Computer program product, communication circuit, vehicle, trailer and method for communication between a vehicle and a trailer

Abstract

Embodiments provide a computer program for a communication circuit of a trailer (520), for a communication circuit of a vehicle (510), for a vehicle (502), for a trailer (504), and for a method (100, 200, 300) for communication between a vehicle and a trailer. In particular, embodiments provide a method (100) for communication between a vehicle and a trailer, the method (100) comprising communicating (110) messages between the vehicle and the trailer using a technology configured for communication between individual vehicles.

Description

TECHNICAL FIELD

[0001] The present invention relates to a computer program, a communication circuit for a trailer, a communication circuit for a vehicle, a vehicle, a trailer, and a method for communication between a vehicle and a trailer. In particular, embodiments of the present invention relate to a concept for communication between a vehicle and a trailer for a trailer assistance system. BACKGROUND

[0002] A trailer assistance system is a system that supports a driver or at least partially autonomously drives a vehicle in maneuvering the vehicle and a trailer attached to the vehicle. In some concepts for a trailer assistance system, a driver is able to define a maximum angle between a driving direction of the vehicle and the trailer, and the trailer assistance system maneuvers the vehicle such that the maximum angle is not exceeded and collisions of the vehicle and the trailer with surrounding objects or vehicles are avoided. Sensors installed at the vehicle can have an insufficient field of view and / or range to provide sensor data of the environment of the trailer. Therefore, the trailer can be equipped with sensors and their sensor data can be transmitted to the vehicle.

[0003] The document DE 102 015 120 985 A1 proposes a concept for identifying a trailer with a vehicle. For this purpose, it is proposed to use a wireless transmitter attached to the trailer to transmit a unique identifier to the vehicle. It is further proposed to use sensors to sense parameters of the trailer and to transmit the parameters to the vehicle for a trailer assistance system after the unique identifier is recognized by a controller on the vehicle.

[0004] The document DE 102 016 008 030 A1 proposes a vehicle with a towable object, such as a trailer, and a distance warning system for the vehicle. The distance warning system is connected via a data line to a distance sensing system of the towable object for transmitting information of the distance sensing system to the vehicle and evaluating the information.

[0005] US 2020 / 382925 A1 discloses a method for vehicle length reporting at a first computing device within an intelligent transportation system. The method comprises receiving a position at the computing device from a second computing device and looking up position information for the first computing device. Further, the method comprises calculating a difference between the looked up position for the first computing device and the reported position from the second computing device and using the difference for vehicle length reporting.

[0006] DE 102018127088 A1 discloses an electrically controllable brake system for a vehicle-trailer combination, including a towing vehicle and a trailer, having a towing vehicle brake system for braking the towing vehicle and a trailer brake system for braking the trailer. The brake systems each comprise a control device for electrically actuating the respective wheel brakes in accordance with a brake request.

[0007] US 2017 / 254873 A1 discloses a communication system for a vehicle including a first communication device disposed at a trailer and a second communication device disposed at the vehicle. The communication devices wirelessly communicate a communication to the second communication device, and the second communication device receives the communicated communication from the first communication device. In response to processing of the communicated communication received by the second communication device, the communication system determines an angle of the trailer relative to the vehicle. The first and second communication devices can include first and second dedicated short-range communication devices.

[0008] Correspondingly, the implementation of trailer assistance systems in vehicles involves additional technical components and costs for the vehicles. SUMMARY

[0009] Therefore, there is a need for an improved concept for vehicles and / or trailers.

[0010] This need can be met by the subject-matter of the attached independent and dependent claims.

[0011] Embodiments of the present disclosure are based on the finding that technologies for using communication between separate vehicles, such as WLAN p or cellular vehicle-to- everything (C-V2X), can also be used or reused for communication between a vehicle and a trailer, and thus can save additional technical components (e.g. receivers, processing circuitry, processing routines, etc.) for communication between a trailer and a vehicle. Information that can be communicated in this way between a trailer and a vehicle can indicate or comprise sensor data for a trailer assistance system. A further finding is that a trailer can also be used to forward information to a vehicle, e.g. from other vehicles or infrastructure, using said technologies, for an increased communication range.

[0012] Embodiments provide a method for communicating between a vehicle and a trailer. The method comprises communicating messages between the vehicle and the trailer using a technology configured for communication between separate vehicles. This allows to save or at least reduce the number of additional technical components in the vehicle (e.g. additional receivers in addition to the receivers for communication with other vehicles). Moreover, this can provide compatibility of the trailer with various vehicles of e.g. different car manufacturers.

[0013] The messages comprise at least one of a collective perception message, CPM, and a cooperative awareness message, CAM. The format of the CAM and the CPM is standardized and thus compatible with different vehicles of e.g. different car manufacturers. Means, e.g. protocols and routines, for communicating and processing those formats are already implemented in the vehicles for communication between individual vehicles as well as for communication between vehicles and infrastructure. Thus, using the CPM and / or the CAM for the messages further saves or at least reduces the additional technical effort for communicating and / or processing the messages.

[0014] While the trailer is attached to the vehicle, the position of the trailer can be derived from the position of the vehicle and / or sensor data of sensors mounted at the vehicle and configured to monitor the trailer. Thus, the method can further comprise omitting information about the position of the trailer from the CPM and / or the CAM, respectively. In this way, the size of the messages can be saved and thus resources, e.g. bandwidth, computing power, energy and / or costs, for generating, communicating and processing the messages can be saved.

[0015] Other embodiments provide a method for a vehicle and for communicating with a trailer. The method comprises communicating with another vehicle or an infrastructure component using technology configured for communication between individual vehicles. The method further comprises receiving a message from the trailer using technology configured for communication between individual vehicles. Similar to the above, the method for a vehicle allows saving additional technical components in the vehicle.

[0016] In particular, the technology can comprise technology for communicating between individual vehicles via a wireless local area network, WLAN, or using a mobile communication system. Accordingly, receiving the message can comprise receiving the message from the trailer via a wireless local area network or using a mobile communication system. The technology comprises, for example, communication and processing components, e.g. one or more receivers, transmitters, transceivers, interfaces and / or processing circuitry for communicating via WLAN and / or C-V2X.

[0017] The message can be indicative of information about at least one of the trailer, the environment of the trailer and the environment of the vehicle. Thus, the message can be used to better assess the environment and the trailer, e.g. to better assess the behavior of the trailer (relative to the vehicle or other vehicles) or the distance of the vehicle and / or the trailer to objects, other vehicles and / or persons in the environment of the vehicle and the trailer.

[0018] In some embodiments, the method further comprises maneuvering the vehicle based on the information. This allows supporting the driver of the vehicle in maneuvering the trailer and, for example, allows avoiding collisions with other vehicles, obstacles and / or persons in the environment.

[0019] Further embodiments of the application provide a method for a trailer and for communicating with a vehicle. The method comprises transmitting a message to the vehicle using a technology configured for communication between separate vehicles. Similar to the above, the method for a vehicle allows for saving additional components in the vehicle.

[0020] Similar to the above, the technology for example comprises a technology for communication between separate vehicles via a wireless local area network or a mobile communication system, and transmitting the message can comprise transmitting the message to the vehicle via the wireless local area network or using the mobile communication system.

[0021] In some embodiments, the method further comprises obtaining information about at least one of the trailer, an environment of the trailer, and an environment of the vehicle, and the message is indicative of the information. Thus, the message can be used to better assess the environment and the trailer, for example to better assess the behavior of the trailer (relative to the vehicle or other vehicles) or the distance of the vehicle and / or the trailer to objects, other vehicles and / or personnel in the environment of the vehicle and the trailer.

[0022] Obtaining the information can comprise receiving the information from a sensor mounted on the trailer, and / or receiving the information from another vehicle. The sensor is for example a Lidar sensor, a radar sensor, an ultrasonic sensor, a photographic device, etc. Alternatively, the information can be obtained from a plurality of sensors and / or combinations of the above mentioned sensors.

[0023] Other embodiments provide a computer program having a program code for performing at least one of the methods proposed herein, when the computer program is executed on a computer, a processor, or a programmable hardware component.

[0024] Further embodiments provide a communication circuit for a vehicle. The communication circuit comprises one or more interfaces configured to communicate in a communication network, and a data processing circuit configured to control the one or more interfaces. The data processing circuit is further configured to perform one of the methods proposed herein for a vehicle using the one or more interfaces.

[0025] Other embodiments provide a vehicle comprising a communication circuit for the vehicle.

[0026] Further embodiments provide a communication circuit for a trailer. The communication circuit comprises one or more interfaces configured to communicate in a communication network, and a data processing circuit configured to control the one or more interfaces. The data processing circuit is further configured to perform one of the methods proposed herein for a trailer using the one or more interfaces.

[0027] Other embodiments provide a trailer comprising a communication circuit for the trailer. BRIEF DESCRIPTION OF DRAWINGS

[0028] Some further features or aspects will be described using the following non-limiting embodiments of an apparatus or method or computer program or computer program product by way of example only, and with reference to the accompanying drawings, in which:

[0029] Figure 1 A flow chart illustrating an embodiment of a method for communicating between a vehicle and a trailer is shown;

[0030] Figure 2 A flow chart illustrating an embodiment of a method for a vehicle and for communicating with a trailer is shown;

[0031] Figure 3 A flow chart illustrating an embodiment of a method for a trailer and for communicating with a vehicle is shown;

[0032] Figure 4 A block diagram illustrating a use case of the proposed concept is shown; and

[0033] Figure 5 A block diagram illustrating an embodiment of a communication circuit for a vehicle / trailer is shown. DETAILED DESCRIPTION

[0034] Various example embodiments will now be described more fully with reference to the accompanying drawings in which some example embodiments are illustrated. In the drawings, the thickness of lines, layers or regions can be exaggerated for clarity. Broken lines can indicate optional components or processes.

[0035] Accordingly, while example embodiments have the capability of various modifications and alternative forms, embodiments of the example embodiments are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that there is no intent to limit example embodiments to the particular forms disclosed, but on the contrary, example embodiments are to cover all modifications, equivalents, and alternatives falling within the scope of the invention. Like numbers refer to like or similar elements throughout the description of the drawings.

[0036] As used herein, the term "or" means any one of the other, unless otherwise indicated (e.g., "or else" or "or in the alternative"). Also, as used herein, unless otherwise indicated, the phrase "comprises", "comprising", "includes", "including", or the like, are meant to be inclusive in a manner that specifies that the item to be included is present, but does not exclude the presence of one or more other items. For example, when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements can be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Similarly, words such as "between," "adjacent," and the like should be interpreted in the manner intended by the person of ordinary skill in the art based on the context in which such words are used.

[0037] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises", "comprising", "includes" and / or "including", when used herein, specify the presence of stated features, integers, steps, operations, elements, and / or components but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0038] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which example embodiments belong. It will be further understood that terms, e.g., those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0039] Figure 1 A flow diagram illustrating an embodiment of a method 100 for communicating between a vehicle and a trailer is shown. The method 100 includes communicating 110 messages between a vehicle and a trailer using techniques configured for communication between separate vehicles.

[0040] In the context of the present disclosure, a vehicle such as the vehicle can be understood as a motor vehicle or power-driven vehicle having a motor for propulsion. The vehicle can be any ground vehicle, watercraft, etc. For example, the vehicle is a car, bus, truck, etc. Further, the vehicle can be configured for use as a towing vehicle. Thus, the vehicle can exhibit means for towing a trailer, e.g. a coupling device or tow hitch for hitching a trailer to the vehicle. Optionally, the vehicle can also have a socket for supplying electrical power to the trailer via a wired connection to the socket and signals from the vehicle for lights, e.g. rear lights, brake lights, and / or turn signal lights.

[0041] A trailer can be understood as a power-free wagon configured and / or intended to be an object to be towed by a motor vehicle. Thus, unlike a vehicle, embodiments of a trailer have no propulsion system of their own, except for any auxiliary motor for maneuvering over a small range, e.g. a few meters or tens of meters. In particular, the trailer can be a utility trailer, a bicycle trailer, a construction trailer, a travel trailer, a semi-trailer, a full trailer, a tight-coupling trailer, a motorcycle trailer, a livestock trailer, a boat trailer, etc.

[0042] In the context of the present disclosure, a technology configured for communication between (separate) vehicles can be understood as a technology configured for communication between motor vehicles or power-driven vehicles. In particular, the technology comprises a technology for wireless communication between separate vehicles, e.g. of a communication standard such as IEEE 802.11p of the Institute of Electrical and Electronics Engineers (IEEE) and / or TS 103 324 of the European Telecommunications Standards Institute (ETSI). For example, the technology comprises a vehicle communication system and / or means for communicating using Dedicated Short-Range Communication (DSRC), Vehicle Ad hoc Network (VANET), C-V2X, WLANp, and / or the like for communication between (separate) vehicles. In embodiments, the technology comprises, e.g., one or more WLAN interfaces, PC5 interfaces, Uu interfaces, and / or corresponding processing means.

[0043] In some embodiments, the technology can also be used for Vehicle-to-Infrastructure (V2I) and / or Vehicle-to-Pedestrian (V2P) communication.

[0044] For the communication between the vehicle and the trailer, the trailer and the vehicle are equipped with components of the technology, such as transmitters, receivers, transceivers, and appropriate processing components (e.g., processing hardware / circuitry and software). The vehicle can already be equipped with the technology for communicating with other vehicles, which is a reason why the amount of technical effort for implementing the communication between the vehicle and the trailer can be reduced in relation to the concept of providing separate technology in addition to the technology for the communication between separate vehicles. Accordingly, the functionality of the technology is increased.

[0045] In embodiments, the passing 110 of the message comprises transmitting the message from the trailer to the vehicle and / or transmitting the message from the vehicle to the trailer. In particular, the message can be transmitted wirelessly. For the passing 110 of the message, the message can be encoded in a wireless signal transmitted by the technology described above.

[0046] The message, for example, comprises or corresponds to at least one of a collective perception message (CPM) and a cooperative awareness message (CAM). For the communication with other vehicles, means (e.g., protocols, routines, etc.) for passing and processing CPMs and / or CAMs can already be implemented. Thus, the passing of the message can involve less or ideally no additional technical effort for passing and / or processing the message.

[0047] In embodiments, optionally, messages other than CAMs or CPMs can be used.

[0048] In some embodiments, the message can indicate information about the trailer, the environment of the trailer, and / or the environment of the vehicle. Such information, for example, indicates sensor data of one or more sensors (e.g., distance sensors, photographic devices, Lidar sensors, radar sensors, ultrasonic sensors, wheel speed sensors, combinations thereof, etc.) mounted at the vehicle and / or at the trailer. The information about the trailer, for example, indicates the size, shape, speed, and / or position of the trailer. The information about the trailer can be determined and / or measured using any of the sensors of the technology. The information about the environment of the vehicle and the trailer, for example, indicates the position of one or more other vehicles in their environment and / or the position and / or distance of the vehicle and / or the trailer in relation to the one or more other vehicles.

[0049] The information is for example used in a driving assistance system for maneuvering the vehicle, and / or in a trailer assistance system for maneuvering the vehicle together with a trailer attached to the vehicle. The driving assistance system and / or the trailer assistance system for example automatically maneuver the vehicle together with the trailer at least partially based on the information, and / or display information (e.g. distance of the vehicle / trailer to other vehicles) to a driver of the vehicle to help the driver to "manually" maneuver the vehicle together with the trailer. The trailer assistance system for example automatically steers, accelerates and / or brakes the vehicle based on information about the environment of the vehicle and the trailer. Optionally, the trailer assistance system displays information about the environment to the driver on a screen.

[0050] Optionally, the information about the environment also indicates the (relative) position of the trailer (relative to the vehicle). In some embodiments, the (relative) position of the trailer (relative to the vehicle) can be derived using sensors of the vehicle, which is also a reason why information about the (relative) position of the trailer (relative to the vehicle) can be omitted from the message (CAM / CPM), for example in order to save resources (e.g. bandwidth, computing power, energy and costs) for generating, communicating and / or processing the message. In order to do so, the information about the position can be considered "non-mandatory" for the trailer, and / or left out from the CAM / CPM when generating the CAM / CPM or deleted from the CAM / CPM afterwards.

[0051] In some embodiments, the information can indicate information received by the trailer and / or the vehicle from one or more other vehicles, for example in order to forward information between the vehicle or the trailer and one or more other vehicles.

[0052] As described in more detail below, the method 100 can be implemented at least partially in and / or by separate methods for the vehicle and the trailer. It is noted that the description of features described in connection with the method 100 can thus also apply to the respective methods for the vehicle and the trailer described below.

[0053] Figure 2 A flow chart illustrating an embodiment of a method 200 for a vehicle and for communicating with a trailer is shown.

[0054] As can be seen from the flow chart, the method 200 comprises communicating 210 with another vehicle or infrastructure component using a technology configured for communication between individual vehicles. Similar to the above, the technology can be understood as a technology configured for communication between motor vehicles or power-driven vehicles, and in particular can comprise a technology for wireless communication between individual vehicles. In particular, the technology can comprise means for communication via a wireless local area network or a mobile communication system. A technology for communication via a WLAN comprises for example a WLAN p interface. A mobile communication system can be understood as a communication system configured for communication via a mobile communication network and by C-V2X. In embodiments, the mobile communication system comprises for example a PC5 interface and / or a Uu interface installed at the vehicle.

[0055] The method 200 further comprises receiving 220 a message (e.g. a CAM or CPM) from the trailer using a technology configured for communication between individual vehicles (e.g. a WLAN p, PC5 and / or Uu interface). In this way, an additional interface dedicated for communication with the trailer can be saved.

[0056] Similar to the above, the message can be indicative of information about at least one of the trailer, an environment of the trailer and an environment of the vehicle. Thus, the message can be used in a driving assistance and / or trailer assistance system. Accordingly, the method 200 can further comprise maneuvering the vehicle based on the information, for example for safely backing up the vehicle together with the trailer. Optionally, the information is displayed to a driver of the vehicle in order to assist the driver in maneuvering the vehicle together with the trailer.

[0057] Figure 3 A flow chart illustrating an embodiment of a method 300 for a trailer and for communicating with a vehicle is shown.

[0058] The method 300 comprises transmitting a message to a vehicle using a technology configured for communication between individual vehicles. Similar to the above, the technology can comprise a technology installed at the trailer and configured for communication between individual vehicles via a wireless local area network and / or a mobile communication system for transmitting the message via the WLAN and / or the mobile communication system.

[0059] It is noted that the description of features in connection with the method 100, 200 or 300 can also apply to the other of the methods.

[0060] Reference should be made to Figure 4 for a more detailed illustration of methods and features of the proposed concept, Figure 4 A block diagram illustrating an exemplary use case of the proposed concept is shown. In particular, Figure 4Use cases for the proposed concept for a trailer assistance system are shown.

[0061] The block diagram shows a first (motor) vehicle 402, a second (motor) vehicle 450 and a trailer 404 attached to the first vehicle 402.

[0062] The first vehicle 402 comprises a communication circuit 410 comprising a PC5 and / or WLANp interface for communication with other vehicles (here: the second vehicle 450) Figure 4 (e.g. CPM and / or CAM) using the communication circuit 410. To this end, the second vehicle 450 can be equipped with another PC5 and / or another WLANp interface.

[0063] The trailer 404 comprises a sensor system 430 comprising environmental sensors configured to monitor the environment of the trailer. In particular, the sensor system 430 can be configured to monitor and generate sensor data of an environmental zone that is not or only partially "visible" to sensors (e.g. distance sensors and / or rear view cameras) of e.g. the first vehicle 402 behind the trailer 404 (not shown). The sensor data is e.g. indicative of the distance or relative position of objects and / or other vehicles behind the trailer.

[0064] The sensor system 430 is coupled to a communication circuit 420 comprising a further PC5 and / or WLANp interface configured for communication with the first and second vehicles 402 and 404. Thus, the communication circuit 420 can be identical in its functionality, communication with other (motor) vehicles, to the communication circuit 410. The communication circuit 420 can receive sensor data from the sensor system 430 and generate CPMs indicative of the sensor data and the monitored environment and transmit (indicated by the "single head" arrow) the CPMs to the first vehicle 402. To this end, the sensor data can be processed by the sensor system or a separate processing circuit such that they can be sent by the CPMs. The sensor data is e.g. image or video data that can not be suitable for sending using CPMs and thus can be processed to extract high-level information (e.g. positions of surrounding vehicles or objects) from the image or video data that can be sent by the CPMs. The first vehicle 402 uses the communication circuit 410 to receive the CPMs and extract the sensor data from the CPMs. Note that also other types of messages, e.g. CAMs, can be used.

[0065] The first vehicle 402 also comprises a trailer assistance system 440. The trailer assistance system 440 is for example configured to process sensor data, to display information about the monitored environment to a driver of the first vehicle based on the sensor data, and / or to at least partially automatically maneuver the first vehicle 402 together with the trailer 404, e.g. to automatically steer, brake and / or accelerate. In this way, the trailer assistance system 440 can support the driver to safely maneuver the first vehicle 402 together with the trailer 404, e.g. to avoid a collision with an object in the monitored environment.

[0066] It is noted that the proposed concept can also be implemented for other purposes, e.g. for communication between independent vehicles. In the current use case, the proposed concept is for example optionally used for communication between the first vehicle 402 and the second vehicle 450 via the communication circuit 420.

[0067] The proposed concept can also be implemented in a communication circuit for a vehicle and / or in a communication circuit for a trailer.

[0068] With reference to Figure 5 such an implementation, Figure 5 A block diagram is shown illustrating an embodiment of a communication circuit 510 for a vehicle 502 and a communication circuit 520 for a trailer 504.

[0069] As can be seen from the block diagram, the communication circuits 510 and 520 each comprise one or more interfaces 512 configured to communicate in a communication network and a data processing circuit 514 configured to control the one or more interfaces 512. Further, the data processing circuit 514 is configured to perform the method 200 or 300, respectively, using the one or more interfaces 512.

[0070] In an embodiment, the one or more interfaces 512 can be any means such as a device or circuitry employing at least one of software and hardware that enable the application for the generation, receipt or transmission of the analog or digital signals or information, such as any connectors, contacts, pins, registers, input ports, output ports, conductors, lanes, etc. that allow for the provision or receipt of the signals or information. The interface can be wireless or wired, and it can be configured to communicate (i.e., transmit or receive signals) information with another internal or external component. The one or more interfaces 512 can include additional components to enable communication between vehicles. Such components can include transceiver (transmitter and / or receiver) components such as one or more low noise amplifiers (LNAs), one or more power amplifiers (PAs), one or more duplexers, one or more diplexers, one or more filters or filter circuitry, one or more converters, one or more mixers, respective adapted radio frequency components, etc. The one or more interfaces 512 can be coupled to one or more antennas, which can correspond to any transmitting and / or receiving antennas such as horn antennas, dipole antennas, patch antennas, sector antennas, etc. The antennas can be arranged in defined geometric settings such as uniform arrays, linear arrays, circular arrays, triangular arrays, uniform field antennas, field arrays, embodiments thereof, etc.

[0071] As shown in Figure 5 The respective one or more interfaces 512 are coupled to the respective data processing circuitry 514 of the communication circuitry 510 or 520, respectively, in an embodiment. In an embodiment, the data processing circuitry 514 can include any means for processing information in accordance with the methods 100, 200 or 300, respectively. The data processing circuitry can be implemented using one or more processing units, one or more processing devices, any component for processing such as a processor, a computer, or a programmable hardware component or components that can be operable with respect to appropriately adapted software. In other words, the functionality of the data processing circuitry 514 can also be implemented in software, which is then executed on one or more programmable hardware components. Such hardware components can include general purpose processors, Digital Signal Processors (DSPs), microcontrollers, etc.

[0072] The skilled person will readily recognize that the steps of various above-described methods can be performed by a programmed computer, e.g., the position of a slot can be determined or calculated. In this document, some embodiments are also intended to cover program storage devices, e.g., digital data storage media, which are machine or computer readable and encode machine-executable or computer-executable programs of instructions, wherein said instructions perform some or all of the steps of a method described herein. The program storage devices can be, e.g., digital memories, magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives, or optically readable digital data storage media. The embodiments are also intended to cover computers programmed to perform said steps of a method described herein, or (field) programmable logic arrays ((F)PLAs) or (field) programmable gate arrays ((F)PGAs), programmed to perform said steps of a method described herein.

[0073] The description and drawings merely illustrate the principles of the application. It will thus be appreciated that those skilled in the art will be able to devise various arrangements that, although not explicitly described or shown herein, embody the principles of the application and are included within its spirit and scope. Furthermore, all examples recited herein are principally intended expressly to be only for pedagogical purposes to aid the reader in understanding the principles of the application and the concepts contributed by the inventor(s) to furthering the art, and are to be construed as being without limitation to such specifically recited examples and conditions. Additionally, all statements as to the

[0074] When provided by a processor, the functions can be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which can be shared. Moreover, explicit use of the term "processor" or "controller" should not be construed to refer exclusively to hardware capable of executing software, and can implicitly include, without limitation, digital signal processor (DSP) hardware, network processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), read only memory (ROM) for storing software, random access memory (RAM), and non volatile storage. Other hardware, conventional or custom, can also be included. Their function can be carried out through the operation of program logic, through dedicated logic, through the interaction of program control and dedicated logic, or even manually, the particular technique being selectable by the implementer as more specifically understood from the context.

[0075] Those skilled in the art will appreciate that any flow charts, flow diagrams, state transition diagrams, pseudocode, and the like represent various processes which can be substantially represented in computer readable medium and so executed by a computer or processor, whether or not such computer or processor is explicitly shown.

[0076] Furthermore, the following claims are hereby incorporated into the detailed description, wherein each claim can stand on its own as a separate embodiment. While each claim can stand on its own as a separate embodiment, it is to be noted that— although a dependent claim can refer in the claims to a specific combination with one or more other claims— other embodiments can also include a combination of the dependent claim with the subject matter of each of other dependent claims. Such combinations are hereby presented unless it is explicitly stated that a specific combination should not be intended. In addition, it is intended to cover any resulting separate product or composition from any recited process, even if that product or composition is not explicitly stated.

[0077] It is also noted that the methods disclosed in the specification or claims can be implemented by an apparatus having means for performing each of the steps of the methods.

Claims

1. A method (100) for communication between a vehicle and a trailer, the method (100) comprising: The technology configured for communication between individual vehicles is used to transmit (110) messages between the vehicle and the trailer. The message includes at least one of Collective Perception Message (CPM) and Collaborative Cognition Message (CAM); Obtain sensor data from the sensors of the vehicle, the sensor data indicating the position of the trailer; as well as Based on the sensor data, information about the trailer's location is omitted from the CPM and / or the CAM, respectively.

2. A method (200) for a vehicle and for communicating with a trailer, the method (200) comprising: Use technology configured for communication between individual vehicles to communicate with another vehicle or infrastructure component (210). The trailer receives (220) messages using a technique configured for communication between individual vehicles, wherein... The message includes at least one of Collective Perception Message (CPM) and Collaborative Cognition Message (CAM); Obtain sensor data from the sensors of the vehicle, the sensor data indicating the position of the trailer; as well as Based on the sensor data, information about the trailer's location is omitted from the CPM and / or the CAM, respectively.

3. The method (200) as described in claim 2, wherein, The technology includes techniques for communication between individual vehicles via a wireless local area network or a mobile communication system, and wherein receiving (220) the message includes receiving the message from the trailer via the wireless local area network or using the mobile communication system.

4. The method (200) as claimed in claim 2 or 3, wherein, The message indicates information about at least one of the trailer, the trailer's environment, and the vehicle's environment.

5. The method (200) as claimed in claim 4, wherein, The method also includes manipulating the vehicle based on the information.

6. A method (300) for trailer and for communicating with a vehicle, the method comprising: The (310) message is transmitted to the vehicle using a technique configured for communication between individual vehicles, wherein The message includes at least one of Collective Perception Message (CPM) and Collaborative Cognition Message (CAM); Obtain sensor data from the sensors of the vehicle, the sensor data indicating the position of the trailer; as well as Based on the sensor data, information about the trailer's location is omitted from the CPM and / or the CAM, respectively.

7. The method (300) as claimed in claim 6, wherein, The technology includes techniques for communication between individual vehicles via a wireless local area network or a mobile communication system, and wherein transmitting (310) the message includes transmitting the message to the vehicle via the wireless local area network using the mobile communication system.

8. The method (300) as claimed in claim 6 or 7, wherein, The method further includes obtaining information about at least one of the trailer, the environment of the trailer, and the environment of the vehicle, wherein the message indicates the information.

9. A computer program product having program code that, when executed on a computer, processor, or programmable hardware component, performs at least one of the methods (100, 200, 300) as claimed in claims 1 to 8.

10. A communication circuit (510) for a vehicle, the communication circuit (510) comprising: One or more interfaces (512) configured to communicate in a communication network; as well as A data processing circuit (514) configured to control the one or more interfaces (512), wherein the data processing circuit is configured to use the one or more interfaces (512) to perform one of the methods (200) as claimed in claims 2 to 5.

11. A means of transport (502) comprising the communication circuit (510) as claimed in claim 10.

12. A communication circuit (520) for a trailer, the communication circuit (520) comprising: One or more interfaces (512) configured to communicate in a communication network; as well as A data processing circuit (514) configured to control the one or more interfaces (512), wherein the data processing circuit (514) is configured to use the one or more interfaces (512) to perform one of the methods (300) as claimed in claims 6 to 8.

13. A trailer (504) comprising the communication circuitry as claimed in claim 12.

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