Method for exchanging data between a trailer and a road user, trailer communication module and trailer

Abstract

The invention relates to a method for transmitting data (D1, D5) between a trailer (1) and a traffic participant (5) in the vehicle's surroundings (U), wherein the data (D1, D5) are transmitted with low latency via a wireless V2X data link (3) between a trailer communication module (2) of the trailer (1) and a participant communication module (4) of the traffic participant (5) in accordance with the V2X standard (V2XS), wherein the wireless data link (3) is formed directly between the trailer communication module (2) and the participant communication module (4) or indirectly via a distribution station (3a), wherein the distribution station ( 3a) directly forwarding the transmitted data (D1, D5), wherein the trailer communication module (2) autonomously selects and activates an operating mode (BM) depending on the respective road user (5), wherein, depending on the activated operating mode (BM), trailer data (D1) related to the trailer (1) are selected and autonomously sent out in accordance with the V2X standard (V2XS) via the wireless V2X data link (3), and / or participant data (D5) provided by and related to the road users (5) are received and autonomously processed in accordance with the V2X standard (V2XS).

Description

Technical Field

[0001] The invention relates to a method for exchanging data between a trailer and traffic participants in the vehicle's surroundings, a trailer communication module and a trailer. Background Art

[0002] For the coordination of vehicles in a platoon (convoy, vehicle complex), communication modules are known, with which a wireless V2X data link can be established, which enables the exchange of data between vehicles or infrastructure in accordance with the V2X standard. These communication modules are usually conceived to enable such a communication module to be installed for each entire vehicle (including tractor and possible trailer). If multiple communication modules are installed in the entire vehicle, this may lead to inconsistent data. The exchanged data may therefore become unusable because they contain contradictory content.

[0003] DE 10 2017 201 717 A1 further describes a tractor vehicle communication module which enables data exchange in accordance with the V2X standard via a wireless V2X data link between two (towing) vehicles. This is used to obtain additional information about the following vehicle when the tractor vehicle is towing a large trailer and the trailer blocks the view of the rearview mirror towards the following vehicle. The trailer itself does not have a communication module.

[0004] DE 10 2015 011 320 A1 describes a data exchange in accordance with the V2X standard via a wireless V2X data link between a bus and an approaching vehicle in order to enable a safe exit from a bus stop.

[0005] DE 10 2014 015 132 A1 describes the integration of a telematics module into an electronic brake system (EBS). DE 11 2016 006 505 T5 describes that a trailer behind a tractor creates a dead zone for wireless data communication in accordance with the V2X standard. To address this, a trailer communication module is arranged in the trailer and a participant communication module is arranged in the tractor, which can communicate directly with each other via a first communication protocol. In addition, the trailer communication module can communicate with other traffic participants in the vehicle's surroundings via a second communication protocol that is different from the first communication module. Here, the selection of the first communication protocol depends on the selection of the second communication protocol, so that the operation of the trailer communication module always depends on the wireless connection to the tractor. Therefore, the trailer communication module does not autonomously build a V2X data link.

[0006] DE 10 2018 117 526 A1 also describes a trailer with a trailer communication module that can communicate with traffic participants via a wireless ecosystem of high-frequency devices. Here, surrounding information data is transmitted in order to facilitate access to the trailer and maneuver it. The trailer communication module does not work autonomously here and does not communicate with traffic participants via a standardized V2X link. Summary of the invention

[0007] The object of the present invention is to specify a method for exchanging data between a trailer and road users, a trailer communication module and a trailer which allow an autonomous and standardized operation of the trailer.

[0008] This object is achieved by a method, a trailer communication module and a trailer according to the invention.

[0009] According to the invention, a method for transmitting data between a trailer and traffic participants in the vehicle's surroundings, such as a tractor and / or an additional trailer or infrastructure devices or external vehicles, is therefore provided, wherein the data are transmitted via a wireless V2X data link between a trailer communication module of the trailer and a participant communication module of a traffic participant with low latency according to the V2X standard, i.e. with a latency time of less than 200 ms, preferably less than 100 ms, in particular less than 50 ms,

[0010] wherein the wireless data link is established directly between the trailer communication module and the respective participant communication module or indirectly via a distribution station, for example a radio mast, wherein the distribution station forwards the transmitted data directly (that is to say without changing the data),

[0011] The trailer communication module autonomously selects and activates an operating mode depending on the respective road user, wherein, depending on the activated operating mode,

[0012] - selecting trailer data related to the trailer and autonomously sending it via a wireless V2X data link in accordance with the V2X standard, and / or

[0013] - receiving and autonomously processing participant data provided by and related to road users in accordance with the V2X standard.

[0014] Therefore, via an autonomous and intelligent trailer communication module, it is possible to provide information about the trailer and / or the trailer's load via a wireless V2X data link with low latency, flexibility and less reliance on the communication infrastructure. Information can therefore be transmitted directly or without request between the trailer and the traffic participant. This means that data is transmitted via the wireless V2X data link without a request, for example in a distribution station or by the respective traffic participant in the meantime. On the contrary, the trailer communication module individually and if necessary, decides which data to select and send, depending on the traffic participant. In addition, it can also be provided that the trailer communication module autonomously outputs the participant data received from and related to the traffic participant again via the wireless V2X data link. The trailer communication module can therefore also autonomously forward the data in a processed or unprocessed manner.

[0015] Furthermore, due to its autonomy, the trailer communication module is not dependent on the infrastructure of other traffic participants, in particular the tractor. Information can thus be disseminated more easily, thereby increasing traffic safety, without the tractor's data becoming inconsistent, since the trailer communication module can select these data intelligently and autonomously, in particular depending on the traffic participant who (may) receive the trailer data. The trailer data can also be selected and output directly from the incident site without a request, so that there is no need for a cloud or intermediate server that manages the trailer data and only provides these trailer data upon retrieval or request.

[0016] Furthermore, the output and distribution of information does not rely on external software, which is installed, for example, on a server of the respective traffic participant connected to the respective participant communication module. The provision of information is therefore not effected by accessing, interrogating or requesting a server to which data was previously sent. Instead, this is effected directly via the V2X data link without request and with low latency.

[0017] Furthermore, the exchange of messages between the trailer and the tractor or other traffic participants can take place with low latency, since standardized V2X links are used. Low latency is also used for traffic safety, since the receipt of a message from the vehicle ahead that includes a deceleration request with a high deceleration value can lead to an immediate reaction by the trailer. If the trailer receives this message, it can already apply brake pressure so that it can react more quickly to the impending braking.

[0018] Furthermore, a large amount of information can be transmitted via the V2X standard, wherein the transmitted information can also be individually adapted or expanded. This individualization facilitates the traceability of the trailer and its cargo and also promotes road traffic safety. Due to the use of the V2X standard, a high level of availability is also provided, since it is used by a large number of vehicles or traffic participants.

[0019] Preferably, it is provided that:

[0020] - using a direct data link formed directly between the trailer vehicle and one of the road users as a wireless V2X data link, wherein the direct data link is a short-range DSRC data link or a 5G direct link, and / or

[0021] - Using a 5G mobile link formed indirectly between the trailer and one of the road users via a distribution station as a wireless V2X data link. The direct data link is preferably in a frequency band between 5.850 GHz and 5.925 GHz and has a link range of up to 1000 m.

[0022] Thus, wireless links that are already used in the field of platoon following can be used, so that the infrastructure (communication modules) already exists in a large number of vehicles. Therefore, only the intelligence or software algorithms of the respective communication modules need to be expanded and only the trailer as a sub-vehicle needs to be equipped with such a communication module.

[0023] It is also preferably provided that the trailer data and the participant data are transmitted in respectively assigned V2X data packets via wireless data transmission in accordance with the V2X standard. Thus, basic data such as global positioning, actual speed, driving direction, actual acceleration, etc. can be transmitted in the V2X primary data packet, and further freely selectable information such as target acceleration, load information or surrounding signals from a surrounding detection system, etc. can be transmitted in the V2X secondary data packet. This allows standardized communications that can also be adjusted to be used, which makes data transmission, in particular data transmission from the trailer, flexible.

[0024] It is also preferably provided that the trailer communication module is operated in a connection mode and / or an interface mode when the trailer communication module reliably confirms that the trailer is connected to at least one tractor assigned to the trailer and / or at least one additional trailer assigned to the trailer. As a result, data can be processed intelligently with low latency in the entire convoy, for example in a "road train", "oversized vehicle", "extended combined unit vehicle". In this case, a trailer communication module according to the invention can be provided in each of the (additional) trailers, which can autonomously select and send data with its own intelligence and receive, evaluate and forward data from other road users, so that a possible warning can be reacted to early, for example, before a braking request is transmitted from the tractor to the last trailer.

[0025] Alternatively, when the trailer communication module

[0026] - reliably confirm that the trailer is not coupled to the tractor and / or additional trailers, and / or

[0027] - when it is not possible to reliably determine whether the trailer is coupled to the tractor and / or the attached trailer,

[0028] The trailer communication module can be operated in free mode. The trailer communication module thus autonomously selects the operating mode and activates it, and then transmits the corresponding selected data via the wireless V2X data link. This is primarily for road safety, because other road users should be warned and informed in advance of possible dangers, regardless of whether they are coupled to a tractor or an attached trailer. This wireless data communication will be publicly accessible in free mode, i.e. preferably unencrypted, because it should be known to as many road users as possible.

[0029] It is preferably provided that the trailer communication module activates the coupling mode and / or the interface mode when the coupling of the trailer to the at least one tractor and / or the at least one additional trailer is plausibly confirmed based on tractor data outputted from the tractor via a wireless V2X data link, for example based on global tractor positioning, and / or based on additional trailer data outputted from the additional trailer via a wireless V2X data link, and / or based on a coupling notification. This confirmation or plausibility check can be carried out, for example, within a certain time period. This monitoring of the tractor data can be carried out autonomously by the intelligent trailer communication module, so that the complexity of selecting the operating mode can be kept low.

[0030] It is preferably provided that the trailer communication module autonomously selects and / or adjusts the trailer data in the connection mode and outputs it to the vehicle surroundings for reception by other traffic participants, wherein the trailer data to be output for this purpose are compared and / or plausibility checked with the tractor data and / or the additional trailer data, and no contradictory trailer data are transmitted. The trailer communication module can thus select or adjust the data output via the standardized V2X data link in a targeted manner by itself, without having to use the data link of the tractor or adjust the data of the tractor and / or the additional trailer. Nevertheless, an overview of the entire vehicle can be obtained using the adjusted data, without contradictions or inconsistencies occurring here. For this purpose, the trailer communication module can also retain trailer data that are inconsistent or contradictory with the tractor data and / or the additional trailer data or are less accurate than these data.

[0031] It is preferably also provided that in the interface mode the trailer data and / or the tractor vehicle data and / or the additional trailer data

[0032] - between the trailer and at least one tractor, and / or

[0033] - between the trailer and at least one additional trailer

[0034] The exchange is carried out via a wireless V2X data link. Accordingly, an additional interface between the tractor and the trailer is provided via the wireless V2X data link, which additional interface is preferably encrypted, because the trailer data and / or tractor data and / or additional trailer data transmitted via it only relate to the vehicle combination or the fleet, so that the encryption increases the data security compared to the same public data. Since a large amount of data can be exchanged via the V2X standard, data that cannot be transmitted via a wired standardized CAN interface, for example, can also be advantageously transmitted.

[0035] It is preferably provided that in the interface mode only those devices which cannot be accessed via the standardized CAN interface are

[0036] - between at least one tractor and trailer, and / or

[0037] - between at least one additional trailer and the trailer

[0038] The transmitted trailer data and / or tractor data and / or additional trailer data, such as tractor target acceleration and / or tractor target speed, are transmitted via the wireless V2X data link. The wireless V2X data link can thus be used to transmit additional information required for safe driving operation. The trailer communication module can select the data to be taken into account in this case by monitoring the data transmitted via the CAN interface and using only those tractor data that are transmitted wirelessly or wirelessly outputting only those trailer data that cannot be transmitted by wire via the CAN interface. This increases the information density without having to transmit the data twice or redundantly.

[0039] According to a preferred development, it can be provided that the trailer communication module and / or the participant communication module in the interface mode receives information about:

[0040] - between at least one tractor and trailer, and / or

[0041] - between at least one additional trailer and the trailer

[0042] Is the CAN interface invalid?

[0043] In the event of a CAN failure of the CAN interface, trailer data and / or tractor data and / or additional trailer data which would have been transmitted via the CAN interface in the absence of a CAN failure are transmitted via the wireless V2X data link. This allows the information density to be maintained compared to a properly functioning CAN interface, since data which would normally have been transmitted via the CAN interface but is now lost can instead be transmitted via the wireless V2X data link.

[0044] Preferably, as an alternative or additional safety level, it can be set that the trailer communication module checks after activating the interface mode and / or the connection mode whether the participant communication modules in the tractor and / or the attached trailer have failed, wherein the trailer communication module outputs a failure warning signal and / or selects trailer data to be output via the wireless V2X data link in the event of a module failure of the respective participant communication module, so that the tractor data and / or attached trailer data lost due to module failure are replaced.

[0045] Advantageously, when a module failure is detected in the tractor and / or in one of the attached trailers, in particular trailer movement information, such as a global trailer position and / or a trailer driving direction and / or a trailer actual acceleration and / or a trailer target acceleration and / or a trailer actual speed and / or a trailer target speed, can be output by the trailer communication module in the trailer data. This has the advantage that the trailer can inform other traffic participants via the trailer communication module about the module failure and can use the trailer data instead. For example, after a module failure, the tractor can initiate a risk-minimizing action and drive onto the hard shoulder. The trailer communication module can detect this and output a global trailer position that can be received by other traffic participants, for example via a wireless V2X data link.

[0046] It is also preferably provided that the trailer communication module is operated in an inquiry mode, wherein the trailer communication module processes an inquiry signal in the inquiry mode, wherein the inquiry signal is included in the participant data received from the respective road user and the trailer communication module selects and sends trailer data as a function of the inquiry signal. Thus, the trailer can output trailer data in a targeted manner in response to an inquiry, both without a tractor and when coupled to a tractor, if these are available, in order to output information about the load to a warehouse or another infrastructure device or vehicle, for example via a wireless V2X data link. Due to the autonomy of the trailer communication module, this can be achieved independently of whether the trailer is coupled to a tractor or whether the tractor has a participant communication module.

[0047] Preferably, it can be provided that the trailer communication module only receives and sends trailer data if the road user who sends the inquiry signal is trusted. This increases data security, wherein the trailer data can be transmitted encrypted additionally depending on the inquiry.

[0048] It is also preferably provided that trailer movement information and / or trailer additional information acquired in the trailer are transmitted in the trailer data, wherein:

[0049] - trailer movement information includes global trailer positioning and / or trailer driving direction and / or trailer actual acceleration and / or trailer target acceleration and / or trailer actual speed and / or trailer target speed, and

[0050] - Additional trailer information includes trailer hazard warnings and / or trailer loading information and / or trailer loading status and / or trailer surrounding signals. The trailer data are therefore not dependent on traffic participants being aware of them and therefore do not have to be generated from transmitted participant data. The trailer communication module therefore operates essentially autonomously only in the trailer and does not rely on other traffic participants. Information from the tractor or the attached trailer, for example, is only used when the trailer is in coupling mode or interface mode.

[0051] Similarly, it is provided that the participant movement information and / or the additional participant information are transmitted in the participant data, wherein:

[0052] - participant movement information including global participant location and / or participant direction of travel and / or participant actual acceleration and / or participant target acceleration and / or participant actual speed and / or participant target speed, and

[0053] - Additional information for participants includes participant danger warnings and / or participant loading information and / or participant loading status and / or participant surrounding environment signals.

[0054] The trailer communication module can therefore process a large amount of information via trailer data or participant data and can act or react accordingly and autonomously in the vehicle surroundings.

[0055] It is also preferably provided that the movement information is obtained from sensor systems on the trailer and / or on the respective road user, for example GNSS sensors, in particular GPS sensors, and / or wheel speed sensors and / or acceleration sensors and / or speed sensors which can measure actual accelerations in the x-direction and / or the y-direction and / or the z-direction,

[0056] The movement information is transmitted from the sensor system to the trailer communication module via a bus system, such as a CAN bus, or the sensor system is at least partially arranged in the trailer communication module. This enables simple access to the respective movement information, wherein no additional sensors have to be installed, since these sensors, such as GNSS sensors, are already present in the trailer or the respective road user.

[0057] It is also preferably provided that the loading state is detected via a temperature sensor in the cargo hold of the trailer or the traffic participant and / or a cargo hold camera in the cargo hold. Thus, the information about the loading state can be read out and forwarded in a simple manner.

[0058] It is also preferably provided that the trailer communication module is supplied with energy in the trailer independently of the traffic participants. Thus, for example, a separate energy supply or energy source can be provided for the trailer communication module, which is at least independent of the tractor and, for example, also independent of other components in the trailer. As a result, the trailer communication module can act completely autonomously.

[0059] It is also preferably provided that the trailer data and / or the participant data are transmitted encrypted via the wireless V2X data link. This can further increase data security. This is particularly advantageous in the interface mode, since in this case the data should only be transmitted between the tractor and the trailer or the attached trailer.

[0060] It is also preferably provided that the trailer communication module only sends trailer data when a traffic participant having a participant communication module is in the effective range of the link with the trailer communication module. Thus, trailer data is not continuously sent out, so that processing effort and energy can be saved. In addition, data security is increased.

[0061] According to the invention, a trailer communication module for carrying out the method according to the invention and a trailer having the trailer communication module are also provided, wherein the trailer communication module is autonomous or is a component of an electronic trailer brake system. This is therefore easily retrofittable. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The present invention is described in detail below based on the embodiments.

[0063] Figure 1 A schematic view showing a trailer in the vehicle's surroundings;

[0064] Figure 2 A schematic diagram showing a vehicle combination; and

[0065] Figure 3 A flow chart diagram of the method according to the invention is shown. DETAILED DESCRIPTION

[0066] Figure 1 The trailer 1 is shown in the vehicle surroundings U. The trailer 1 has a trailer communication module 2, which is designed to establish a low-latency wireless V2X data link 3 with a participant communication module 4 in the vehicle surroundings U. The participant communication module 4 is located in a traffic participant 5 in the vehicle surroundings U, for example in a tractor 5a assigned to the trailer 1, in an infrastructure device 5b or in an external vehicle 5c not assigned to the trailer 1. In addition, if there is, for example, a "road train", "oversized vehicle", "extended combined unit vehicle", the participant communication module 4 can be located in an additional trailer 5d assigned to the trailer 1.

[0067] The wireless V2X data link 3 is preferably a direct data link 3a, which is formed directly between the trailer 1 and the respective traffic participant 5, such as a short-range DSRC (dedicated short-range communication) data link 3b or a 5G direct link 3c via the 5G mobile communication standard. Such a direct data link 3a is used, for example, for standardized V2X communication (V2X, vehicle to everything) between two vehicles (V2V) or between a vehicle and an infrastructure device (V2I) within the scope of coordinated driving in a platoon. For example, ETSI (C-) ITS ((Cooperative) Intelligent Transport System) and / or DSRC WAVE or other known and standardized methods can be used as DSRC data link 3b. In the case of this DSRC data link 3b and 5G direct link 3c, a frequency band of preferably 5.9 GHz, in particular 5.850 to 5.925 GHz, can be used. They have a link effective range of up to 1000 m.

[0068] The wireless V2X data link 3 preferably uses the V2X standard V2XS for wireless transmission of information or messages. According to the V2X standard V2XS, for example, global position P1, P5, actual speed vIst1, vIst5, driving direction F1, F5, actual acceleration aIst1, aIst5, etc. are transmitted at regular time intervals in the V2X primary data packet V2XP1. Other freely selectable information, such as target acceleration aSoll1, aSoll5, load information IL1, IL5 or similar information, is transmitted in the V2X secondary data packet V2XP2.

[0069] Alternatively or additionally, a 5G mobile link 3d via the 5G mobile radio standard is also possible via an additional distribution station 3e. The distribution station 3e is only used to extend the effective range, i.e. the data D1, D5 are not intelligently processed in the distribution station 3e. Therefore, the data D1, D5 are basically only forwarded, and no active requests are accepted here, i.e. the forwarding is unsolicited. Therefore, no direct connection is formed between the traffic participants 5. However, it is also preferred to use the V2X standard V2XS to transmit information or messages here.

[0070] Since the respective V2X data links 3 ; 3a ; 3d are used in accordance with the V2X standard V2XS, a low delay time tL of less than 200 ms, preferably less than 100 ms, and in particular less than 50 ms can be achieved, thereby enabling very fast data exchange D1 , D5 .

[0071] Like the participant communication module 4, the trailer communication module 2 is designed to send trailer data D1 and receive participant data D5 via a wireless V2X data link 3, preferably in accordance with the V2X standard V2XS. The respective data D1, D5 can include, for example, trailer motion information IB1 or participant motion information IB5 of the respective road user 5. As motion information IB1, IB5, for example, global positioning P1, P5, driving direction F1, F5, actual acceleration aIst1, aIst5, target acceleration aSoll1, aSoll5, actual speed vIst1, vIst5, target speed vSoll1, vSoll5, etc. of the trailer 1 or the respective road user 5 are considered, wherein they are transmitted via the respective V2X data packets V2XP1, V2XP2. The suffixes "1" and "5" refer to the trailer 1 or the respective road user 5, wherein the motion information IB5 of the respective road user 5 is only transmitted if it relates to the respective road user 5.

[0072] The motion information IB1, IB5 can be obtained from a corresponding sensor device 6 in the trailer 1 or on the respective road participant 5, such as a GNSS sensor 6a (GNSS, Global Navigation Satellite System), in particular a GPS (Global Positioning System), and / or a wheel speed sensor 6b on the wheel and / or an acceleration sensor 6c and / or a speed sensor 6d which can measure the actual acceleration aIst1, aIst5 in the x-direction and / or the y-direction and / or the z-direction and therefore in particular the tilt of the trailer 5, etc., wherein the sensor device 6 is directly or indirectly connected to the respective communication module 2, 4 in a signal transmission manner or is included therein.

[0073] A large amount of movement information IB1, IB5, such as actual speed vIst1, vIst5 or actual acceleration aIst1, aIst5 or driving direction F1, F5, can be derived from the global positioning P1, P5 alone. The movement information IB1, IB5 can be transmitted, for example, via a bus system 7, such as a CAN bus 7a, in the trailer 1, in the tractor 5a, in the additional trailer 5d and in the external vehicle 5c, so that the sensor system 6 that is already present in the trailer 1 or in the respective road user 5 can be used.

[0074] Furthermore, the respective data D1, D5 may also include additional information IE1, IE5, such as trailer hazard warning W1, participant hazard warning W5, trailer loading information IL1, participant loading information IL5, trailer loading status ZL1, participant loading status ZL5 or surrounding signals S1, S5 of a surrounding detection system 8 (e.g. surrounding camera 8a, radar sensor 8b, LIDAR sensor 8c, ultrasonic sensor 8d, etc.) on the trailer 1 and / or on the respective road user 5, as long as these data are available. For example, these additional information can be transmitted via the V2X secondary data packet V2XP2.

[0075] The loading information IL1, IL5 can contain information about the loading, such as animals, cold gases, hazardous substances, empty driving, etc. This information can be provided manually by the driver or automatically. The loading status ZL1, ZL5 indicates the state of the loading, such as the temperature or the arrangement of the load, that is, whether it has tipped over, leaked, etc. This can be detected, for example, via a temperature sensor 6e in the cargo hold or a cargo hold camera 6f, etc. as an additional sensor device 6 in the trailer 5 or in the corresponding traffic participant 5. The hazard warning W1, W5 can, for example, include a critical driving situation of the trailer 1 or the respective traffic participant 5 related to the following driving dynamics: the driving dynamics are, for example, strong (emergency) braking or an imminent tipping over, or a critical state of the loading, such as a liquid leak, etc.

[0076] The trailer communication module 2 can therefore obtain and process the trailer movement information IB1 and the trailer additional information IE1 itself, and accordingly send them as trailer data D1 via the wireless V2X data link 3 in accordance with the V2X standard V2XS, and thus make them available in the vehicle surroundings U. Other road users 5 in the vehicle surroundings U (i.e. either all road users 5 or a specified range of users) can receive these trailer data D1 with their user communication modules 4 and evaluate or react to them accordingly. In the same way, the trailer communication module 2 can also evaluate and react to the received user data D5 in accordance with the V2X standard V2XS.

[0077] Here, the trailer 1 itself does not rely on the connection with the tractor 5a. The trailer communication module 2 therefore works quasi-autonomously or autonomously and can communicate with the respective traffic participants 5 in the vehicle surroundings U independently of the tractor 5a, that is, its trailer data D1 is not only sent to the tractor 5a but also sent to other traffic participants 5 via the tractor according to the V2X standard V2XS. The trailer communication module 2 is therefore implemented as independent and intelligent, because it can act and / or react autonomously. For this purpose, the trailer communication module 2 can operate in different operating modes BM, in which it does not necessarily react only to external requests, but can also react independently of external requests. In addition, this also applies to each additional trailer 5d, whose participant communication module 4 can have equivalent intelligence or can be designed in the same way as the trailer communication module 2.

[0078] The wireless V2X data link 3, in particular the short-range direct data link 3a (DSRC 3b, 5G-direct 3c), can be considered as a T2X (trailer to everything) data link: T2T (trailer to trailer), T2V (trailer to vehicle), T2I (trailer to infrastructure), which can enable independent and intelligent data exchange in a standardized form or according to the V2X standard V2XS. This has the advantage that the wireless data link 3 can also work when the associated tractor 5a is not equipped with the corresponding technology for wireless data transmission or the tractor 5a is not currently connected. This makes the solution independent of the manufacturer and flexible.

[0079] The energy supply of the trailer communication module 2 is realized by an energy source 9 that is independent of the tractor 5a, for example a battery 9a that is arranged in the trailer 1 and can also provide energy when the tractor 5a is not connected. However, the energy source 9 can be charged via the connected tractor 5a or by solar panels on the roof or by a recovery unit on the trailer 1 or other known charging methods.

[0080] The trailer 1 (and possibly also each additional trailer 5d) can thus communicate as an autonomous "vehicle" in the wireless network formed by the respective wireless V2X data link 3 according to the V2X standard V2XS and in this case is independent of the tractor 5a used as an energy source or as a computing unit or as a master. For this purpose, a new, open and standardized interface from the trailer 1 (and possibly also from each additional trailer 5d) to the outside is provided in order to be able to act and react independently.

[0081] Therefore, according to Figure 3In the method, after the initial initialization step ST0, the above-mentioned trailer movement information IB1 and / or trailer additional information IE1 can first be read into the trailer communication module 2 or generated and selected therein (ST1). The trailer movement information IB1 and / or trailer additional information IE1 are mainly generated in the trailer 1, that is, they are not dependent on the presence of the tractor 5a or other road users 5.

[0082] In a second step ST2, the selected trailer movement information IB1 and / or the selected trailer additional information IE1 can then be sent as trailer data D1 in accordance with the V2X standard V2XS in respective V2X data packets V2XP1, V2XP2 via the wireless V2X data link 3. The wireless transmission of the trailer data D1 or even the selection of the trailer data D1 to be output is determined here depending on the autonomously set operating mode BM. The trailer communication module 2 thus decides autonomously and without a request from the respective road user 5 receiving the trailer data D1: which trailer data D1 is actually sent.

[0083] The trailer communication module 2 thus has an intelligence or algorithm 2a which enables autonomous selection and activation of the operating mode BM and outputs the selected trailer data D1 as a function of this. In parallel therewith, as a function of the autonomously selected and activated operating mode BM, the trailer communication module 2 can receive the participant data D5 via the wireless V2X data link 3 and process them autonomously (ST3).

[0084] The operation of the trailer communication module 2 is completely independent of the presence of the tractor 5a, for example when the trailer 1 is parked in a warehouse, and is also independent of the wireless V2X data link 3 used by the tractor 5a or the participant communication module 4 used therein, if they are present therein. The trailer communication module 2 is thus designed to be self-sufficient and intelligent, because it can act and react autonomously. It is thus possible for the tractor 5a and / or the additional trailer 5d, which are assigned to the trailer 1 and do not have such a participant communication module 4, to benefit from the intelligence of the trailer 1 or the trailer communication module 2, because after the trailer 1 is coupled to such a tractor 5a or such an additional trailer 5d, the entire vehicle has such an intelligent unit, namely the trailer communication module 2.

[0085] The intelligent trailer communication module 2 is designed, for example, to independently adjust the trailer data D1 to be sent when there is a coupled tractor 5a and / or an additional trailer 5d in which a participant communication module 4 is arranged that sends the corresponding tractor data D5a or additional trailer data D5d (see Figure 2 ).

[0086] Typically, the tractor 5a or the attached trailer 5d sends tractor data D5a or attached trailer data D5d via the wireless V2X data link 3 used here, in particular the direct data link 3a, in accordance with the V2X standard V2XS, which at least partially also relates to the entire vehicle combination 100 consisting of the tractor 5a and at least one coupled trailer 1 or attached trailer 5d. This is because, for example, it is usually impossible to distinguish the tractor 5a from the coupled trailer 1, 5d for the actual acceleration or actual speed of the entire vehicle combination 100. In addition, detailed information about the trailer 1 or the attached trailer 5d is not always available in the tractor 5a.

[0087] Based on this, the trailer communication module 2 can reliably identify the participant communication module 4 in the tractor 5a and / or the additional trailer 5d assigned to the trailer 1 in the identification step ST2a, for example, based on the tractor data D5a output by the tractor 5a within a predetermined time period dt or based on the additional trailer data D5d output by the additional trailer 5d within a predetermined time period dt. The tractor data D5a or the additional trailer data D5d can also include connection notifications KB, for example in the V2X secondary data packet V2XP2, which provide information about the connection between the two parties and can be used for a plausibility check.

[0088] If the trailer communication module 2 detects the active connection, the trailer communication module 2 switches to the connection mode KM (operating mode BM), in which the trailer data D1 are selected or adjusted. In some cases, the trailer communication module 2 no longer outputs the entire available information as trailer data D1 in accordance with the V2X standard V2XS via the wireless V2X data link 3, but only the connection data D15. In parallel, the tractor 5a continues to send the tractor data D5a or the additional trailer 5d continues to send the additional trailer data D5d.

[0089] The coupling data D15 here contain trailer data D1 which have been compared or plausibility checked with the tractor data D5a or the additional trailer data D5d. The trailer communication module 2 here decides, based on the received tractor data D5a or the additional trailer data D5d, whether, for example, the actual trailer speed vIst1 and / or the actual trailer acceleration aIst1 and / or the trailer target acceleration aSoll1 and / or the trailer target speed vSoll1 is consistent with or confirmed by the correspondingly transmitted tractor movement information IB5a, or whether the respective trailer data D1 is more accurate. If this is not the case, the respective trailer movement information IB1 is not transmitted as coupling data D15, or only data which do not contradict the tractor movement information IB5a are transmitted. This applies similarly to the additional trailer data D5d, which can be plausibly checked accordingly.

[0090] Since, for example, the tractor 5a does not have access to the current trailer movement information IB1 and / or the trailer additional information IE1 in every case, trailer-specific information that does not contradict the tractor-specific information can also be transmitted in the coupling data D15 in addition. Thus, the actual overall situation of the current driving situation of the vehicle combination 100 can be inferred from the coupling data D15 together with the tractor data D5a and / or the additional trailer data D5d.

[0091] If the tractor 5a and / or the additional vehicle 5d has a participant communication module 4, this is communicated to the trailer communication module 2 by a plausibility check of the tractor data D5a or the additional trailer data D5d within a time period dt or via a connection message KB included in the tractor data D5a or the additional trailer data D5d (see identification step ST2a). As a result, the intelligent trailer communication module 2 can also be operated in an interface mode SM (operating mode BM), in which the CAN interface 10 that is usually present between the trailer 1 and the tractor 5a or the additional tractor 5a assigned to it is expanded.

[0092] The CAN interface 10 is usually standardized, so that the information exchange via it is limited and cannot be expanded. However, in the interface mode SM, the wireless V2X data link 3 between the trailer 1 and the tractor 5a or the additional trailer 5d can be used in parallel with the CAN interface 10 to exchange data D1, D5a, D5d that cannot be exchanged via the CAN interface. This parallel path is also low-latency and standardized according to the V2X standard V2XS, wherein, however, in this case, additional information can also be transmitted via V2X data packets V2XP1, V2XP2. Compared with the CAN interface 10, the V2X interface is expandable. The trailer communication module 2 can then act autonomously based on the transmitted data D1, D5a, D5d.

[0093] The exchange data D1, D5a, D5d which cannot be transmitted via the CAN interface 10 in the past may be, for example, trailer additional information IE1 and tractor additional information IE5a, such as trailer hazard warning W1, tractor hazard warning W5a, trailer loading information IL1, tractor loading information IL5a, trailer loading condition ZL1, tractor loading condition ZL5a or surroundings detection system 8, such as surroundings signal S1, S5a of camera 8a, on at least one trailer 1, 5d and / or at least one tractor 5a. Similar information may also be provided by the additional trailer 5d.

[0094] The exchanged data D1, D5a, D5d and the movement information IB1, IB5a, in particular the tractor target acceleration aSoll5a or the tractor target speed vSoll5a, can therefore be used via the wireless V2X data link 3, from which the (emergency) braking of the tractor 5a can be autonomously inferred in the trailer 1 via the trailer communication module 2 and can react accordingly. If this is confirmed, the trailer communication module 2 can autonomously initiate the braking of the trailer 1, even before the pneumatic control pressure from the tractor 5a acts pneumatically in the trailer 1 via the connector (yellow). As a result, it is possible to achieve a faster braking of the trailer 1, so that it can be avoided that the trailer 1 is pushed towards the tractor 5a in such a braking situation. This also applies similarly to each additional trailer 5d, which can be operated in the interface mode SM with such an intelligent trailer communication module 2.

[0095] Furthermore, a checking step ST2b may be provided, in which, in particular in the interface mode SM, the trailer communication module 2 and / or the participant communication module 4 checks whether the CAN interface between at least one tractor 5a and the trailer 1 and / or between at least one additional trailer 5d and the trailer 1 has failed. If a CAN failure CA of the CAN interface is detected, the trailer data D1 and / or the tractor data D5a and / or the additional trailer data D5d which were parameters via the CAN interface 10 in the absence of a CAN failure CA will also be transmitted via the wireless V2X data link 3. Thus, redundant data transmission can be provided, which is monitored by the trailer communication module 2 and / or by the participant communication module 4.

[0096] In the checking step ST2b, after activating the interface mode SM and / or the coupling mode KM, the trailer communication module 2 can also continuously or intermittently check whether the participant communication module 4 in the tractor 5a and / or in the additional trailer 5d has failed. If a module failure MA of the respective participant communication module 4 is detected, the trailer communication module 2 can output a failure warning signal WS and / or select the trailer data D1 to be output via the wireless V2X data link 3, so that the trailer data D5a and / or the additional trailer data D5d lost due to the module failure MA are replaced. In this way, redundancy can also be provided while the information density remains unchanged.

[0097] If the trailer communication module 2 reliably recognizes in the identification step ST2a that the trailer 1 is not coupled to the tractor 5a and / or the additional trailer 5d, or it cannot be reliably confirmed that the trailer 1 is coupled to the tractor 5a and / or the additional trailer 5d, the trailer communication module 2 switches to the free mode FM (operating mode BM). In this free mode, the trailer communication module 2 can autonomously send trailer data D1 and / or receive participant data D5.

[0098] In addition, the trailer communication module 2 can be operated in all operating modes BM in an inquiry mode AM (operating mode BM), wherein this is achieved based on the participant data D5 obtained in the third step ST3. In this inquiry mode AM, an inquiry signal SA can also be processed from the participant data D5 transmitted via the wireless V2X data link 3. The inquiry signal SA can be issued by a service announcement (standardized) or proprietary by an external traffic participant 5 (for example at the road edge 11 or at a station 12). With the help of these inquiry signals SA, the respective traffic participant 5 can, for example, request the global trailer position P1 or the trailer loading information IL1 or the trailer loading status ZL1, so that as long as the respective inquiry signal SA is trusted, the trailer communication module 2 in the trailer 1 can then respond autonomously and automatically or with the approval of the driver.

[0099] The trailer communication module 2 can also query participant movement information IB5 and / or participant additional information IE5 from other traffic participants 5, such as the tractor 5a, via a query signal SA, and the trailer communication module itself processes the participant data D5 and / or continuously transmits it via the wireless V2X data link 3 and thus also acts as a node if necessary.

[0100] For optimal integration into the trailer 1 , the trailer communication module 2 can be connected to an electronic trailer brake system 13 (TEBS, electronic brake system for trailers) via a CAN bus 7a, for example. However, in principle, autonomous solutions are also conceivable, for example in the case of a trailer 1 without TEBS.

[0101] It can also be provided that the data D1, D15, D5, D5a, D5d directed to a specific road user 5 or to the trailer 1 are transmitted signed and / or encrypted via the wireless V2X data link 3 in order to increase data security. Therefore, the respective communication modules 2, 4 are also designed to encrypt and decrypt the data D1, D15, D5, D5a, D5d.

[0102] Furthermore, the acquired and / or received data D1, D15, D5, D5a, D5d can be stored in the trailer communication module 2 and only sent out when a previously registered road user 5 is in the link range R of the wireless direct link 3a. On the other hand, the stored data D1, D15, D5, D5a, D5d can also be sent or requested at a specific time t. List of reference numerals (component of the description)

[0103] 1 Trailer

[0104] 2 Trailer Communication Module

[0105] 2a Algorithm

[0106] 3 Wireless V2X data link

[0107] 3a Direct data link

[0108] 3b DSRC data link

[0109] 3c 5G Direct Link

[0110] 3d 5G mobile link

[0111] 3e Distribution Station

[0112] 4 Participant Communication Module

[0113] 5 Traffic Participants

[0114] 5a Tractor

[0115] 5b Infrastructure Installations

[0116] 5c External vehicle

[0117] 5d Additional trailer

[0118] 6 Sensors

[0119] 6a GNSS sensor

[0120] 6b Wheel speed sensor

[0121] 6c Accelerometer

[0122] 6d Speed ​​Sensor

[0123] 6e Temperature Sensor

[0124] 6f Warehouse Camera

[0125] 7 Bus system

[0126] 7a CAN bus

[0127] 8 Surrounding environment detection system

[0128] 8a Surrounding camera

[0129] 8b Radar sensor 8b

[0130] 8c LiDAR Sensor

[0131] 8d Ultrasonic Sensor

[0132] 9 Energy Source

[0133] 9a Battery

[0134] 10 CAN interface

[0135] 11 Road edge

[0136] 12 Station

[0137] 13 Trailer Electronic Braking System (TEBS)

[0138] 100 Vehicle Combinations

[0139] aIst1 Actual acceleration of the trailer

[0140] aIst5 Actual acceleration of the participant

[0141] AM inquiry mode

[0142] BM operation mode

[0143] aSoll1 given trailer acceleration

[0144] aSoll5 Participant Goal Acceleration

[0145] aSoll5a Target acceleration of the tractor

[0146] CA CAN failure

[0147] D1 trailer data

[0148] D15 Join Data

[0149] D5 Participant data

[0150] D5a Tractor Data

[0151] D5d Additional trailer data

[0152] dt time period

[0153] F1 trailer driving direction

[0154] F5 Participant driving direction

[0155] IB1 Trailer Movement Information

[0156] IB5 Participant Movement Information

[0157] IB5a Tractor Movement Information

[0158] IE1 trailer additional information

[0159] Additional information for IE5 contributors

[0160] IE5a tractor additional information

[0161] IL1 Trailer loading information

[0162] IL5 Participant Loading Information

[0163] IL5a Tractor loading information

[0164] KM Connection Mode

[0165] KB Link Announcement

[0166] MA module failure

[0167] P1 Global Trailer Positioning

[0168] P5 Global Participant Positioning

[0169] P5a Global Tractor Positioning

[0170] R Link effective range

[0171] S1 Trailer surroundings signal

[0172] S5 Participant's surrounding environment signals

[0173] S5a Towing vehicle surroundings signal

[0174] SA query signal

[0175] SM Interface Mode

[0176] t time point

[0177] tL Delay time

[0178] U Vehicle surroundings

[0179] V2XS V2X Standard

[0180] V2XP1 V2X main data package

[0181] V2XP2 V2X secondary data packet

[0182] vIst1 Actual speed of trailer

[0183] vIst5 Actual speed of participants

[0184] vSoll1 trailer target speed

[0185] vSoll participant target speed

[0186] vSoll5a Target speed of tractor

[0187] W1 Trailer hazard warning

[0188] W5 Participant Hazard Warning

[0189] W5a Trailer hazard warning

[0190] WS failure warning signal

[0191] ZL1 trailer loading status

[0192] ZL5 Participant loading status

[0193] ZL5a Tractor loading status

Claims

1. A method for transmitting data (D1, D5) between a trailer vehicle (1) and a road user (5) in the vehicle's surroundings (U), wherein: The data (D1, D5) are transmitted with low latency in accordance with the V2X standard (V2XS) via a wireless V2X data link (3) between a trailer communication module (2) of the trailer (1) and a participant communication module (4) of the traffic participant (5), wherein the wireless V2X data link (3) is formed directly between the trailer communication module (2) and the respective participant communication module (4), or indirectly via a distribution station (3a), wherein the distribution station (3a) directly forwards the transmitted data (D1, D5), The trailer communication module (2) autonomously selects and activates an operating mode (BM) as a function of the respective road user (5), wherein, depending on the activated operating mode (BM), - selecting trailer data (D1) related to the trailer (1) and autonomously sending the trailer data via the wireless V2X data link (3) in accordance with the V2X standard (V2XS), and / or - receiving and autonomously processing participant data (D5) provided by and relating to road users (5) in accordance with the V2X standard (V2XS), wherein the trailer communication module (2) is operated in a connection mode (KM) and / or an interface mode (SM) when the trailer communication module (2) reliably confirms that the trailer (1) is connected to at least one tractor (5a) assigned to the trailer (1) and / or at least one additional trailer (5d) assigned to the trailer (1); The trailer communication module (2) autonomously selects and / or adjusts the trailer data (D1) in the coupling mode (KM) and outputs the trailer data to the vehicle surroundings (U) for reception by other road users (5), wherein for this purpose the trailer data (D1) to be output are compared and / or plausibly checked with tractor data (D5a) and / or additional trailer data (D5d) and conflicting trailer data (D1) are not transmitted.

2. The method according to claim 1, characterized in that - using a direct data link (3a) formed directly between the trailer (1) and one of the road users (5) as a wireless V2X data link (3), wherein the direct data link (3a) is a short-range DSRC data link (3b) or a 5G direct link (3c), and / or - Using a 5G mobile link (3d) formed indirectly between the trailer (1) and one of the road users (5) via a distribution station (3e) as a wireless V2X data link (3).

3. The method according to claim 2, characterized in that The direct data link (3a) is in a frequency band between 5.850 GHz and 5.925 GHz and has a link range (R) of up to 1000 m.

4. The method according to claim 1, characterized in that: A V2X data link with a latency of less than 200 ms is formed (3).

5. The method according to claim 1, characterized in that The trailer data (D1) and the participant data (D5) are transmitted in respectively assigned V2X data packets (V2XP1, V2XP2) via wireless data transmission (3) in accordance with the V2X standard (V2X).

6. The method according to claim 1, characterized in that The trailer data (D1) generated autonomously are selected in dependence on a road user (5) receiving the trailer data (D1) and / or the trailer data (D1) generated autonomously are selected independently of external software.

7. The method according to claim 1, characterized in that The trailer communication module (2) autonomously re-outputs the participant data (D5) received from the traffic participant (5) and related to the traffic participant (5) via the wireless V2X data link (3).

8. The method according to claim 1, characterized in that When the trailer communication module (2) - reliably confirming that the trailer (1) is not coupled to the tractor (5a) and / or to the additional trailer (5d), and / or - when it cannot be reliably confirmed whether the trailer (1) is coupled to the tractor (5a) and / or the additional trailer (5d), The trailer communication module (2) is operated in free mode (FM).

9. The method according to claim 1, characterized in that: When it is reliably confirmed that the trailer (1) is connected to at least one tractor (5a) and / or at least one additional trailer (5d) based on tractor data (D5a) output from the tractor (5a) via the wireless V2X data link (3), and / or based on additional trailer data (D5d) output from the additional trailer (5d) via the wireless V2X data link (3), and / or based on a connection notification (KB), the trailer communication module (2) activates the connection mode (KM) and / or the interface mode (SM).

10. The method according to claim 9, characterized in that The trailer communication module (2) is operated in the interface mode (SM), and in the interface mode (SM), the trailer data (D1) and / or the tractor data (D5a) and / or the additional trailer data (D5d) - between the trailer (1) and the at least one tractor (5a), and / or - between the trailer (1) and the at least one additional trailer (5d) The exchange is performed via the wireless V2X data link (3).

11. The method according to claim 10, characterized in that In the interface mode (SM), only those interfaces which cannot be accessed via the standardized CAN interface (10) are - between the at least one tractor (5a) and the trailer (1), and / or - between the at least one additional trailer (5d) and the trailer (1) The transmitted trailer data (D1) and / or tractor data (D5a) and / or additional trailer data (D5d) are transmitted via the wireless V2X data link (3).

12. The method according to claim 10, characterized in that The trailer communication module (2) and / or the participant communication module (4) learns in the interface mode (SM): - between the at least one tractor (5a) and the trailer (1), and / or - whether the CAN interface (10) between the at least one additional trailer (5d) and the trailer (1) fails, In the event of a CAN failure (CA) of the CAN interface (10), trailer data (D1) and / or tractor data (D5a) and / or additional trailer data (D5d) that were transmitted via the CAN interface (10) when there was no CAN failure (CA) are also transmitted via the wireless V2X data link (3).

13. The method according to claim 9, characterized in that The trailer communication module (2) checks, after activating the interface mode (SM) and / or the coupling mode (KM), whether a participant communication module (4) in the tractor (5a) and / or the attached trailer (5d) is defective, In which, in the event of a module failure (MA) of the respective participant communication module (4), the trailer communication module (2) outputs a failure warning signal (WS) and / or selects trailer data (D1) to be output via the wireless V2X data link (3) so that tractor data (D5a) and / or additional trailer data (D5d) lost due to the module failure (MA) are replaced.

14. The method according to claim 1, characterized in that The trailer communication module (2) operates in an interrogation mode (AM), wherein the trailer communication module (2) processes an interrogation signal (SA) in the interrogation mode (AM), wherein the interrogation signal (SA) is included in the participant data (D5) received from the respective traffic participant (5), and the trailer communication module (2) selects and sends trailer data (D1) as a function of the interrogation signal (SA).

15. The method according to claim 14, characterized in that The trailer communication module (2) selects and sends trailer data (D1) only if the road user (5) who sends the query signal (SA) is trusted.

16. The method according to claim 1, characterized in that The trailer data (D1) transmits trailer movement information (IB1) and / or trailer additional information (IE1) acquired in the trailer (1), wherein: - the trailer movement information (IB1) includes the global trailer position (P1) and / or the trailer travel direction (F1) and / or the trailer actual acceleration (aIst1) and / or the trailer target acceleration (aSoll1) and / or the trailer actual speed (vIst1) and / or the trailer target speed (vSoll1), and The trailer additional information (IE1) includes a trailer hazard warning (W1) and / or trailer loading information (IL1) and / or a trailer loading status (ZL1) and / or a trailer surroundings signal (S1).

17. The method according to claim 1, characterized in that Participant movement information (IB5) and / or participant additional information (IE5) are transmitted in the participant data (D5), wherein: - the participant movement information (IB5) includes the global participant position (P5) and / or the participant driving direction (F5) and / or the participant actual acceleration (aIst5) and / or the participant target acceleration (aSoll5) and / or the participant actual speed (vIst5) and / or the participant target speed (vSoll5), and The participant additional information (IE5) includes a participant danger warning (W5) and / or participant loading information (IL5) and / or a participant loading status (ZL5) and / or a participant surrounding environment signal (S5).

18. The method according to claim 16, characterized in that The movement information (IB1, IB5) is obtained from sensor systems (6) on the trailer (1) and / or on the respective road user (5), The movement information (IB1, IB5) is transmitted from the sensor system (6) to the trailer communication module (2) via a bus system (7), or the sensor system (6) is at least partially arranged in the trailer communication module (2).

19. The method according to claim 16, characterized in that The loading state (ZL1, ZL5) is detected via a temperature sensor (6e) in the trailer (5) or in the road user (5) and / or a cargo space camera (6f).

20. The method according to claim 1, characterized in that The trailer communication module (2) is supplied with energy in the trailer (1) independently of the road user (5).

21. The method according to claim 1, characterized in that The trailer data (D1) and / or the participant data (D5) are transmitted in an encrypted manner via the wireless V2X data link (3).

22. The method according to claim 1, characterized in that The trailer communication module (2) sends out the trailer data (D1) only when a traffic participant (5) having a participant communication module (4) is in a link validity range (R) with the trailer communication module (2).

23. The method according to claim 1, characterized in that A V2X data link with a latency of less than 100 ms is formed (3).

24. The method according to claim 1, characterized in that A V2X data link with a latency of less than 50 ms is formed (3).

25. The method according to claim 9, characterized in that The tractor data (D5a) includes a global tractor position (P5a).

26. The method according to claim 10, characterized in that In the interface mode (SM), only the standardized CAN interface (10) cannot be used. - between the at least one tractor (5a) and the trailer (1), and / or - between the at least one additional trailer (5d) and the trailer (1) The transmitted tractor target acceleration (aSoll5a) and / or tractor target speed (vSoll5a) are transmitted via the wireless V2X data link (3).

27. The method according to claim 18, characterized in that The sensing mechanism (6) comprises a GNSS sensor (6a), a wheel speed sensor (6b), an acceleration sensor (6c) and / or a speed sensor (6d).

28. The method according to claim 18, characterized in that The bus system (7) is a CAN bus (7a).

29. A trailer communication module (2) for carrying out the method according to any one of claims 1 to 28.

30. A trailer (1) having a trailer communication module (2) according to claim 29, wherein: The trailer communication module (2) is autonomous or is a component of an electronic trailer brake system (13).

Images