leaving if a reason for the hindrance G has been determined with the aid of the inspection vehicle 20 within the scope of the second management function F2, for example, switching off the vehicle 1.

[0037] In addition to a person 30, for example inspection personnel, in sub-area 6, an object 40 in sub-area 6, for example wheel chocks 40a under the wheels 8 of vehicle 1, can also be considered as an obstacle G that impairs a safe departure A of vehicle 1, whereby the inspection vehicle 20 can be used to check whether these were actually removed before departure A. Furthermore, supports 40b of the trailer 1b (in particular semi-trailer) can also be detected as objects 40 via the inspection vehicle 20, which, for example, have not yet been raised and therefore protrude into sub-area 6 and prevent a safe departure A of vehicle 1. Other objects 40 located in or projecting into sub-area 6 may also constitute an obstacle G to a departure A, for example cargo 40c, nails 40d, screws 40e, wooden boards 40f, pallets 40g, tarpaulins 40h, stanchions 40i, etc.

[0038] A further reason G preventing a safe departure A can also arise depending on a state Z of the vehicle 1, which can also be determined via the sensors 26 of the sensor system 25 of the inspection vehicle 20, i.e. the functionality or a functional impairment of the vehicle 1 is assessed via the sensors 26 on the inspection vehicle 20. For this purpose, the inspection vehicle 20 can, for example, check a lighting state Z1 of a lighting system 1f of the vehicle 1 by evaluating the sensor signals S2. For this purpose, the management system V and / or the inspection vehicle 20 can control the lighting system 1f of the vehicle 1 accordingly via the vehicle access (first management function F1 or control signal S1) and thereby switch on each individual light (indicator, brake light, dipped beam, tail light, etc.).A wheel condition Z2 of the wheels 8 of the vehicle 1 can also be checked depending on the sensor signals S2 if the inspection vehicle 20 is driven sufficiently close to them. If the wheel condition Z2 is inadequate, which can also be the case, for example, if the wheels 8 are missing or removed, an obstruction reason G can be inferred. Furthermore, a door condition Z3 can be checked, i.e. a (half-)open or closed door, or a tarpaulin condition Z4 (defective, open / closed), or a loading condition Z5 of the load of the vehicle 1 or a weather condition Z6, which indicates whether, for example, there is excessive snow or water on the vehicle 1 (or around the vehicle 1).

[0039] According to the invention, all of these obstruction reasons G, which result from a person 30 in the sub-area 6 and / or from an object 40 in the sub-area 6 and / or from a state Z of the vehicle 1, are to be determined via the inspection vehicle 20, which moves along a specific inspection path IP on the respective site 11a, 11b in accordance with the control commands B specified by the management system V. The inspection path IP is preferably defined in such a way that the environment U in the area of ​​the parking space 10, in particular the vehicle 1 itself, and thereby also the entire sub-area 6 below the vehicle 1, can be imaged or recorded. For this purpose, the inspection vehicle 20 is provided with a sensor system 25 having at least one sensor 26 with a detection range 27 in which it can detect the environment U around the inspection vehicle 20.Accordingly, sensor signals S2 can then be generated and / or processed by the sensor system 25, which characterize the environment U in the detection area 27. These sensor signals S2 can be transmitted via the wireless communication system 4 as raw data or in (pre-)processed form to the management system V for further processing and / or evaluation.

[0040] The at least one sensor 26 can, for example, be a camera 28, in particular a fisheye camera 28a, which enables detection of the environment U in a detection range 27 of up to 180° with just a single sensor 26 or just a single fisheye camera 28a. In principle, more than one sensor 26 can be provided, in particular a first sensor 26a, for example, on a rear side 20a of the inspection vehicle 20, and a second sensor 26b, for example, on a front side 20b of the inspection vehicle 20, which can then both be designed as fisheye cameras 28a. The two sensors 26a, 26b are then aligned differently, so that a wide area of ​​the environment U around the inspection vehicle 20 can be covered via their respective detection ranges 27. By processing and / or evaluating the correspondingly generated sensor signals S2, a comprehensive image of the environment U can therefore be monitored or controlled.

[0041] An acoustic sensor 68, for example a microphone, can be installed on the inspection vehicle 20 as a further sensor 26 of the sensor system 25 to monitor the condition Z of the vehicle 1. By evaluating the sensor signals S2 generated by the acoustic sensor 68, noises N in the environment U around the inspection vehicle 20 can be detected and whether, for example, air is escaping from the (pneumatic) vehicle brake system 1d of the vehicle 1, which can additionally be used to check a brake system condition Z7. In addition, engine noises from the drive system of the vehicle 1 can be analyzed and it can be determined whether they are normal, which can also be used to check a drive condition Z8. The noises N can be detected over the entire length of the vehicle 1, i.e. on the towing vehicle 1a and also on the trailer(s) 1b, in order to localize where the leak or defect is occurring.

[0042] In order to be able to generate or record a sufficiently large and sufficiently detailed image of the entire sub-area 6 beneath the vehicle 1 using this sensor system 25 in the inspection vehicle 20, the inspection vehicle 20 is dimensioned in terms of its height H such that it can drive beneath the vehicle 1 to be inspected. As a result, with an appropriate selection of the inspection path IP, all areas beneath the vehicle 1, including, for example, areas covered by the wheels 8, which may be difficult to visually access from the side of the vehicle 1, can be detected by the at least one sensor 26. As a result, the wheels 8 themselves can also be detected with high resolution from different directions in order to be able to evaluate, for example, the wheel condition Z2 of the wheels 8 as part of the departure check AK.This also enables the recording of noises N via the acoustic sensor 68 from underneath the vehicle 1.

[0043] To achieve this, an overall height H of the inspection vehicle 20 of a maximum of 0.5 m, preferably a maximum of 0.35 m, is provided so that the inspection vehicle does not get caught on substructures in the lower area 6 below the vehicle 1. The sensors 26 are mounted correspondingly low on the inspection vehicle 20 so that they do not take up any additional installation space upwards. To travel the inspection path IP with precise positioning, a position detection system 29, for example with a GPS sensor 29a and / or a LIDAR sensor 29b, can be installed on the inspection vehicle 20 in addition to the sensor system 25. Optionally, RTK (real-time kinematics) measurement can also be provided to increase accuracy.

[0044] In order to also capture an image of the surroundings U in the dark, a lighting device 60 is installed on the rear and / or front 20a, 20b of the inspection vehicle 20. The lighting device 60 can, for example, comprise one or more low-power LEDs.

[0045] Since the inspection vehicle 20 serves solely to inspect or monitor the environment U and therefore has only a few components, a mass M of the inspection vehicle 20 of less than 5 kg, preferably less than 3 kg, is required so that it can be operated safely at inspection speeds vl of up to 20 km / h and, due to its small size, is also very maneuverable. The inspection path IP can therefore be traveled very quickly and along any inspection path IP, so that an inspection is not very complex and is also less disruptive during operation on the premises 11a, 11b. Even if a collision should occur between the inspection vehicle 20 and a person 30 despite the precautionary measures, this poses no or only a minor danger due to the low mass M of the inspection vehicle 20.In addition, it can also be provided that the inspection speed vl is limited to a maximum speed vMax of 20 km / h, preferably 17 km / h, in particular 14 km / h, whereby the maximum speed vMax can also be determined depending on the respective environment U or the respective terrain 11a, 11b. This further reduces the danger posed by the inspection vehicle 20.

[0046] With this inspection system 100 from the management system V with the management control 80 and the inspection vehicle 20 that can be controlled by this, the following, in Fig. 3The procedure for inspecting vehicle 1 as part of a departure check AK is shown as an example in a flow chart: In an initial step ST1, the management system V first determines whether at least one of the vehicles 1 on the relevant site 11a, 11b is ready to depart and intends to depart from the parking space 10. Since the management system V takes over the coordination on the relevant site 11a, 11b, it is accordingly informed of each intended departure A or readiness to depart. It is assumed that a vehicle environment sensor system 1c on the relevant vehicle 1 ready to depart may, if necessary,was without power and therefore could not be detected by the vehicle 1 itself, whether something had gotten underneath the vehicle 1 or whether an inspecting person 30 or another interfering object 40 was still underneath the vehicle 1 or whether a condition Z of the vehicle 1 impedes the exit A of the vehicle 1. On the relevant sites 11a, 11b, such monitoring by the vehicle 1 or its vehicle environment sensor system 1c itself cannot therefore be ensured, since the vehicles 1 may be parked for longer periods and switched off for this purpose, so that the vehicle environment sensor system 1c itself can no longer be permanently active.

[0047] In a second step ST2, the management system V determines an inspection path IP depending on a parking position P1 of the vehicle 1 with the intention of departure A, wherein the parking position P1 of the vehicle 1 is known to the management system V, for example from wirelessly transmitted information from the vehicle 1 itself and / or via the terrain environment sensors 11c installed on the premises 11a, 11b. When determining the inspection path IP of the inspection vehicle 20, it can also be taken into account whether there is an intention to depart A for several vehicles 1 on the respective premises 11a, 11b, so that several vehicles 1 ready to depart can also be monitored or inspected via the inspection path IP with just one inspection vehicle 20. When determining the inspection path IP, a prioritization of one of the vehicles 1 depending on a planned departure time tA of the respective vehicle 1 can also play a role.

[0048] In a third step ST3, the output of the corresponding control command(s) B by the management system V to the inspection vehicle 20 initiates a movement of the inspection vehicle 20, which then travels along the inspection path IP and is thereby guided to the respective vehicle 1 ready for departure. Via the position detection system 29, the management system V can precisely determine or monitor a current position P20 of the inspection vehicle 20 and thus control the automated journey, enabling precise control of the inspection vehicle 20, possibly with additional use of an RTK survey, if available.

[0049] Optionally, with the aid of the sensor(s) 26 of the sensor system 25 of the inspection vehicle 20, in particular with the aid of the cameras 28 by means of image processing algorithms, basic information of the environment U around the inspection vehicle 20 can be recorded in order to be able to avoid obstacles that are unknown to the management system V and / or cannot be detected via the terrain environment sensor system 11c and / or to initiate a reduction in the inspection speed vl of the inspection vehicle 20 if unknown moving objects or unknown obstacles are detected in the environment U. For this purpose, the central controller 24 either receives corresponding control commands B from the management system V, e.g., to adapt the inspection path IP or for a temporary deviation from the predetermined inspection path IP, or automatically initiates a correction of the inspection path IP based on the sensor signals S2.

[0050] In addition, a mapping function KF can be performed while traveling along the inspection path IP, during which the sensor signals S2 generated and output by the inspection vehicle 20 as well as the current position P20 of the inspection vehicle 20, which is determined via the position detection system 29, are evaluated, for example, on the management control 80. This allows stored map data K, which the management system V uses to coordinate the vehicles 1 and also to control the inspection vehicle 20 on the respective terrain 11a, 11b, to be validated and, if necessary, adapted. In this way, the map data K can be kept up to date if, for example, the respective terrain 11a, 11b cannot be completely surveyed using the terrain environment sensor system 11c.Using the sensor signals S2 from the inspection vehicle 20 and the current position P20 of the inspection vehicle 20, information gaps can be filled or changes in the environment U or on the respective terrain 11a, 11b can be detected.

[0051] Once the inspection vehicle 20 has arrived at the respective vehicle 1 ready to depart, a departure check AK is carried out in a fourth step ST4, in particular by scanning the sub-area 6 beneath the respective vehicle 1 for persons 30 and / or objects 40. In this case, the inspection vehicle 20 also drives (at least partially) beneath the vehicle 1 to be inspected, which is ready to depart, and in a first sub-step ST4.1, corresponding sensor signals S2 are generated, which characterize the sub-area 6 beneath the vehicle 1. The inspection path IP is preferably defined in such a way that the inspection vehicle 20 drives a non-linear course, for example slight serpentine lines S, in the sub-area 6 beneath the vehicle 1, in order to be able to reliably record the areas between the wheels 8 on the vehicle axles of the vehicle 1 by means of the at least one sensor 26. The serpentine lines S orThe non-linear course particularly favors the design of the sensor system 25 with only one sensor 26, in particular only one camera 28 (fisheye camera 28a), since the non-linear course or the serpentine lines S increase the area under the vehicle 1 detected over time, regardless of the actual size of the detection area 27 of the respective sensor 26.

[0052] As part of the departure check AK, the inspection vehicle 20 moves at the parking space 10 of the respective vehicle 1 not only in such a way that the sub-area 6 below the vehicle 1 lies within the detection range 27 of the respective sensor 26 on the inspection vehicle 20, but also in such a way that the vehicle 1 itself can be detected or scanned over as large an area as possible in order to determine or check the state Z of the vehicle 1 itself. For this purpose, the inspection path IP is defined and followed accordingly, possibly with a non-linear course. Therefore, sensor signals S2 are also generated, from which a state Z of the vehicle 1 can be derived.

[0053] In a second sub-step ST4.2, the sensor signals S2 generated by the sensor(s) 26 are transmitted, preferably unprocessed or only pre-processed, to the management system V via the wireless communication system 4. Preferably, the sensor signals S2 are not subjected to any extensive (pre-)processing on the inspection vehicle 20 itself. This saves computing capacity and space in the inspection vehicle 20.

[0054] In a third sub-step ST4.3, a recognition algorithm EA in the management system V uses the sensor signals S2 generated in the inspection vehicle 20 to determine whether persons 30 and / or objects 40, e.g. wheel chocks 40a, supports 40b, load 40c, nails 40d, screws 40e, wooden boards 40f, pallets 40g, tarpaulins 40h, stanchions 40i, etc. are located in the sub-area 6 of the vehicle 1 or protrude into it. If a person 30 and / or an object 40 is detected in the sub-area 6 of the vehicle 1 ready to depart, a reason for the obstruction G is derived therefrom. Furthermore, at least one of the above-mentioned states Z; Z1-Z8 of vehicle 1 are checked or derived and from this whether an impediment reason G exists.For example, the detection algorithm EA or the teleoperator can be used to check the function and correct setting of each individual light of the lighting system 1f after or while it has been controlled by the management system V and / or the inspection vehicle 20 via the control signal S1. Further functional tests initiated by the management system V or the inspection vehicle 20 and corresponding monitoring of the subsequent reaction or lack of reaction of the vehicle 1 via the sensors 26 on the inspection vehicle 20 can also be provided.

[0055] However, the evaluation of the sensor signals S2 (optical sensors and / or acoustic sensors) can in principle also be carried out in the inspection vehicle 20 itself using the detection algorithm EA, provided the infrastructure is available in the inspection vehicle 20. Substeps ST4.2 and ST4.3 are then adapted accordingly.

[0056] The evaluation of the sensor signals S2 can also be performed at least partially manually, e.g., by a human as a teleoperator of the management system V instead of via the recognition algorithm EA. This algorithm can then also determine a cause of the obstruction G based on the sensor signals S2. The teleoperator can also manually control the inspection vehicle 20 if necessary and, for this purpose, specify corresponding control commands B for transmission to the inspection vehicle 20.

[0057] In a fifth step ST5, depending on the presence of an impediment G, approval is given or denied for a departure A of the respective vehicle 1. If a person 30 and / or an object 40 is recognized by the recognition algorithm EA (or the teleoperator) or if, depending on the detected condition Z of the vehicle 1, the presence of another impediment G is determined, approval is given for a departure A of the vehicle 1 from the respective premises 11a, 11b, i.e., the management system V (or the inspection vehicle 20) does not determine a safe departure condition within the framework of the departure control AK. This can be expressed by a corresponding application of the first management function F1.The vehicle 1 is thus prevented from departing by the management system V and / or the inspection vehicle 20 via the wireless communication system 4 by means of information and / or by active intervention in the vehicle control system 5, for example by engaging / leaving engaged the parking brake 7 and / or by switching off the vehicle 1. Release then only occurs, for example, when the person 30 and / or the object 40 are no longer in the sub-area 6 and / or the condition Z of the vehicle 1 preventing departure A is eliminated.

[0058] The removal of the hindrance reason G can be carried out by a new sequence of the procedure, ie by re-determining and driving through the inspection path IP and scanning the sub-area 6 or the vehicle 1 at the parking space 10 by the inspection vehicle 20 in the steps of the procedure mentioned, or by manually acknowledging the hindrance reason G, whereupon the inspection vehicle 20 can check further hindrance reasons G.

[0059] If it is determined in the fifth step ST5 that there is no obstruction reason G and / or this has been lifted, release is given and vehicle 1 is informed of this or is no longer prevented from departing A from parking space 10 on the respective site 11a, 11b by the first management function F1. This can be achieved, for example, by the inspection vehicle 20 driving into a release area 50 in the absence of an obstruction reason G, e.g. in front of vehicle 1 (in the start direction of travel). Vehicle 1 detects the inspection vehicle 20 in this release area 50 using the vehicle surroundings sensor system 1c and can automatically conclude from this that it can begin its journey. If the inspection vehicle 20 has a sensor 26 on its rear side 20a, it can also be ruled out that after the described departure check AK orthe release has pushed something into the "blind spot" (not detectable by the vehicle environment sensors 1c) in front of or behind the vehicle 1. After the vehicle 1, ready to depart, has rolled up, the "blind spot" is overcome and the inspection vehicle 20 can inspect the next vehicle 1 or the inspection path. IP Follow back to the parking position of inspection vehicle 20.

[0060] If an energy storage device 65 of the inspection vehicle 20, which is used to operate the inspection vehicle 20, is empty and / or a charge level L falls below a predetermined limit charge level LG, the inspection vehicle is designed to independently drive to a charging station 66 installed on the respective site 11a, 11b. This can be checked, for example, in or after the fifth step ST5, i.e., after each inspection. If the management system V determines that no inspection of one of the vehicles 1 is due in the near future, the inspection vehicle 20 can drive to the charging station 66 even with a limit charge level LG of, for example, less than 50% in order to independently charge the energy storage device 65.

[0061] The proposed solution is primarily used not only for condition control, i.e. the evaluation of a condition Z of the underbody or the exhaust system or other components of the vehicle 1 in order to determine a defect or a malfunction or a functional impairment of the vehicle 1. Rather, the method according to the invention is intended to actively evaluate, within the framework of a departure control AK, whether a safe departure A of the vehicle 1 is prevented by a person 30 and / or an object 40 and / or by a certain condition Z of the vehicle 1, whereby this cannot be reliably determined in any other way from or by the vehicle 1 itself, particularly in the case of an autonomously operated vehicle 1.

[0062] Additionally, it can be provided that a type R of the vehicle braking system 1d is determined by evaluating the sensor signals S2 of the sensor system 25. This allows the sensor system 25 on the inspection vehicle 20 to detect whether an electronic braking system 1e, e.g., an ABS / EBS system, is installed on the trailer 1b as part of the vehicle braking system 1d. The management system V can then transmit this information, for example, to the towing vehicle 1a, so that it is informed and can control the trailer 1b accordingly. List of reference symbols (part of the description)

[0063] 1Vehicle 1aTowing vehicle 1bTrailer 1cVehicle surroundings sensors 1dVehicle braking system 1eElectronic braking system 1fLighting system 4Wireless communication system 5Vehicle control 6Sub-area below vehicle 1 7Parking brake of vehicle 1 8Wheels of vehicle 1 10Parking space 11aPublic area 11bEnclosed area 11cTerrain surroundings sensors 12Area of ​​influence 20Inspection vehicle 20aRear of inspection vehicle 20 20bFront of inspection vehicle 20 21Drive system of inspection vehicle 20 22Steering system of inspection vehicle 20 23Braking system of inspection vehicle 20 24Central control of inspection vehicle 20 25Sensor system 26Sensor 26aFirst sensor 26bSecond sensor 27Detection area 28Camera 28aFisheye camera 29Position detection system 29aGPS sensor 29bLIDAR sensor 30People 40Object 40aWheel chock 40bTrailer support 1b 40cCargo 40dNails 40eScrews 40fWooden boards 40gPallets 40hTarpaulins 40iStakes50Release area 60Lighting device 65Energy storage 66Charging station 68Acoustic sensor 80Management control 100Inspection system ADeparture AKDeparture control BControl command EARecognition algorithm FManagement functions F1First management function F2Second management function GHissue reason HHeight of the inspection vehicle 20 IPInspection path KMap data KFMapping function LState of charge LGLimit state of charge MMass of the inspection vehicle 20 NGoise P1Parking position P20Current position of the inspection vehicle 20 RType of vehicle braking system 1d SWave lines S1Control signal S2Sensor signal tADeparture time UEnvironment VManagement system vlInspection speed vMaxMaximum speed ZState Z1Lighting state Z2Wheel state Z3Door state Z4Tarpaulin condition Z5Loading condition Z6Weather condition Z7Brake system condition Z8Drive condition ST1, ST2, ST3, ST4.1, ST4.2, ST4.3, ST5Steps of the procedure

Claims

1. Method for inspecting a vehicle (1) on a site (11a, 11b) by using a management system (V), wherein the management system (V) is designed to coordinate vehicles (1) on the site (11a, 11b) by means of at least one management function (F), wherein the management system (V) is further designed to control an inspection vehicle (20), wherein the inspection vehicle (20) has a sensor system (25) comprising at least one sensor (26) for outputting sensor signals (S2) depending on surroundings (U) detected by the at least one sensor (26), the method comprising at least the following steps: - determining whether at least one vehicle (1) on the site (11a, 11b) intends to depart (A) from a parking space (10) (ST1); - generating at least one control command (B) by the management system (V) and transmitting the at least one control command (B) to the inspection vehicle (20) such that the inspection vehicle (20) moves along an inspection path (IP) towards the parking space (10) of the vehicle (1) intending to depart (A) (ST2, ST3); - detecting surroundings (U) of the inspection vehicle (20) at the parking space (10) of the vehicle (1) by the sensor system (25) in the inspection vehicle (20) while a detection region (27) of the at least one sensor (26) is at least partially aligned with the sub-region (6) beneath the vehicle (1) and / or with the vehicle (1) (ST4.1); and - determining, depending on the sensor signals (S2) generated by the sensor system (25), whether there is an obstacle (G) preventing the departure (A) of the vehicle (1), in order to carry out a departure check (AK) (ST5).

2. Method according to claim 1, characterized in that the sensor signals (S2) generated by the sensor system (25) of the inspection vehicle (20) and characterizing the surroundings (U) of the inspection vehicle (20) at the parking space (10) are transmitted to the management system (V), preferably via a wireless communication system (4), and in the management system (V) it is determined, depending on the sensor signals (S2) generated by the sensor system (25), whether there is an obstacle (G) preventing the departure (A) of the vehicle (1).

3. Method according to claim 2, characterized in that determining whether there is an obstacle (G) preventing the departure (A) of the vehicle (1) is carried out manually or in an automated manner in the management system (V) by means of a recognition algorithm (EA).

4. Method according to any of the preceding claims, characterized in that the inspection path (IP) is predefined by the management system (V) and - the inspection path (IP) is transmitted to the inspection vehicle (20) as a control command (B), or - control commands (B) are transmitted to the inspection vehicle (20) such that the inspection vehicle (20) travels along the predefined inspection path (IP).

5. Method according to claim 4, characterized in that the inspection path (IP) can be adjusted by the management system (V), in particular depending on the sensor signals (S2).

6. Method according to claim 4 or claim 5, characterized in that the inspection path (IP) of the inspection vehicle (20) is defined depending on whether one or more vehicles (1) on the site (11a, 11b) intend to depart (A) from a parking space (10), so that the inspection vehicle (20) moves along the inspection path (IP) to the parking spaces (10), one after the other, of all vehicles (1) intending to depart (A), the inspection path (IP) preferably also being defined depending on a planned departure time (tA) of the relevant vehicle (1).

7. Method according to any of the preceding claims, characterized in that the inspection vehicle (20) has a central controller (24) which controls a drive system (21) and / or a steering system (22) of the inspection vehicle (20) in an automated manner depending on the at least one control command (B).

8. Method according to claim 7, characterized in that the central controller (24) controls the drive system (21) and / or the steering system (22) of the inspection vehicle (20) also depending on the sensor signals (S2) generated by the sensor system (25) of the inspection vehicle (20), in particular adjusts an inspection speed (vl) of the inspection vehicle (20) and / or the inspection path (IP) depending on the sensor signals (S2).

9. Method according to claim 8, characterized in that the inspection speed (vl) of the inspection vehicle (20) is limited to a maximum speed (vMax), the maximum speed (vMax) being, for example, 20 km / h, preferably 17 km / h, in particular 14 km / h, and / or preferably being defined depending on the surroundings (U).

10. Method according to any of the preceding claims, characterized in that the at least one control command (B) is generated such that the inspection vehicle (20) travels a non-linear course, for example serpentine lines (S), at the parking space (10) of the vehicle (1).

11. Method according to any of the preceding claims, characterized in that the at least one control command (B) is generated such that the inspection vehicle (20) projects into a sub-region (6) beneath the vehicle (1) and / or completely passes through the sub-region (6) beneath the vehicle (1) in order to align the detection region (27) of the at least one sensor (26) with the sub-region (6) beneath the vehicle (1).

12. Method according to claim 11, characterized in that the at least one control command (B) is generated such that the entire sub-region (6) beneath the vehicle (1) can be detected by the sensors (26) of the sensor system (25).

13. Method according to claim 11 or claim 12, characterized in that there is an obstacle (G) preventing the departure (A) of the vehicle (1) if it is determined on the basis of the sensor signals (S2) generated by the sensor system (25) of the inspection vehicle (20) that there is a person (30) and / or at least one object (40) in the sub-region (6) of the vehicle (1), which object is selected from the group consisting of: wheel chock (40a) under the wheels (8) of the vehicle (1), supports (40b) of a trailer (1b) of the vehicle (1), a load (40c), nails (40d), screws (40e), wooden boards (40f), pallets (40g), tarpaulins (40h), and stanchions (40i).

14. Method according to any of the preceding claims, characterized in that an obstacle (G) preventing the departure (A) of the vehicle (1) is determined depending on at least one state (Z), which is selected from the group consisting of: illumination state (Z1), wheel state (Z2), door state (Z3), tarpaulin state (Z4), loading state (Z5), weather state (Z6), braking system state (Z7), and drive state (Z8), the relevant state (Z) being determined on the basis of the sensor signals (S2) generated by the sensor system (25) of the inspection vehicle (20).

15. Method according to claim 14, characterized in that the state (Z) of the vehicle (1) is determined via an acoustic sensor (68) of the sensor system (25) of the inspection vehicle (20) by evaluating the noises (N) occurring in the surroundings (U) of the inspection vehicle (20), which noises are detected by the acoustic sensor (68) at the parking space (10) of the vehicle (1).

16. Method according to any of the preceding claims, characterized in that if there is an obstacle (G) preventing the departure (A) of the vehicle (1), the management system (V) and / or the inspection vehicle (20) generates and outputs control signals (S1) to the vehicle (1) such that the vehicle (1) is prevented from departing (A) and / or it is indicated that there is an obstacle (G) preventing the departure (A) of the vehicle (1).

17. Method according to claim 16, characterized in that based on the control signals (S1), if there is an obstacle (G), a parking brake (7) of the vehicle (1) is engaged or remains engaged and / or the vehicle (1) is switched off.

18. Method according to any of the preceding claims, characterized in that the inspection vehicle (20) moves into an authorization region (50) on the site (11a, 11b) if there is no obstacle (G), the vehicle (1) detecting by means of a vehicle surroundings sensor system (1c) whether the inspection vehicle (20) is in the authorization region (50) and thereby determining whether a departure (A) of the vehicle (1) is authorized by the management system (V), it also being checked whether there is an obstacle (G) depending on the sensor signals (S2) generated by the inspection vehicle (20) up to a departure (A) and / or when the vehicle (1) departs (A) from the parking space (10).

19. Method according to any of the preceding claims, characterized in that when the charge level of an energy store (65) of the inspection vehicle (20) falls below a limit charging state (LG), the inspection vehicle (20) travels, automatically and / or at the request of the management system (V), to a charging station (66) installed on the relevant site (11a, 11b).

20. Method according to any of the preceding claims, characterized in that depending on the sensor signals (S2) of the sensor system (25) of the inspection vehicle (20), a design (R) of the vehicle braking system (1d) of the vehicle (1), in particular of a trailer (1b) of the vehicle (1), is determined.

21. Method according to any of the preceding claims, characterized in that the inspection vehicle (20) is assigned to the site (11a, 11b) of the management system (V) and / or the inspection vehicle (20) can only move on the site (11a, 11b) of the management system (V).

22. Method according to any of the preceding claims, characterized in that a current position (P20) of the inspection vehicle (20) is monitored by the management system (V), when traveling along the inspection path (IP), via a position detection system (29) on the inspection vehicle (20).

23. Method according to claim 22, characterized in that when the inspection vehicle (20) travels along the inspection path (IP), a mapping function (KF) is carried out in which map data (K) stored on the management system (V) are validated and / or checked depending on the current position (P20) and on the sensor signals (S2) generated by the sensor system (25) in the inspection vehicle (20).

24. Inspection arrangement (100) consisting of a management system (V) and an inspection vehicle (20) controllable by the management system (V), wherein the management system (V) has a management controller (80) which is designed to coordinate vehicles (1) on a site (11a, 11b) by means of at least one management function (F), wherein the inspection vehicle (20) has a sensor system (25) comprising at least one sensor (26) for outputting sensor signals (S2) depending on surroundings (U) detected by the at least one sensor (26), wherein the management controller (80) is further designed: - to determine whether at least one vehicle (1) on the site (11a, 11b) intends to depart (A) from a parking space (10); - to generate at least one control command (B) and to transmit the at least one control command (B) to the inspection vehicle (20) in such a way that the inspection vehicle (20) moves along an inspection path (IP) towards the parking space (10) of the vehicle (1) intending to depart (A), so that the sensor system (25) in the inspection vehicle (20) can detect surroundings (U) of the inspection vehicle (20), while a detection region (27) of the at least one sensor (26) is at least partially aligned with the sub-region (6) beneath the vehicle (1) and / or with the vehicle (1); and - to determine, depending on the sensor signals (S2) generated by the sensor system (25) of the inspection vehicle (20), whether there is an obstacle (G) preventing the departure (A) of the vehicle (1), in order to carry out a departure check (AK).

25. Inspection arrangement (100) according to claim 24, characterized in that an illumination device (60) is arranged on a rear side (20a) and / or on a front side (20b) of the inspection vehicle (20) for illuminating the surroundings (U) of the inspection vehicle (20).

26. Inspection arrangement (100) according to claim 24 or claim 25, characterized in that the at least one sensor (26) of the sensor system (25) is a fisheye camera (28a), at least two sensors (26) preferably being provided which have different, preferably oppositely aligned, detection regions (27), and / or the at least one sensor (26) is an acoustic sensor (68) for recording noises (N) in the detection region (27).

27. Inspection arrangement (100) according to any of claims 24 to 26, characterized in that an overall height (H) of the inspection vehicle (20) is a maximum of 0.5 m, in particular a maximum of 0.35 m, and / or a mass (M) of the inspection vehicle (20) is less than 10 kg, preferably less than 5 kg.