System and method for computer-aided estimation of a value for a total mass of a vehicle system

Abstract

The invention relates to a method for computer-aided estimation or determination of a value for the total mass of a vehicle system (5) comprising a towing vehicle (2) and, if necessary, at least one trailer (3) coupled to the towing vehicle (2), wherein in the method state data of the vehicle system (5) are detected, which change depending on the loading of the vehicle system (5) and depending on the number of trailers (3) coupled to the towing vehicle (2), and a first value (W1) for the total mass of the vehicle system (5) is estimated or determined in a first estimation or determination framework independently of the state data at a first point in time (t1), wherein if it is identified on the basis of the state data that there is no significant change in the loading of the vehicle system (5) and also no change in the number of trailers (3) coupled to the towing vehicle (2) between the first point in time (t1) and a second point in time (t2), the first value (W1) is retained as a valid value for the total mass of the vehicle system (5) or is taken into account as an initial value for a further determination or estimation of the total mass of the vehicle system (5).

Description

Technical Field

[0001] The present invention relates to a system for computer-aided estimation or determination of the total mass of a vehicle system and to a method for computer-aided estimation or determination of the total mass of a vehicle system.

[0002] In addition, the present invention also relates to a braking system and / or a vehicle adjustment system, and a vehicle system comprising a tractor vehicle and, if necessary, at least one trailer coupled to the tractor vehicle, and such a braking system and / or vehicle adjustment system. Background Technology

[0003] Braking and vehicle conditioning systems require the most accurate possible value for the total mass of the vehicle system in order to implement the relevant conditioning systems with the desired precision. This is particularly true in commercial vehicles, where the total mass sometimes fluctuates significantly due to varying loads, necessitating repeated mass determinations to assist the braking and vehicle conditioning systems.

[0004] In tractor-trailers and potentially coupled trailers, where axle load sensors are present for each individual axle, the total vehicle mass can be determined relatively accurately as the sum of axle loads. However, only a small number of tractor-trailers and trailers have axle load sensors on every axle. Typically, axle load sensors are only present on the rear axle of tractor-trailers with air spring bellows damping, where the air spring bellows pressure is associated with the axle load. In the case of vehicles with fully steel damping, the axle loads being measured are not provided in most cases.

[0005] Therefore, due to the lack of axle load sensors on all axles, direct mass determination is rarely possible. Instead, the total mass of the vehicle system is often estimated. DE 103 07 511 A1 discloses a computer-aided method for estimating the mass of a vehicle based on the balance between the driving force and the sum of inertial forces and driving resistance. Thus, the mass can be estimated, for example, by simultaneously detecting the driving torque (torque acting on the wheels) and the synthesized acceleration and / or deriving it. Since friction is usually not accurately obtainable, the mass can usually only be accurately obtained stepwise through multiple measurements from such dynamic parameters (i.e., without the use of scales). Therefore, there exists a more or less accurate estimate of the mass at a given point in time. This estimate can be achieved, for example, using a so-called RLS (Recursive-Least-Squares) algorithm or an RLS estimator, where the estimate is achieved by stimulating the estimator with corresponding input parameters. To achieve the most reliable estimate of the mass, the estimate is improved over a longer time period. In this way, sources of error in the current estimate can be avoided or at least their impact reduced. Such sources of error include, for example, changes in the slope position during continuous stationary time of a commercial vehicle, or unknown frictional forces (relative to the road, rotating parts of the vehicle, wind, etc.).

[0006] If the estimator is not informed that the load has changed, the estimated value for the gross vehicle mass will be inconsistent with the actual gross vehicle mass or will only become consistent after a very long learning process. This can have serious consequences for the vehicle's driving characteristics. For example, if a downhill drive occurs after a load change (e.g., without the driver applying acceleration), a critical situation may arise because the required braking force has not yet been optimally calculated. The mass estimate can only gradually adapt to the load change because the estimator always retains outdated load measurements in its memory, which the new input value has not yet been corrected for. While the driver may defensively consider this situation, outdated mass values ​​have a negative impact on autonomous vehicles.

[0007] Therefore, it is necessary to further estimate or determine the possibility of the total mass of the vehicle system, in which changes in load and the number of trailers coupled to the tractor vehicle should be identified and taken into account in order to expedite the estimation process. Summary of the Invention

[0008] Therefore, the object of the present invention is to provide a system and method for computer-aided estimation or determination of the total mass of a vehicle system, by means of which the estimation or determination process can be performed more quickly.

[0009] According to the present invention, this task is solved by the technical solution of this application.

[0010] According to a first aspect of the invention, a system is provided for computer-aided estimation or determination of a value for the total mass of a vehicle system, the vehicle system comprising a tractor vehicle and, if necessary, at least one trailer coupled to the tractor vehicle, wherein, a) The system has a sensor device configured such that its sensor signals represent state data of the vehicle system, the state data changing according to the load of the vehicle system and according to the number of trailers coupled to the tractor vehicle, and the system being able to identify whether the load of the vehicle system and the number of trailers coupled to the tractor vehicle have changed or not changed between a first time point (t1) and at least one second time point (t2) later than the first time point (t1). b) The system has an evaluation device configured such that, in particular independent of the state data, the evaluation device estimates or determines a first value (W1) for the total mass of the vehicle system at a first time point (t1) within a first estimation or determination framework, wherein, c) The evaluation device is further configured such that it can identify, based on the state data, whether the load capacity of the vehicle system and the number of trailers coupled to the tractor vehicle have changed or not changed between the first time point (t1) and the at least one second time point (t2), and d) The evaluation device is further configured such that: - If the evaluation device identifies, based on the state data, that the load of the vehicle system has not changed significantly between the first time point (t1) and the second time point (t2), and the number of trailers coupled to the tractor vehicle has not changed, then the evaluation device retains the first value (W1) as a valid value for the total mass of the vehicle system or considers the first value as an initial value for further determining or estimating the total mass of the vehicle system, but... - If the evaluation device identifies, based on the state data, that the load of the vehicle system has changed and / or the number of trailers coupled to the tractor has changed between the first time point (t1) and the second time point (t2), then the evaluation device estimates or determines, in time within the framework of the second estimate or determination following the first estimate or determination, a second value (W2) for the total mass of the vehicle system, particularly independent of the state data, and discards the first value (W1).

[0011] According to a second aspect of the invention, a method is provided for computer-aided estimation or determination of a value for the total mass of a vehicle system, said vehicle system comprising a tractor vehicle and, if necessary, at least one trailer coupled to said tractor vehicle, wherein, in said method, a) Detecting the status data of the vehicle system, which changes according to the load of the vehicle system and the number of trailers coupled to the tractor vehicle, and based on the status data, identifying whether the load of the vehicle system and the number of trailers coupled to the tractor vehicle have changed or not changed between a first time point (t1) and at least one second time point (t2) later than the first time point (t1), and b) Specifically, independent of the state data, at the first time point (t1), a first value (W1) for the total mass of the vehicle system is estimated or obtained within the first estimation or determination framework, wherein, - If, based on the state data, it is identified that the load of the vehicle system has not changed significantly between the first time point (t1) and the second time point (t2), and the number of trailers coupled to the tractor vehicle has also not changed, then the first value (W1) is retained as a valid value for the total mass of the vehicle system, or the first value is considered as an initial value for further determining or estimating the total mass of the vehicle system. - If, based on the state data, it is identified that the load of the vehicle system has changed and / or the number of trailers coupled to the tractor has changed between the first time point (t1) and the second time point (t2), then, in the framework of the second estimate or determination following the first estimate or determination, a second value (W2) for the total mass of the vehicle system is estimated or determined, particularly independent of the state data, and the first value (W1) is discarded.

[0012] The number of trailers coupled to the tractor vehicle can be zero, since the vehicle system consists only of the tractor vehicle, or the number can be any integer, of course, with an upper limit on the number of trailers that can be coupled.

[0013] The present invention recognizes that if, for example, not every axle of the vehicle system has an axle load sensor, the total mass of the vehicle system can be easily determined directly, i.e., by the axle load signal from the axle load sensor, from which the total mass can be estimated or determined with higher quality, particularly independent of the state data, and the estimated value for the total mass can remain valid as long as the state data does not change significantly. It is sufficient for obtaining the state data that not all axles of the vehicle system are equipped with axle load sensors, because changes in the state data and therefore changes in the load of the vehicle system can be detected with the aid of a small number of axle load sensors. Such a change in the state data then has the consequence that the value (W1) estimated so far for the total mass cannot continue to be used. Conversely, if the state data does not change significantly, this indicates that the load of the vehicle system and the number of trailers coupled to the tractor have not changed, making the value (W1) estimated so far for the total mass continue to be considered or remain valid.

[0014] In other words, the first value (W1) of the total mass of the vehicle system obtained or estimated by the evaluation device, for example having a high quality, is retained, for example for further calculations or as an input value for another system, and / or considered for further obtaining or estimating, when it is identified from the state data that the loading state of the vehicle system has not changed or has not changed significantly and the number of trailers coupled to the tractor vehicle has not changed.

[0015] Then, for example, in the stationary state of the vehicle system, there is also a value for the total mass of the vehicle system, which is obtained as a first value, for example, during the previous driving cycle, based on the balance between the driving force and the sum of the inertial force and the driving resistance. This also eliminates or shortens the need to relearn the total mass, which can be time-consuming to achieve a certain estimated mass.

[0016] As described above, a first value for the total mass of the vehicle system can be obtained, for example, based on the balance between the driving force and the sum of the inertial force and the driving resistance.

[0017] According to an improved version of the system, the system can, for example, have a non-volatile data memory, and the evaluation device works in conjunction with the non-volatile data memory to enable the evaluation device to: a) At the first time point (t1), the first value (W1) for the total mass of the vehicle system and the subsequent first state data (Z1) are read into the non-volatile data memory. b) Determine the second state data (Z2) at at least one second time point (t2) and compare the second state data with the first state data (Z1), and - If the deviation between the second state data (Z2) and the first state data (Z1) is greater than the allowable deviation, then discard the first value (W1) and estimate or obtain the second value (W2). - If the deviation between the second state data (Z2) and the first state data (Z1) is equal to or less than the allowable deviation, then the first value (W1) is read from the data memory and retained as the effective value for the total mass of the vehicle system.

[0018] The evaluation device of this system can also be configured such that even if an event theoretically likely to change the total mass of the vehicle system has been determined by the evaluation device between a first time point (t1) and a second time point (t2), the evaluation device retains the first value (W1) as a valid value for the total mass of the vehicle system. Here, the event can be at least one of the following: at least one ignition change of the tractor vehicle, preferably two successive ignition changes; and / or the stationary period of the vehicle system exceeds a pre-given stationary period of the vehicle system. In other words, this prevents the retention of the first value (W1) for the total mass, or the continued use of the first value as an input value for other systems, even if an event that could potentially change the total mass of the vehicle system is determined but actually does not result in a change in the total mass of the vehicle system, without re-estimating or determining the value for the total mass.

[0019] If the ignition device in the tractor vehicle is pre-activated, an ignition switching of the tractor vehicle occurs when, for example, the drive motor of the tractor vehicle switches from a "activated" state to a "deactivated" state, and the ignition device is deactivated. The terms "ignition switching" or "ignition device" should be interpreted broadly, as they include not only tractor vehicles with an internal combustion engine as a drive motor, but also tractor vehicles with a combination of an internal combustion engine and an electric motor, as well as tractor vehicles driven solely by an electric motor.

[0020] For example, the evaluation device obtains speed signals from at least one wheel speed sensor of the tractor vehicle and / or at least one trailer in order to determine the stationary state, and / or the evaluation device obtains the signal from the ignition switch of the tractor vehicle.

[0021] Changes in load can also be detected by at least one vibration receiver, which, for example, has a vertical detection device, and can then detect vibrations triggered by the loading process and input their control into the evaluation device.

[0022] The sensor device of this system may include at least the following: a) At least one axle load sensor on at least one axle of the tractor vehicle and / or on at least one axle of at least one trailer, the axle load sensor providing at least one axle load signal as a sensor signal to the evaluation device; and / or b) A trailer identification device that provides the evaluation device with information about the number of trailers coupled to the tractor vehicle as a sensor signal; and / or c) A camera device having at least one camera arranged on a tractor vehicle and / or at least one trailer, such that the camera provides at least one image signal having information about the number of trailers coupled to the tractor vehicle; and / or d) At least one lidar sensor or radar sensor, said lidar sensor or radar sensor being arranged on the tractor vehicle and / or at least one trailer, such that said lidar sensor or radar sensor provides at least one signal having information about the number of trailers coupled to the tractor vehicle; and / or e) At least one ultrasonic sensor arranged on the tractor vehicle and / or at least one trailer, such that the ultrasonic sensor provides at least one signal having information about the number of trailers coupled to the tractor vehicle.

[0023] In particular, at least one camera can preferably be mounted on the tractor vehicle, such that the camera detects the area behind the tractor vehicle, and the camera provides at least one image signal containing information about the number of trailers coupled to the tractor vehicle. The at least one camera can also be a mirror camera, mounted in or on the side mirror of the tractor vehicle.

[0024] In tractor vehicles, a trailer identification device is typically implemented, which generates a trailer identification signal. Through this device, the evaluation unit can identify, in particular, the following: trailer availability (trailer identified, trailer not identified, identification device unavailable); identification method, such as current measurement via CAN ISO11992, PLC; trailer type (trailer without ABS, trailer with ABS, trailer with EBS); trailer status and availability (ABS, reducer); trailer characteristics, such as trailer type (semi-trailer, trolley, etc.), which can be transmitted from the trailer to the evaluation unit on the tractor vehicle, for example, via CAN ISO11992; number of axles; number of coupled trailers; and trailer geometry (e.g., wheelbase).

[0025] The axle load signals from one or more axle load sensors on the trailer can also be transmitted from the trailer to the evaluation device on the tractor vehicle via CAN ISO11992.

[0026] The present invention also relates to a braking system or vehicle control system or vehicle adjustment system that works in conjunction with the system described above, such that the system provides the braking system or vehicle control system or vehicle adjustment system with a first value (W1) and / or a second value (W2) for the total mass of the vehicle system.

[0027] The braking system or vehicle control system or vehicle adjustment may include, in particular, an electronically adjustable braking system (EBS), a vehicle dynamic adjustment device, a transmission control device, a control device for at least partially autonomous driving, and / or a coupling force adjustment device between the tractor and at least one trailer.

[0028] The present invention also relates to a vehicle system comprising a tractor vehicle and, if necessary, at least one trailer coupled to the tractor vehicle, as well as such a braking system or vehicle control system or vehicle adjustment system.

[0029] According to a particularly preferred embodiment of the vehicle system, the vehicle system can include: a) A tractor vehicle and a saddle-type semi-trailer coupled to the tractor vehicle, wherein the sensor device includes at least one axle load sensor on the rear axle and / or front axle of the tractor vehicle, but no axle load sensor is present on the saddle-type semi-trailer; or b) A tractor unit without a coupled trailer, wherein the sensor device includes at least one axle load sensor on the rear or front axle of the tractor unit; or c) A tractor vehicle and a saddle-type semi-trailer coupled to the tractor vehicle, wherein the sensor device includes at least one axle load sensor on at least one axle of the saddle-type semi-trailer, but no axle load sensor is present on the tractor vehicle; or d) A tractor vehicle with a coupled trailer, such as a full trailer rather than a saddle-mounted semi-trailer.

[0030] Especially in the case of these vehicle system configurations, determining the total mass solely based on the axle load signal from the axle load sensor as state data is too inaccurate, since not all axles are equipped with axle load sensors. Therefore, for example, the total mass is estimated independently of the state data, but the axle load signal is used as state data to perform the following judgment by the evaluation device: whether the state data has changed between the first time point t1 and the second time point t2.

[0031] In case a) above, when, for example, an axle load sensor exists only on the rear axle of the tractor vehicle, but not on the front axle or on one or more axles of the saddle-trailer, the support load of the saddle-trailer is determined by the axle load sensor on the rear axle of the tractor vehicle. This support load then forms part of the state data and is therefore suitable for determining whether the load of the tractor-saddle-trailer combination has changed or not between a first time point t1 and a second time point t2.

[0032] In case b) above, in which only the tractor vehicle exists in the vehicle system but no trailer, and in which the sensor device includes at least one axle load sensor on the rear or front axle of the tractor vehicle, the axle load measured on the front or rear axle forming part of the state data, and is therefore suitable for determining whether the load of the tractor vehicle has changed or not between a first time point t1 and a second time point t2.

[0033] In case c) above, when there is no axle load sensor on the tractor vehicle, but there is an axle load sensor on at least one axle of the saddle semi-trailer, the axle load signal of one or more axle load sensors of the saddle semi-trailer can be transmitted from the saddle semi-trailer to the evaluation device on the tractor vehicle via a data connection, for example via CAN ISO11992, and there it is examined in terms of possible changes in load.

[0034] In cases a), c), and d), the trailer identification device and / or camera device can also determine whether the saddle semi-trailer / trailer is decoupled from or coupled to the tractor vehicle between the first time point t1 and the second time point t2.

[0035] According to an extension of this method, a) At the first time point (t1), the first value (W1) for the total mass of the vehicle system and the subsequent first state data (Z1) are stored in a non-volatile data memory. b) At at least one second time point (t2), determine the second state data (Z2) and compare the second state data with the first state data (Z1), and - If it is determined that the deviation between the second state data (Z2) and the first state data (Z1) is greater than the allowable deviation, then discard the first value (W1) and estimate or obtain the second value (W2), but - If it is determined that the deviation between the second state data (Z2) and the first state data (Z1) is equal to or less than the allowable deviation, then the first value (W1) is read from the data memory and retained as the effective value for the total mass of the vehicle system.

[0036] In this method, even if an event theoretically likely to cause a change in the total mass of the vehicle system has been determined to occur between the first time point (t1) and the second time point (t2), the first value (W1) can be retained as an effective value for the total mass of the vehicle system. The event can be at least one of the following: at least one ignition change of the tractor vehicle, preferably two successive ignition changes; and / or the stationary period of the vehicle system exceeds a pre-defined stationary period of the vehicle system.

[0037] According to the method or an extension of the device, the status data of the vehicle system can be detected by the following means: a) At least one axle load sensor on at least one axle of the tractor vehicle and / or on at least one axle of at least one trailer, the axle load sensor providing at least one axle load signal as a sensor signal; and / or b) A trailer identification device that provides information about the number of trailers coupled to the tractor vehicle as a sensor signal; and / or c) A camera device having at least one camera (6) arranged on the tractor vehicle (2) and / or at least one trailer (3), such that the camera provides at least one image signal having information about the number of trailers (3) coupled to the tractor vehicle (2); and / or d) At least one lidar sensor or radar sensor, said lidar sensor or radar sensor being arranged on the tractor vehicle and / or at least one trailer, such that said lidar sensor or radar sensor provides at least one signal having information about the number of trailers coupled to the tractor vehicle; and / or e) At least one ultrasonic sensor arranged on the tractor vehicle and / or at least one trailer, such that the ultrasonic sensor provides at least one signal having information about the number of trailers coupled to the tractor vehicle.

[0038] In particular, at least one camera can preferably be mounted on the tractor vehicle, such that the camera detects the area behind the tractor vehicle, and the camera provides at least one image signal containing information about the number of trailers coupled to the tractor vehicle. The at least one camera can also be a mirror camera, mounted in or on the side mirror of the tractor vehicle. Attached Figure Description

[0039] Embodiments of the present invention are shown in the accompanying drawings and described in more detail in the following description. The accompanying drawings show: Figure 1A schematic diagram of a system according to a preferred embodiment is provided, which is used for computer-aided estimation or determination of the total mass for a vehicle system. Figure 2 A flowchart of a preferred embodiment of a method for computer-aided estimation or determination of the total mass for a vehicle system; Figure 3 According to the first embodiment, the vehicle system comprises a tractor vehicle and a saddle-type semi-trailer as a trailer, and the vehicle system is equipped with [equipment / features / etc.]. Figure 1 The system; Figure 4 According to the second embodiment, the vehicle system comprises a tractor vehicle and a saddle-type semi-trailer as a trailer, and the vehicle system is equipped with [equipment / features / etc.]. Figure 1 The system. Detailed Implementation

[0040] Figure 1 A schematic diagram of a system 1 according to a preferred embodiment is shown, which is used for computer-aided estimation or determination of a value for the total mass of a vehicle system 5. The vehicle system 5 includes a single tractor vehicle, or the tractor vehicle 2 includes at least one trailer 3 coupled to the tractor vehicle, such as... Figure 3 and Figure 4 As shown.

[0041] System 1 has a sensor device 4 configured such that its sensor signals represent state data of vehicle system 5, which changes according to the load of vehicle system 5 and the number of trailers 3 coupled to tractor vehicle 2, and can identify whether the load of vehicle system 5 and the number of trailers 3 coupled to tractor vehicle 2 have changed or not changed between a first time point t1 and at least one second time point t2 later than the first time point t1.

[0042] exist Figure 3 In this embodiment, the sensor device 4 includes, for example, a camera 6 mounted on the tractor vehicle 2, which detects the area behind the tractor vehicle 2 and provides image signals to an electronic evaluation device 7, for example mounted on or within the tractor vehicle. The evaluation device 7 can extract information from the image signals regarding the number of trailers 3 coupled to the tractor vehicle 2. Therefore, in this case, the evaluation device 7 extracts the following information from the image signals of the camera 6: the trailers 3, especially saddle-type semi-trailers, are coupled to the tractor vehicle 2. The tractor vehicle 2 here has, for example, a front axle and a rear axle, and the saddle-type semi-trailer 3 has two rear axles.

[0043] In addition, Figure 3In this embodiment, the sensor device 4 includes at least one rear axle load sensor 8 on the rear axle of the tractor vehicle 2 and a front axle load sensor 9 on the front axle of the tractor vehicle 2. The rear axle load sensor 8 provides a rear axle load signal to the evaluation device 7, the rear axle load signal containing information about the current rear axle load, and the front axle load sensor 9 provides a front axle load signal containing information about the current front axle load. The saddle-type semi-trailer 3 preferably does not have an axle load sensor.

[0044] exist Figure 3 In one implementation, the sensor device, attached to or replacing the camera 6, may also include a trailer identification device, whose trailer identification signal (here, for example, an ABS signal, which is provided to the evaluation device 7 in the tractor vehicle by the saddle semi-trailer 3 via CANISO11992) also transmits the following information to the evaluation device 7: a saddle semi-trailer 3 is coupled.

[0045] Information regarding the current front axle load, the current rear axle load, and the information regarding the saddle-type semi-trailer 3 coupled to the tractor vehicle 2 forms state data for the vehicle system 5. The evaluation device 7 then evaluates this state data. This evaluation includes the evaluation device 7's ability to identify, based on the state data, whether the load on the vehicle system 5 and the number of trailers 3 coupled to the tractor vehicle 2 have changed or not changed between a first time point t1 and a second time point t2.

[0046] Furthermore, by means of an integrated timer, the evaluation device 7 is able to identify the time sequence of the first time point t1 and the second time point t2. The first time point t1 and the second time point t2 are arbitrary time points and are only related in terms of time sequence.

[0047] For example, if camera 6 detects the saddle semi-trailer 3 at the first time point t1, but no longer detects the saddle semi-trailer at the second time point bt2, the evaluation device 7 evaluates the corresponding image signal of camera 6 as follows: the number of coupled trailers 3 has changed between the first time point t1 and the second time point t2, that is, from 1 to zero.

[0048] In addition, the evaluation device 7 can identify whether the total mass of the vehicle system 5 has changed between the first time point t1 and the second time point t2 by using the rear axle load signal and the front axle load signal. This is because an increase in the load of the saddle semi-trailer 3 alone will cause an increase in the rear axle load of the tractor vehicle 2, which in turn increases the support load of the saddle semi-trailer at the support point of the tractor vehicle 2 on the rear axle. On the other hand, an increase in the load of the tractor vehicle 2 will also cause changes in the rear axle load and the front axle load, which can be identified by the changed rear axle load signal and the changed front axle load signal.

[0049] Furthermore, an estimation routine is implemented in the evaluation device 7, which, in particular, estimates a first value W1 for the total mass of the vehicle system within the framework of the first estimation at a first time point t1, independent of the state data. This is achieved, for example, by estimating the total mass as the first value W1 during the driving cycle, i.e., in the moving vehicle system 5, based on the balance between the driving force and the sum of the inertial force and the driving resistance.

[0050] Furthermore, the electronic evaluation device 7 implements the following routine: if the routine, based on state data, identifies that the load of the vehicle system 5 and the number of trailers 3 coupled to the tractor vehicle 2 have not changed (significantly) between a first time point t1 and a second time point t2, then the routine retains a first value W1 at the second time point t2 as an effective value for the total mass of the vehicle system, or considers this first value as an initial value for further determining or estimating the total mass of the vehicle system 5. Of course, it should be understood that the load has not changed within a certain tolerance range.

[0051] Otherwise, if the routine of the evaluation device 7 identifies, based on the state data, that the load of the vehicle system 5 and / or the number of trailers 3 coupled with the tractor vehicle 2 has changed between the first time point t1 and the second time point t2, then the evaluation device 7 estimates a second value W2 for the total mass of the vehicle system 5, which is also particularly independent of the state data, within the framework of the second estimate that follows the first estimate in time, and discards the first value W1, because the first value is too inaccurate due to the change in the state data during that period.

[0052] exist Figure 4 In the implementation method, with Figure 3 Compared to the previous implementation, the sensor device does not include the camera 6, nor does it include the front axle load sensor 9 on the front axle, but only includes at least one rear axle load sensor 8 on the rear axle. The saddle-type semi-trailer 3 preferably also does not have an axle load sensor.

[0053] Then, the rear axle load sensor 8 has a dual function. On the one hand, it provides the evaluation device 7 with information about whether the saddle-type semi-trailer 3 is coupled to the tractor vehicle 2 via its rear axle load signal. This is because the rear axle load sensor 8 can then provide information about the support load of the saddle-type semi-trailer 3 in its rear axle load signal, and therefore also provides information about whether the number of trailers 3 coupled to the tractor vehicle 2 has changed or not between the first time point t1 and the second time point t2. On the other hand, the rear axle load sensor 8 can also provide the evaluation device 7 with information about whether the load of the vehicle system 5 has changed or not between the first time point t1 and the second time point t2.

[0054] Figure 2A flowchart of a method according to a preferred embodiment is shown, which is used to estimate or determine the value of the total mass for vehicle system 5 with computer assistance. In step 100, the evaluation device 7 estimates a first value W1 of the total mass for vehicle system 5 at a first time point t1. Additionally, in step 200, state data is detected by sensor device 4 at the first time point t1, for example as described above, and controlled input to the evaluation device 7.

[0055] Then, in step 300, the evaluation device 7 checks whether the state data has changed between the first time point t1 and the second time point t2, i.e., whether there is a sensor signal that can infer a change in the load of the vehicle system 5 and / or a change in the number of trailers 3 coupled to the tractor vehicle 2 between the first time point t1 and the second time point t2. If this is the case ("Yes"), the evaluation device 7 discards the first value W1 because it is too inaccurate and cannot form an initial value for the second estimate, and estimates a second value W2 for the total mass of the vehicle system 5 within the framework of the second estimate in step 400. If this is not the case ("No"), the evaluation device 7 retains the first value W1 as a valid value for the total mass of the vehicle system 5 in step 500, and then preferably does not perform further estimation.

[0056] The evaluation device 7 can also be configured with the following routine: even if the evaluation device 7 has determined that an event that could theoretically cause a change in the total mass of the vehicle system 5 has occurred between the first time point t1 and the second time point t2, the routine retains the first value W1 as an effective value W1 for the total mass of the vehicle system 5 or considers the first value W1 as an initial value for further estimating the total mass.

[0057] For example, such an event could be an ignition change of the tractor vehicle 2, such as when the drive motor of the tractor vehicle 2 switches from a state of "on" to a state of "off" or in the reverse order.

[0058] For example, it is assumed that at time t1 during the first driving cycle, when the drive motor of the tractor vehicle is in the "on" state, the evaluation device 7 estimates a first value W1 for the total mass of the vehicle system and stores this first value together with the state data present at time t1 in the non-volatile data memory 10, such as... Figure 1 As shown. Since the data memory 10, such as EEPROM, is non-volatile, even if an ignition change occurs from "on" to "off", for example when the vehicle system 5 is parked, the first value W1 for the total mass and the state data of the vehicle system 5 at time point t1 are obtained.

[0059] If vehicle system 5 is braked from a moving state to a stationary state and then an ignition change occurs from a state "on" to a state "off", then in the case of such an ignition change, it can be expected that the stationary and parked vehicle system 5 will be loaded or unloaded.

[0060] However, if at time t2, i.e., if the drive motor of the tractor vehicle switches back from the state "off" to the state "on", the evaluation device 7 reads the state data obtained and stored at time t1 from the data memory 10 again, and the evaluation device compares the state data with the state data re-provided by the sensor device 4 at time t2.

[0061] Then, if the state data associated with the first time point t1 and the second time point t2 do not (significantly) deviate from each other, the evaluation device 7 reads the first value W1 from the data memory 10 and defines the first value as an effective value for the total mass of the vehicle system 5, although the events of two ignition transitions, such as from "on" to "off" and from "off" to "on", suggest that the following assumption is reasonable: the number of trailers 3 that the vehicle system 5 was loaded or unloaded and / or coupled to the tractor vehicle 2 changed between time point t1 and time point t2.

[0062] Conversely, if the state data associated with the first time point t1 and the second time point t2 deviate significantly from each other due to the two ignition changes, this indicates that the first value W1 is too inaccurate, so that the evaluation device 7 discards the first value W1, for example, by deleting it from the data memory 10, and begins to estimate a new second value W2 for the total mass of the vehicle system 5 in the next second driving cycle.

[0063] In another example, the event is, for instance, that the determined period of stillness of vehicle system 5 has exceeded the predetermined period of stillness of vehicle system 5. It can also be considered that, between the time t1 when vehicle system 5 is braked from a moving state to a stationary state and the time t2 when vehicle system 5 resumes movement from a stationary state, the number of trailers 3 loaded or unloaded from vehicle system 5 (e.g., with the drive unit running) and / or coupled to the tractor vehicle 2 has changed.

[0064] In other words, this prevents the retention of the first value W1 for the total mass, or the continued consideration of the first value as an input value for other systems, even though the evaluation device 7 has determined at least one event that could theoretically cause a change in the total mass of the vehicle system 5 but has not actually caused a change in the total mass of the vehicle system 5, and the value for the total mass is not re-estimated or determined.

[0065] In order to detect such events, the evaluation device 7 obtains, for example, the speed signal from at least one wheel speed sensor of the tractor vehicle 2 and / or trailer 3 so as to determine whether it is stationary or moving, and / or obtains the signal from the ignition switch of the tractor vehicle 2.

[0066] In the embodiments described above, each trailer is coupled to a tractor vehicle 2 and then together with the tractor vehicle to form a vehicle system. However, the vehicle system may also include the tractor vehicle 2 and multiple trailers 3, or it may include only the tractor vehicle 2. Therefore, the system according to the invention can be combined with all possible vehicle systems.

[0067] List of reference numerals 1 System 2 Towing vehicles 3 trailers 4. Sensor Device 5. Vehicle Systems 6 cameras 7. Evaluation device 8. Rear axle load sensor 9. Front axle load sensor 10. Data Storage 100-500 Method Steps W1 First Value W2 Second Value t1 First time point t2 Second time point Z1 First State Data Z2 Second State Data

Claims

1. A system (1) for computer-aided estimation or determination of the total mass of a vehicle system (5), the vehicle system comprising a tractor (2) and at least one trailer (3) coupled to the tractor (2), characterized in that, a) The system has a sensor device (4) configured such that the sensor signal of the sensor device represents state data of the vehicle system, the state data changing according to the load of the vehicle system and according to the number of trailers coupled to the tractor vehicle, and the state data enabling identification of whether the load of the vehicle system and the number of trailers coupled to the tractor vehicle have changed or not changed between a first time point and at least one second time point later than the first time point. b) The system has an evaluation device (7) configured such that, independent of the state data, the evaluation device estimates or determines a first value for the total mass of the vehicle system at a first time point within a first estimation or determination framework, based on the balance between the driving force of the vehicle system and the sum of inertial forces and driving resistance. c) The evaluation device is further configured such that it can identify, based on the state data, whether the load capacity of the vehicle system and the number of trailers coupled to the tractor vehicle have changed or not changed between the first time point and the at least one second time point, and d) The evaluation device is further configured such that: - If the evaluation device identifies, based on the state data, that the load of the vehicle system (5) has not changed significantly beyond a certain tolerance range between the first time point and the second time point, and that the number of trailers (3) coupled to the tractor vehicle (2) has not changed, then the evaluation device retains the first value as an effective value for the total mass of the vehicle system or considers the first value as an initial value for further determining or estimating the total mass of the vehicle system, but... If the evaluation device identifies, based on the state data, that the load of the vehicle system (5) has changed between the first time point and the second time point and / or the number of trailers (3) coupled to the tractor (2) has changed, then the evaluation device estimates or determines, in a time frame following the first estimate or determination, a second value for the total mass of the vehicle system (5) based on the balance between the driving force of the vehicle system and the sum of inertial force and driving resistance, independent of the state data, and discards the first value.

2. The system according to claim 1, characterized in that, The system has a non-volatile data memory (10), and the evaluation device (7) works together with the non-volatile data memory (10) to make the evaluation device (7): a) At the first time point, the first value of the total mass of the vehicle system (5) and the subsequent first state data are read into the non-volatile data memory, and b) Determine the second state data at the at least one second time point and compare the second state data with the first state data, and - If the deviation between the second state data and the first state data is greater than the allowable deviation, then the first value is discarded and the second value is estimated or obtained, but - If the deviation between the second state data and the first state data is equal to or less than the allowed deviation, the first value is read from the data memory (10) and the first value is retained or considered as an effective value for the total mass of the vehicle system (5).

3. The system according to claim 1 or 2, characterized in that, The evaluation device (7) is further configured such that even if an event that theoretically could cause a change in the total mass of the vehicle system (5) has been determined by the evaluation device (7) between the first time point and the second time point, the evaluation device retains or considers the first value as a valid value for the total mass of the vehicle system (5).

4. The system according to claim 3, characterized in that, The event is at least one of the following events: a) At least one ignition change of the tractor vehicle (2); b) The time period of the stationary state of the vehicle system (5) exceeds the pre-given time period of the stationary state of the vehicle system (5).

5. The system according to any one of claims 1-2 and 4, characterized in that, The sensor device (4) includes: a) At least one axle load sensor (8, 9) on at least one axle of the tractor (2) and / or on at least one axle of the at least one trailer (3), the axle load sensor providing at least one axle load signal as a sensor signal to the evaluation device (7); and / or b) A trailer identification device that provides the evaluation device (7) with information as a sensor signal regarding the number of trailers (3) coupled to the tractor vehicle (2); and / or c) A camera device having at least one camera (6) arranged on the tractor vehicle (2) and / or the at least one trailer (3), such that the camera provides at least one image signal having information about the number of trailers (3) coupled to the tractor vehicle (2); and / or d) At least one lidar sensor or radar sensor arranged on the tractor vehicle (2) and / or the at least one trailer (3), such that the lidar sensor or radar sensor provides at least one signal having information about the number of trailers (3) coupled to the tractor vehicle (2); and / or e) At least one ultrasonic sensor arranged on the tractor (2) and / or the at least one trailer (3) such that the ultrasonic sensor provides at least one signal having information about the number of trailers (3) coupled to the tractor (2).

6. A vehicle system (5) comprising a tractor (2) and at least one trailer (3) coupled to the tractor (2), characterized in that, The vehicle system includes a braking system or a vehicle control system or a vehicle adjustment system and a system (1) according to any one of claims 1-5, wherein the braking system or the vehicle control system or the vehicle adjustment system works together with the system (1) such that the system (1) provides the braking system and / or the vehicle control system or the vehicle adjustment system with a first value and / or a second value for the total mass of the vehicle system (5).

7. The vehicle system (5) according to claim 6, characterized in that, The braking system or vehicle control system or vehicle adjustment system includes an electronically adjustable braking system, a vehicle dynamic adjustment device, a transmission control device, a control device for at least partially autonomous driving, and / or a coupling force adjustment device between the tractor (2) and at least one trailer (3).

8. The vehicle system (5) according to claim 6 or 7, characterized in that, The vehicle system includes: a) A tractor vehicle (2) and a saddle-type semi-trailer (3) coupled to the tractor vehicle (2), wherein the sensor device (4) includes at least one axle load sensor on the rear axle and / or front axle of the tractor vehicle (2), but no axle load sensor is present on the saddle-type semi-trailer; or b) A tractor vehicle (2) without a coupled trailer (3), wherein the sensor device (4) includes at least one axle load sensor (8, 9) on the rear or front axle of the tractor vehicle (2); or c) A tractor vehicle (2) and a saddle-type semi-trailer (3) coupled to the tractor vehicle, wherein the sensor device includes at least one axle load sensor on at least one axle of the saddle-type semi-trailer, but no axle load sensor is present on the tractor vehicle; or d) A tractor vehicle (2) with a coupled trailer (3).

9. A method for computer-aided estimation or determination of a value for the total mass of a vehicle system (5), said vehicle system comprising a tractor vehicle (2) and at least one trailer (3) coupled to said tractor vehicle (2), characterized in that, In the method, a) Detect the status data of the vehicle system (5), which changes according to the load of the vehicle system (5) and the number of trailers (3) coupled to the tractor vehicle (2), and based on the status data, identify whether the load of the vehicle system (5) and the number of trailers (3) coupled to the tractor vehicle (2) have changed or not changed between a first time point and at least one second time point later than the first time point. b) Independent of the state data, estimate or obtain a first value for the total mass of the vehicle system (5) at a first time point within a first estimation or determination framework, based on the balance between the driving force of the vehicle system and the sum of inertial forces and driving resistance. - If, based on the state data, it is identified that the load of the vehicle system (5) has not changed significantly beyond a certain tolerance range between the first time point and the second time point, and the number of trailers (3) coupled to the tractor (2) has not changed, then the first value is retained as an effective value for the total mass of the vehicle system (5), or the first value is considered as an initial value for further determining or estimating the total mass of the vehicle system (5), but... - If, based on the state data, it is identified that the load of the vehicle system (5) has changed between the first time point and the second time point and / or the number of trailers (3) coupled to the tractor (2) has changed, then, in the time frame of the second estimate or determination following the first estimate or determination, a second value for the total mass of the vehicle system (5) is estimated or determined independently of the state data based on the balance between the driving force of the vehicle system and the sum of inertial force and driving resistance, and the first value is discarded.

10. The method according to claim 9, characterized in that, a) At the first time point, the first value of the total mass of the vehicle system (5) and the subsequent first state data are stored in a non-volatile data memory (10), and b) At the at least one second time point, determine the second state data and compare the second state data with the first state data, and - If it is determined that the deviation between the second state data and the first state data is greater than the allowable deviation, then the first value is discarded and the second value is estimated or obtained, but - If it is determined that the deviation between the second state data and the first state data is equal to or less than the allowable deviation, then the first value is read from the data memory (10) and the first value is retained or considered as an effective value for the total mass of the vehicle system (5).

11. The method according to claim 9 or 10, characterized in that, Even if an event that theoretically could cause a change in the total mass of the vehicle system (5) has been determined to have occurred between the first time point and the second time point, the first value is retained or considered as a valid value for the total mass of the vehicle system (5).

12. The method according to claim 11, characterized in that, The event is at least one of the following events: a) At least one ignition change of the tractor vehicle (2); b) The time period of the stationary state of the vehicle system (5) exceeds the pre-given time period of the stationary state of the vehicle system (5).

13. The method according to any one of claims 9 to 10, 12, characterized in that, The status data of the vehicle system (5) is detected by the following device: a) At least one axle load sensor (8, 9) on at least one axle of the tractor (2) and / or on at least one axle of the at least one trailer (3), the axle load sensor providing at least one axle load signal as a sensor signal; and / or b) Trailer identification device, which provides information as a sensor signal about the number of trailers (3) coupled to the tractor vehicle (2); and / or c) A camera device having at least one camera (6) arranged on the tractor vehicle (2) and / or the at least one trailer (3), such that the camera provides at least one image signal having information about the number of trailers (3) coupled to the tractor vehicle (2); and / or d) At least one lidar sensor or radar sensor arranged on the tractor vehicle (2) and / or the at least one trailer (3), such that the lidar sensor or radar sensor provides at least one signal having information about the number of trailers (3) coupled to the tractor vehicle (2); and / or e) At least one ultrasonic sensor arranged on the tractor (2) and / or the at least one trailer (3) such that the ultrasonic sensor provides at least one signal having information about the number of trailers (3) coupled to the tractor (2).

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