Detection device for motor vehicles for detecting obstacles located below the water surface

Abstract

The invention relates to a detection device (102) for being arranged at a motor vehicle (101), preferably at the motor vehicle front of the motor vehicle (101), the detection device having at least one holding structure (103) for mounting at the motor vehicle (101). The detection device (102) is characterized in particular in that the at least one holding structure (103) has at least one detection element (401, 501, 601) for detecting a road topography (106, 107, 108) below a water surface (304) in front of the motor vehicle (101) in the driving direction (105) in order to detect obstacles (107, 108) and / or a water depth (301).

Description

Technical Field

[0001] The invention relates to a detection device for arrangement at a motor vehicle, preferably for arrangement at the front of a motor vehicle, preferably a commercial vehicle, having at least one retaining structure for mounting at the motor vehicle. The at least one retaining structure comprises at least one detection element in order to detect a road topography located below the water surface in front of the motor vehicle in the direction of travel, for example in order to detect obstacles including water depths (especially wading depths) and / or especially abrupt elevations and / or abrupt depressions. Background Art

[0002] Patrol vehicles for use in disaster areas, in particular in flooded areas, are known in the prior art in a variety of embodiments. In the event of a flood, the patrol vehicle usually has to travel (wade) through deep water. Obstacles below the water surface in front of the patrol vehicle in the direction of travel (e.g. mooring posts, rubble, curbs, floating objects, manholes exposed due to washed away manhole covers, etc.) are mostly not recognizable to the vehicle driver due to the usually turbid water and are therefore a source of danger for the patrol vehicle. Summary of the invention

[0003] The object of the present invention is to provide a possibility by means of which the safety of motor vehicles used in flooded areas can be increased.

[0004] This object is achieved with the features described below. Advantageous further developments are disclosed in the embodiments described below or are derived from the following description of preferred embodiments of the invention.

[0005] The invention relates to a detection device, in particular a scanning device, for arrangement at a motor vehicle, preferably for arrangement at the front of a motor vehicle, preferably a commercial vehicle or a service vehicle, having at least one retaining structure for installation at the front of the motor vehicle.

[0006] The detection device is characterized in particular in that at least one retaining structure has at least one detection element (in particular a scanning element) in order to detect (in particular scan) the road terrain below the water surface in front of the motor vehicle in the direction of travel (for example up to a maximum of 4 m, up to a maximum of 3.5 m or up to a maximum of 3 m), for example making it possible to preferably detect obstacles and / or (in particular a maximum) water depth.

[0007] It is possible that at least one detection element is designed to roll on the road terrain (especially in a contact-based manner) and / or to roll over an obstacle (especially in a contact-based manner), for example to climb over an obstacle (especially in a contact-based manner).

[0008] The detection element is preferably designed to detect and thus expediently scan the road topography by means of ground contact.

[0009] The road terrain may, for example, include (especially sudden) obstacles.

[0010] Obstacles may include, for example, depressions (e.g., manholes exposed due to washed away manhole covers, curbs, etc.) and / or protrusions (e.g., mooring posts, rubble, gravel, curb edges, floating objects, etc.).

[0011] The at least one detection element may, for example, comprise a preferably rotatable scanning wheel, preferably a rotatable star wheel or a suitably rotatable detection wheel.

[0012] The star wheel may, for example, comprise at least three scan wheels (in particular at least three satellite scan wheels).

[0013] The star wheel can, for example, comprise at least three suitably rotatable scanning arms, each of which has a scanning wheel. The scanning arms can, for example, constitute a suitable central rotating structure for the scanning wheel.

[0014] The star wheel, in particular the scan wheel and / or the scan arm can preferably be rotated about a central rotation axis.

[0015] The star wheel can, for example, also be referred to as a scanning wheel.

[0016] The at least one detection element can also be a suitably rotatable detection wheel having, for example, a substantially circular ground contact surface.

[0017] The at least one detection element may, for example, comprise a rotatable scanning ball.

[0018] For example, it is possible to accommodate the scanning sphere in sections in the spherical shell and / or to mount it rotatably therein.

[0019] The scanning ball can preferably be freely rotatable in order to generate substantially no lateral forces, for example when driving around a bend (preferably because the scanning ball can be steered, in particular intrinsically, together with the motor vehicle) and / or to be able to roll in all (driving) directions.

[0020] It is possible that the scanning ball can roll freely (preferably freely rotate) in one plane (especially the horizontal line) and / or about all three spatial axes, so that the scanning ball generates essentially no lateral forces, for example when driving around a bend (preferably because the scanning ball can, especially inherently, steer together with the motor vehicle).

[0021] It should be noted that the contact surface of the scanning ball is preferably smaller than or equal to the contact surface of the tires of the front wheels of the motor vehicle.

[0022] At least one retaining structure can, for example, include at least one damper for reducing the detection momentum, for example when detecting the road topography, in particular when detecting an especially sudden obstacle. Thus, the detection momentum can be damped and thus reduced, in particular when colliding with an especially solid and / or large obstacle.

[0023] The at least one sensing element may preferably be arranged substantially at a distal end of the at least one retaining structure.

[0024] It is possible that at least one retaining structure has a first (e.g. beam-shaped) supporting element and a second (e.g. beam-shaped) supporting element, which can be connected to each other by means of a rotational joint, for example so as to enable the second supporting element to be deflected according to the road terrain, preferably so as to enable deflection in an upward and downward direction.

[0025] The first support element and the second support element can form, for example, a bow structure and / or a connecting rod structure.

[0026] It is possible that the second bearing element extends, preferably substantially obliquely upwards in the direction of the at least one detection element and / or that the central axis of rotation of the at least one detection element is arranged at a higher level than the swivel joint.

[0027] This makes it possible to facilitate the pivoting of the at least one retaining structure, in particular the second bearing element, when climbing over an obstacle.

[0028] The at least one holding structure and / or the at least one detection element can be rotatable, for example, about a steering axis extending substantially perpendicularly to the rotation axis.

[0029] The at least one retaining structure and / or the at least one detection element can, for example, be embodied so as to be steerable together with the motor vehicle.

[0030] As a result, wear of the at least one detection element caused by turning of the motor vehicle can be reduced and / or the maneuverability of a motor vehicle equipped with the detection device can be improved.

[0031] It is possible for the detection device to have at least two holding structures which are preferably arranged next to one another and / or extend essentially parallel to one another.

[0032] It is possible that the detection device has at least one capture element for detecting obstacles comprising protrusions between at least two holding structures. The capture element thus preferably constitutes an additional detection element for obstacles, in particular protrusions, located below the water surface.

[0033] The capture element is preferably a substantially soft (eg flexible or pliable) capture element and / or a capture element for engaging with an obstacle comprising a protrusion.

[0034] The capture element may be, for example, a pull rope, preferably a capture rope, a capture belt or a capture chain or the like.

[0035] The capture element can, for example, connect at least two support structures to one another.

[0036] The catch element can, for example, extend substantially transversely to the at least two holding structures.

[0037] It is possible for the detection device to have at least one display structure which is visually recognizable to a vehicle driver of the motor vehicle.

[0038] The display structure is preferably designed to be moved as a function of a road topography detected (in particular by means of at least one detection element and / or by means of a capture element), so that, for example, the movement of the display structure can provide the road driver with information about the road topography ahead.

[0039] The display structure is preferably configured to protrude from the water surface and may, for example, comprise a substantially vertical pole or the like.

[0040] The display structure, in particular the marker, can also be set in motion by a movement produced by means of at least one detection element and / or by means of a capture element.

[0041] The detection device may, for example, comprise a detection sensor system (eg one or more sensors) in order to detect, preferably electronically, the road surface topography detected by the at least one detection element and / or the protrusions detected by the capture element.

[0042] Alternatively or additionally, the detection sensor system is preferably configured to transmit the road topography detected by at least one detection element and / or the protrusions detected by the capture element in the form of data packets, for example to a control device (eg a computer unit, a data processing device, etc.).

[0043] The control device can be designed, for example, to control, in particular brake, the motor vehicle as a function of the data packets and thus in particular as a function of the detected road topography, in particular obstacles.

[0044] The control device can be designed, for example, to transmit the data packets and thus the detected road topography (in particular obstacles) to other motor vehicles.

[0045] The control device can be designed, for example, to generate an acoustic, haptic and / or optical warning message for the vehicle driver as a function of the data packet and thus in particular as a function of the detected road topography, in particular obstacles.

[0046] The invention also relates to a motor vehicle, such as a commercial or service vehicle, having a detection device as disclosed herein.

[0047] It is possible that the motor vehicle comprises at least two preferably steerable front wheels and each comprises a retaining structure which is arranged substantially in direct forward operation of the respective front wheel and, for example, at least one further retaining structure which is arranged therebetween.

[0048] The at least one steerable retaining structure and / or the at least one steerable detection element may be designed, for example, to carry out a preferably synchronous steering process together with the steerable front wheel.

[0049] The scanning or detection wheel can also, for example, comprise a comparatively wide wheel structure and thus, for example, also comprise scanning rollers or the like.

[0050] The motor vehicle can, for example, comprise a display, in particular an electronic display, in particular for displaying the detected road topography, which preferably comprises protrusions, for example, which are detected by the capture element.

[0051] In the context of the present invention, road terrain may preferably include streets and / or area surfaces, such as streets, rubble fields, areas and / or other ground or geographical surfaces and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The preferred embodiments and features of the present invention described above can be combined with each other at will. Other advantageous improvements of the present invention are disclosed in the scheme described below or are derived from the following description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. Among them:

[0053] Figure 1 A schematic diagram showing a motor vehicle having a detection device according to one embodiment of the invention,

[0054] Figure 2 A schematic diagram showing a detection device according to another embodiment of the present invention;

[0055] Figure 3 A schematic diagram showing a motor vehicle having a detection device according to one embodiment of the invention,

[0056] Figure 4 A schematic diagram showing a detection device according to another embodiment of the present invention;

[0057] Figure 5 A schematic diagram showing a detection device according to another embodiment of the present invention, and

[0058] Figure 6 A schematic diagram showing a detection device according to another embodiment of the present invention.

[0059] The preferred embodiments described with reference to the figures are partially identical, with similar or identical parts being provided with the same reference numerals, and reference may also be made to the description of other embodiments for an explanation thereof. DETAILED DESCRIPTION

[0060] Figure 1 A motor vehicle 101 is shown which is intended in particular for use in flooded areas, in particular for wading. During use, the motor vehicle 101 therefore usually has to be driven through deep water (wading).

[0061] Reference numeral 106 denotes a road topography with, in particular, sudden obstacles 107 and 108, which are below the water surface 304 and are therefore generally invisible to the vehicle driver. Obstacles 107 and 108 may, for example, include sudden protrusions 107 (e.g., bollards, debris, floating objects, etc.) and sudden depressions 108 (e.g., holes, exposed manholes, etc.). Obstacles 107, 108 represent potential sources of danger for the motor vehicle 101, but are mostly unrecognizable to the vehicle driver.

[0062] Motor vehicle 101 therefore comprises a detection device 102 , in particular a scanning device for scanning a road terrain 106 with obstacles 107 and 108 .

[0063] The detection device 102 comprises, by way of example, three holding structures 103 for mounting on the front vehicle part of the motor vehicle 101 , which are arranged next to one another and extend substantially parallel to one another.

[0064] Each of the retaining structures 103 comprises a detection element 401 for detecting a road topography 106 , 107 , 108 below a water surface 304 in front of the motor vehicle 101 in the direction of travel 105 , so that obstacles 107 and 108 in particular can be detected by means of the detection element 401 , but alternatively or additionally also the water depth 301 can be detected.

[0065] The detection element 401 is basically arranged at the distal end of the holding structure 103 and is configured as a rotatable star wheel having three scanning arms and three scanning wheels W. The three scanning arms and the three scanning wheels W can rotate around a central rotation axis A. The detection element configured as the star wheel 401 can also be referred to as a scanning carousel.

[0066] Detection element 401 is designed to roll over road surfaces 106 , 107 , and 108 (in a contact-based manner) and in particular to roll over obstacles 107 and 108 (in a contact-based manner), in particular to climb over obstacles 107 and 108 .

[0067] Road terrain 106 including obstacles 107 and 108 is therefore detected, in particular by direct ground contact.

[0068] Detection device 102 is used in particular to detect a road surface 106 , 107 , 108 located in front of motor vehicle 101 up to, for example, a maximum of approximately 4 m or a maximum of approximately 3 m.

[0069] The motor vehicle 101 comprises two steerable front wheels, wherein a holding structure 103 is arranged substantially in each case in the direct forward travel of the respective front wheel and a further holding structure 103 is arranged there between them.

[0070] These holding structures 103 and / or the detection element 401 can be designed to be steerable, in particular to be able to steer in a coordinated manner with the steerable front wheels of the motor vehicle 101. This can reduce the wear of the detection element 401 and improve the maneuverability of the motor vehicle 101 together with the detection device 102. One possible implementation for steerability is, for example, a rotatable arrangement of the detection element 102 substantially perpendicular to the central rotation axis A.

[0071] The detection element 401 designed as a star wheel is designed in particular in such a way that it can be immersed in a manhole exposed by a washed-away manhole cover, but does not disappear completely therein, in particular does not fall into it.

[0072] Figure 2 A schematic diagram of a detection device 102 according to another embodiment of the present invention is shown.

[0073] The holding structure 103 comprises a first supporting element 402 and a second supporting element 403, which form a bow or connecting rod structure and are connected to each other by means of a rotating joint 404. The second supporting element 403 extends obliquely upward in the direction of the detection element 401. This allows the second supporting element 403 to deflect according to the road topography 106, 107, 108, preferably substantially in the up-down direction Z. Therefore, the detection element 401 can, in particular, roll over (in particular, climb over) the protrusion 107 in an easy manner. The central rotation axis A of the detection element 401 is preferably arranged at a higher level than the rotating joint 404.

[0074] The holding structure 103 has a damper 302 for reducing the detection momentum (eg impact) so that the detection momentum can be reduced when detecting obstacles 107 and 108 , which may be advantageous, for example, when colliding with relatively large obstacles 107 and 108 .

[0075] Figure 3 A schematic diagram of a motor vehicle 101 with a detection device 102 is shown.

[0076] Figure 3 The detection device 102 shown in FIG. 1 is characterized in that the capture element 201 extends between two externally located holding structures 103 .

[0077] The capture element 201 serves as an additional detection element for detecting the protrusion 107 between two outer holding structures 103. The capture element 201 is designed to be flexible and can be, for example, a capture chain, a capture rope, a capture belt, etc. Alternatively or additionally, the capture element can be mounted in a flexible manner.

[0078] The capture element 201 extends substantially transversely to the two holding structures 103 and connects the two holding structures 103 to one another, in order to thereby also be able to detect the space between the two holding structures 103 .

[0079] Figure 4 A schematic diagram of a detection device 102 according to another embodiment of the present invention is shown.

[0080] Figure 4 The detection device 102 shown in FIG. 1 is characterized in that the holding structure 103 is equipped with a mechanical display structure 303 which is visually recognizable for the vehicle driver of the motor vehicle 101 .

[0081] The display structure 303 is preferably mounted on the second support element 403 and is configured to protrude from the water surface 304 and to be moved according to the detected road topography 106, 107, 108, so that the vehicle driver can obtain information about the road topography 106, 107 and 108 below the water surface 304 that is not directly visible to the vehicle driver by means of the movement of the display structure 303. The display structure 303 can, for example, include a flexible pole with, for example, a signal flag, which is substantially vertical in the case of a flat road topography 106.

[0082] It is possible that the capture element 201 is suitably connected to the display structure 303 (for example mounted on its post) so that if the capture element 201 detects the protrusion 107 , the display structure 303 is also moved, for example, inwards and / or backwards.

[0083] Display structure 303 can also be used as a display for water depth 301 .

[0084] The sudden drop of multiple holding structures 103 and thus multiple display structures 303 is indicative of a relatively large sudden depression 108. For example, the sudden drop of only a single support structure 103 and thus only a single display structure 303 is indicative of a relatively small depression 108 (e.g., an exposed manhole, etc.).

[0085] Figure 5A schematic diagram of a detection device 102 according to another embodiment of the present invention is shown.

[0086] The characteristic feature is that the detector element is embodied as a scanning wheel 501 rotatable about a central rotation axis A. The outer circumference of the detector element designed as scanning wheel 501 should preferably correspond at most substantially to the outer circumference of the front wheels of motor vehicle 101 .

[0087] Figure 6 A schematic diagram of a detection device 102 according to another embodiment of the present invention is shown.

[0088] The characteristic feature is that the detection element is designed as an, in particular, freely rotatable scanning ball 601. The scanning ball 601 is accommodated in sections in a ball cage 602 and is conveniently seated therein.

[0089] In particular, rotatable scanning ball 601 can roll freely in the X, Y plane and can rotate freely about all three spatial axes X, Y, Z, so that: since the scanning ball inherently steers together with motor vehicle 101, it generates essentially no lateral forces, for example when driving around a bend.

[0090] It should be noted that the contact surface of the scanning ball 601 is smaller than or substantially equal to the contact surface of the tires of the front wheels of the motor vehicle 101 .

[0091] refer to Figures 1 to 6 The described detection device 102 may have an in particular electronic detection sensor system (eg one or more sensors).

[0092] The detection sensor system can be designed to electronically and thus automatically detect the road topography 106, 107, 108 detected by means of the detection elements 401, 501 and 601 and / or the protrusion 107 detected by means of the capture element 201, and preferably transmit it to the control device in the form of data packets. For this purpose, for example, one or more sensors can be integrated into the retaining structure 103 or arranged in or at the damper 302.

[0093] This makes it possible, for example, for motor vehicle 101 to be controlled, in particular braked, as a function of the data packet.

[0094] This also makes it possible for the data packets to be transmitted, for example, to other motor vehicles. Information about hazardous locations can thus be shared with other motor vehicles.

[0095] In addition, it is possible to generate an acoustic (e.g. warning tone), haptic (e.g. steering wheel vibration) and / or optical warning message (e.g. signal light) for the vehicle driver as a function of the data packet. For this purpose, for example, a movement of the display structure 303, in particular a movement of a pole away from a substantially vertical orientation, can be detected and suitably evaluated.

[0096] The detection device 102 can also be used to map the road topography 106 located below the water surface 304. For this purpose, a rotation angle sensor can be integrated into one or more holding structures 103, for example.

[0097] The invention is not limited to the preferred embodiments described above. On the contrary, numerous variants and modifications are possible which also utilize the inventive concept and therefore fall within the scope of protection.

[0098] Reference numerals list

[0099] 101 Motor vehicles, such as patrol vehicles or commercial vehicles

[0100] 102 detection device, preferably scanning device

[0101] 103 Maintaining structure

[0102] 105 Direction of travel of motor vehicles

[0103] 106 Road Terrain

[0104] 107 Obstacles, especially protrusions

[0105] 108 Obstacles, especially depressions

[0106] 201 Capture element, preferably additional detection element

[0107] 301 water depth

[0108] 302 Damper

[0109] 303 Display structure

[0110] 304 Water Surface

[0111] 401 Detection elements, especially star wheels

[0112] 501 detection element, especially scanning wheel

[0113] 601 detection element, especially scanning ball

[0114] 602 Ball Cage

[0115] 402 first supporting element

[0116] 403 Second supporting element

[0117] 404 Rotary Joint

[0118] A rotation axis, especially the central rotation axis

[0119] W Scan Wheel

[0120] X Space Axis

[0121] Y spatial axis

[0122] The Z space axis, the upward and downward directions.

Claims

1. A detection device (102) for arrangement at a motor vehicle (101), the detection device having at least one retaining structure (103) for mounting at the motor vehicle (101), characterized in that: The at least one retaining structure (103) has at least one detection element (401, 501, 601) for detecting a road topography (106, 107, 108) below a water surface (304) in front of the motor vehicle (101) in a driving direction (105) in order to detect obstacles (107, 108) and / or a water depth (301), a) the at least one detection element (401, 501, 601) comprises a scanning wheel; and / or b) The at least one detection element (401, 501, 601) comprises a rotatable scanning ball (601).

2. The detection device (102) according to claim 1, characterized in that The at least one detection element (401, 501, 601) is designed to roll on the road terrain (106, 107, 108) and / or to roll over the obstacle (107, 108).

3. The detection device (102) according to any one of the preceding claims, characterized in that The road terrain (106, 107, 108) has obstacles (107, 108) including protrusions (107) and / or depressions (108).

4. The detection device (102) according to claim 1 or 2, characterized in that: The at least one detection element (401, 501, 601) comprises - a rotatable star wheel (401), or - A rotatable detection wheel (501).

5. The detection device (102) according to claim 4, characterized in that: The star wheel (401) comprises at least three scanning wheels (W) and / or at least three scanning arms.

6. The detection device (102) according to claim 1 or 2, characterized in that: The scanning sphere (601) is arranged in sections in a spherical shell (602).

7. The detection device (102) according to claim 6, characterized in that: The scanning ball (601) can rotate freely, can roll freely in a plane (X, Y) and / or can roll freely around all three spatial axes (X, Y, Z).

8. The detection device (102) according to claim 1 or 2, characterized in that: The at least one retaining structure (103) comprises at least one damper (302) for reducing the detected momentum.

9. The detection device (102) according to claim 1 or 2, characterized in that: The at least one detection element (401, 501, 601) is arranged at a distal end of the at least one holding structure (103).

10. The detection device (102) according to claim 1 or 2, characterized in that: The at least one retaining structure (103) comprises a first supporting element (402) and a second supporting element (403), wherein the first supporting element and the second supporting element are connected to each other by means of a rotation joint (404) so ​​as to enable the second supporting element (403) to be deflected according to the road topography (106, 107, 108).

11. The detection device (102) according to claim 10, characterized in that: The second supporting element (403) extends upward in the direction of the at least one detection element (401, 501, 601) and / or the rotation center axis (A) of the at least one detection element (401, 501, 601) is located at a higher level than the rotation joint (404).

12. The detection device (102) according to claim 1 or 2, characterized in that: The at least one holding structure (103) and / or the at least one detection element (401, 501, 601) are steerable.

13. The detection device (102) according to claim 1 or 2, characterized in that: The detection device (102) has at least two holding structures (103) which are arranged side by side and / or extend parallel to each other.

14. The detection device (102) according to claim 13, characterized in that The detection device (102) has at least one capture element (201) for detecting an obstacle comprising a protrusion (107) between the at least two holding structures (103).

15. The detection device (102) according to claim 1 or 2, characterized in that: The at least one retaining structure (103) is equipped with at least one display structure (303) which is visually recognizable to a vehicle driver of the motor vehicle (101) and which is moved in dependence on the detected road topography (106, 107, 108).

16. The detection device (102) according to claim 1 or 2, characterized in that: The detection device (102) comprises a detection sensor system for electronically detecting the road topography (106, 107, 108) detected by the at least one detection element (401, 501, 601) and / or the protrusion (107) detected by the capture element (201) and / or transmitting it to the control device in the form of data packets.

17. The detection device (102) according to claim 16, characterized in that The control device is configured to - controlling the motor vehicle (101) in dependence on the data packets, - transmitting said data packets to other motor vehicles, and / or - generating an acoustic, haptic and / or optical warning message for the vehicle driver as a function of the data packet.

18. The detection device (102) according to claim 1, characterized in that The detection device (102) is intended to be arranged at a motor vehicle front portion of the motor vehicle (101).

19. The detection device (102) according to claim 7, characterized in that The scanning ball (601) can rotate freely, can roll freely in a plane (X, Y) and / or can roll freely around all three spatial axes (X, Y, Z) so that substantially no lateral forces are generated when driving around a bend.

20. The detection device (102) according to claim 8, characterized in that The damper (302) is used to reduce the detection momentum when detecting obstacles (107, 108).

21. The detection device (102) according to claim 10, characterized in that The first support element and the second support element are connected to one another by means of a swivel joint (404) so ​​that the second support element (403) can be pivoted substantially in an upward and downward direction (Z).

22. The detection device (102) according to claim 12, characterized in that The at least one retaining structure (103) and / or the at least one detection element (401, 501, 601) are steerable so as to be able to steer together with the motor vehicle (101).

23. The detection device (102) according to claim 14, characterized in that The capture element (201) - connecting the at least two holding structures (103) to each other, - extends substantially transversely to the at least two retaining structures (103), and / or - configured to be flexible or pliable.

24. The detection device (102) according to claim 15, characterized in that The display structure (303) is implemented to protrude from the water surface (304).

25. The detection device (102) according to claim 17, characterized in that The control device is designed to brake the motor vehicle as a function of the data packet.

26. A motor vehicle (101) having a detection device (102) according to any one of the preceding claims.

27. The motor vehicle (101) according to claim 26, characterized in that The motor vehicle (101) comprises at least two front wheels, and the holding structure (103) is respectively arranged substantially in direct forward travel of the respective front wheel.

28. A motor vehicle (101) according to any one of claims 26 or 27, characterised in that The motor vehicle (101) comprises a display for displaying the detected road topography (106, 107, 108).

29. The motor vehicle (101) according to claim 26, characterized in that The motor vehicle (101) is a commercial or service vehicle.

30. The motor vehicle (101) according to claim 27, characterized in that At least one further retaining structure (103) is arranged between the at least two front wheels.

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