Method for controlling a vehicle combination and vehicle combination

Abstract

The invention relates to a method for controlling a vehicle combination (1) consisting of a traction vehicle (1a) and a semitrailer (1b), in which at least one leg (16) is arranged on the semitrailer (1b), said leg having a leg element (16b) and a foot (16c) fastened to the underside of the leg element, the leg element (16b) being adjustable between an extended position (S1) and a retracted position, in which the leg element (16b) is connected to the leg element (16b) during the coupling process. The semitrailer (1b) is coupled to the traction vehicle (1a) and / or the semitrailer (1b) is decoupled from the traction vehicle (1a) during a decoupling process. According to the invention, when the vehicle combination (1) is stationary and in the parking position (PA), the respective leg elements (16b) are automatically adjusted between the intermediate position and the extended position (S1) or vice versa, and / or when the semitrailer (1b) is moved out of the parking position (PA) in the coupling process (AV) or in the direction of the parking position (PA) in the uncoupling process (BV), the respective leg elements (16b) are automatically adjusted between the intermediate position and the extended position (S1). In particular, when the vehicle assembly (1) is not stationary, the respective leg links (16b) are automatically adjusted between the intermediate position (SZ) and the retracted position or vice versa.

Description

Technical Field

[0001] The invention relates to a method for controlling a vehicle combination and to a vehicle combination consisting of a tractor vehicle and a semitrailer. Background Art

[0002] In the methods known from the prior art, the tractor vehicle is manually driven towards a target object, such as a semitrailer, in order to dock with it. This is usually done with considerable effort in that the driver manually adjusts the height of the coupling plate (fifth wheel) on the tractor vehicle so that the kingpin of the semitrailer can be received and fixed therein, and then manually moves the tractor vehicle towards the semitrailer. The coupling plate is then moved towards the kingpin in a manually monitored manner in order to fix the kingpin to the coupling plate.

[0003] In order to facilitate the coupling process after manual approach, methods are already known from DE 10 2006 057 610 A1, DE 10 2014 110 498 A1, DE 10 2019 104 352 A1, WO 2007102777 A1, EP 1 740 400 B1 and EP 1 874 616 B1. In addition, in order to be able to achieve a coupling process that is as fast and smooth as possible while avoiding damage to the kingpin and / or the coupling plate, DE 10 2016 011 323 A1 also provides that the contact between the coupling plate of the tractor vehicle and the saddle plate of the semitrailer located above the kingpin is determined by adjusting the speed or the change in the actual height gradient. The actual height gradient describes the change in height between at least one rear axle of the tractor vehicle and the vehicle structure to which the coupling plate is fastened.

[0004] Furthermore, EP 2 921 350 B1 describes a method which supports the driver of a tractor vehicle in approaching a trailer to be coupled and for this purpose determines, based on image data from a camera, a set trajectory along which the tractor vehicle is to move for the coupling process.

[0005] In addition, US 20190367107 A1 also describes a method which, in addition to the automated coupling process, also includes an automated approach process of the tractor vehicle to the semitrailer, wherein for this purpose the semitrailer is positioned by means of a camera and the kingpin is subsequently approached to the coupling plate by automated control of the tractor vehicle.

[0006] The problem with such automated approach processes is that the supports or legs that support the semitrailer on the ground in the uncoupled state are usually raised and lowered manually. When the individual steps (coupling, automated manual handling of the supports and driving away) are carried out step by step, the throughput of the process that is intended to be automated, for example in a warehouse, is limited, in particular, by the manual handling of the supports. Summary of the invention

[0007] The object of the present invention is therefore to specify a method for controlling a vehicle combination, with which an automated process, for example, which takes place in a warehouse, can be optimized. In addition, the object is to provide a vehicle combination.

[0008] This object is achieved by a method and a vehicle combination according to the independent claims. The dependent claims describe preferred developments.

[0009] Therefore, according to the invention, in the method for controlling a vehicle combination consisting of a tractor vehicle and a semitrailer, it is provided that, while the semitrailer or the vehicle combination coupled to the tractor vehicle is stationary and in a parked position, a leg link of at least one leg on the semitrailer which can be adjusted in at least one intermediate stage or in a stepless manner is automatically adjusted, for example electrically, pneumatically or hydraulically actuated, between a neutral position and an extended position or vice versa, and / or During the movement of the semitrailer coupled to the tractor vehicle out of the parking position during the coupling process or towards the parking position during the uncoupling process, the respective leg links of the legs are automatically adjusted between the intermediate position and the retracted position or vice versa. Therefore, the coupling process includes: coupling the semitrailer to the tractor vehicle and adjusting the leg links during the movement of the vehicle combination out of the parking position and / or when it is stationary at the parking position, that is, the extraction process from the parking position. Similarly, the uncoupling process includes: adjusting the leg links during the movement of the vehicle combination in the direction of the parking position and / or at the parking position, and uncoupling the semitrailer from the tractor vehicle, that is, the leading process to the parking position.

[0010] So the setting is, - during the coupling process, while the semitrailer previously coupled to the towing vehicle is stationary and in a parked position, the respective leg link is automatically adjusted from the extended position into a neutral position, and / or - during the uncoupling process, while the semitrailer, still coupled to the towing vehicle, is stationary and in a parked position, the respective leg link is automatically adjusted from a neutral position into an extended position, and / or - during the coupling process, while the semitrailer previously coupled to the towing vehicle is moved out of the parking position, the respective leg link is automatically adjusted from the central position into the retracted position, and / or During the uncoupling process, while the semitrailer, which is still coupled to the towing vehicle, is moved into a parking position, the respective leg link is automatically adjusted from the retracted position into a central position.

[0011] Advantageously, the leg link of the outrigger, which can be adjusted between an extended position (in which the semitrailer can be supported on the ground via the feet on the leg link) and a retracted position with at least one intermediate stage or in a stepless manner, can be adjusted in portions when stationary and in portions during travel, wherein: - when stationary and in the parked position, a certain amount of movement between the extended position and the intermediate position (in both directions) is carried out, and - During driving (moving out of a parking position or into a parking position), a certain amount of movement between the intermediate position and the retracted position (in both directions) is carried out. Thus, even during driving, a certain amount of movement can be carried out, which does not affect the driving operation of the vehicle combination. As a result, the respective processes are carried out at least partially in parallel or simultaneously, which can save overall time, especially when the coupling and decoupling processes are carried out completely automatically. However, it is also conceivable that the automated movement of the leg link according to the invention is carried out during manual driving or during a manual coupling or decoupling process.

[0012] In this case, during the coupling process, the semitrailer is automatically or manually coupled to the tractor vehicle at the parking position by automatically or manually approaching the semitrailer with its respective leg link in the extended position so that the kingpin on the semitrailer reaches the coupling interface on the coupling plate of the tractor vehicle and the kingpin can be pivotably fixed in the coupling interface on the coupling plate by means of a locking device. Subsequently, an electrical and / or hydraulic and / or pneumatic connection is established between the tractor vehicle and the coupled semitrailer, for example manually or automatically. During the decoupling process, the semitrailer with its respective leg link in the extended position is automatically or manually decoupled from the tractor vehicle at the parking position by releasing the kingpin in the coupling interface on the coupling plate by means of a locking device and then automatically or manually disconnecting the tractor vehicle from the semitrailer before automatically or manually disconnecting the electrical and / or hydraulic and / or pneumatic connection between the tractor vehicle and the coupled semitrailer.

[0013] According to the invention, a vehicle combination is also provided for carrying out the method, wherein the method can be coordinated or executed by a coupling control device.

[0014] In addition, it is preferably provided that an intermediate position is reached when the respective leg links are located at a percentage intermediate value between the retracted position and the extended position, the percentage intermediate value (relative to the extended state) being between 30% and 90%, preferably 60%, so that the respective leg links are retracted to between 70% and 10%, preferably 40%, and / or extended to between 30% and 90%, preferably 60%.

[0015] At these percentage values, it is ensured that the footrest at least does not touch the horizontal ground surface during the movement of the vehicle combination, thereby simultaneously making it possible to save time in the automated process and to achieve safe driving operation.

[0016] Alternatively or additionally, it can be provided that the intermediate position is reached when a previously defined intermediate adjustment value for the respective leg link is reached, wherein the intermediate adjustment value lies between a maximum adjustment travel corresponding to the extended position and a minimum adjustment travel corresponding to the retracted position.

[0017] Thus, the adjustment travel can also be measured, detected or monitored, wherein the intermediate adjustment travel corresponds to the above-mentioned percentage intermediate value. It is thus possible to detect the actual position of the leg link during adjustment as a percentage value or as an absolute value (adjustment travel) and to determine based on the respective value whether a specified intermediate position has been reached.

[0018] Furthermore, it is preferably provided that the tractor vehicle further comprises a level adjustment system, wherein the height of the chassis of the tractor vehicle relative to the rear axle of the tractor vehicle can be varied between a minimum height and a maximum height by controlling the level adjustment system. In this case, the height of the chassis relative to the rear axle is automatically changed in the direction of the maximum height, for example to the maximum height, before the respective leg link is automatically adjusted between the intermediate position and the retracted position during the movement of the semitrailer.

[0019] It has been found that in the coupled state, the leg links or the legs on the semitrailer can be additionally adjusted upwards by lifting the chassis of the tractor vehicle on which the coupling plate is mounted. The semitrailer, which is pivotably connected thereto, is also lifted accordingly, so that when the semitrailer is stationary and in a parked position, it is even less necessary to adjust the leg links in order to achieve a certain distance between the legs of the legs and the ground. This can further optimize the automation process, since a greater proportion of the leg links can be adjusted during the movement of the vehicle combination.

[0020] Therefore, it is preferably provided that the percentage intermediate value and / or the intermediate adjustment value are adjusted depending on the height of the adjusted chassis relative to the rear axle. Thus, for example, it can be provided that the intermediate position is reached at a percentage intermediate value of 80% or at a corresponding intermediate adjustment value.

[0021] Furthermore, it is preferably provided that the semitrailer coupled to the tractor vehicle is automatically moved out of the parking position during the coupling process or automatically moved toward the parking position during the uncoupling process by the tractor vehicle being automatically controlled by the motion control device so that the tractor vehicle moves, for example, along a given trajectory, wherein the motion control device automatically controls and / or moves the tractor vehicle with at least one limitation as long as the leg link is between the intermediate position and the retracted position. Thus, the automated control of the tractor vehicle is conditionally carried out as long as the leg link is not fully retracted, thereby further increasing safety.

[0022] In this case, it can be provided, for example, that the movement control device automatically controls and / or moves the traction vehicle with the following limitations: - the towing vehicle does not exceed a specified speed limit, such as 20 km / h, and / or the towing vehicle is located on a terrain with a slope of less than 5%, preferably less than 2%, in particular less than 1%, so that contact with the ground can be safely avoided, and / or The towing vehicle is located on or moves along a surface with objects (such as curbs, pillars, sills, potholes, etc.) whose height is lower than the height of the specified boundary objects, in order to prevent the still extended leg link or the foot from colliding with the respective object before reaching the retracted position.

[0023] Furthermore, it is preferably provided according to one embodiment that, while the semitrailer previously coupled to the tractor vehicle is stationary and in the first parking position, the respective leg link is automatically adjusted from the extended position to the intermediate position and / or while the respective leg link is in the intermediate position, the semitrailer coupled to the tractor vehicle is moved, for example, automatically from the first parking position to the second parking position and, while stationary and in the second parking position, the respective leg link is automatically adjusted from the intermediate position to the extended position in order to subsequently uncouple the semitrailer. In this way, it is possible to avoid unnecessary full retraction and extension of the leg links, thereby saving costs and preventing excessive wear of the respective components.

[0024] Furthermore, it is preferably provided that during the uncoupling process, the respective leg link is automatically adjusted from the retracted position into the intermediate position as soon as a release signal is present, wherein the release signal is generated and output as soon as the semitrailer enters a defined environment around the parking position and / or there is a manual driver input, for example via a corresponding operating element. Advantageously, an environment can thus be defined within which the adjustment of the leg link can be initiated, possibly with a restricted movement of the vehicle, so that when the parking position is reached, the leg link is already adjusted into the intermediate position. In the case of manual approach, the leg link can be extended into the intermediate position by a corresponding driver input.

[0025] It can be provided that the respective leg link is adjusted automatically from the retracted position so that during the uncoupling process, before, as soon as or after the semitrailer reaches the parking position and comes to rest, the respective leg link reaches the intermediate position. Since this is an automated process, the movement of the vehicle combination is known, for example based on a given trajectory. It can therefore be estimated when the semitrailer is approximately in the parking position and therefore also when the leg link is adjusted from the retracted position to the intermediate position. If the intermediate position has already been reached before the parking position or the resting position, it is preferably provided that the leg link remains in the intermediate position until the parking position is reached. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention is explained in detail below with reference to the embodiments.

[0027] Figure 1 A two-part vehicle consisting of a tractor vehicle and a semitrailer is shown;

[0028] Figure 1a Shown according to Figure 1 A detailed view of a saddle coupling of a towing vehicle;

[0029] Figure 2a , 2b A flow chart of the method according to the present invention is shown;

[0030] Figure 3 , 4 , 5 shows the coupling process according to Figure 1 A two-part vehicle;

[0031] Figure 6 A schematic illustration of a connection between a semitrailer and a towing vehicle is shown. DETAILED DESCRIPTION

[0032] Figure 1Schematically shown is a two-part vehicle combination 1, in particular a commercial vehicle, consisting of a tractor vehicle 1a and a semitrailer 1b parked at a parking position PA. The tractor vehicle 1a has a chassis 2 or a frame, on which there is a driver's cab 3 and a coupling device or a saddle coupling with a coupling plate 5 (hitching plate, fifth wheel) for coupling the semitrailer 1b to the tractor vehicle 1a. On the semitrailer 1b, a kingpin 6 or coupling pin is fastened below the saddle plate 7, wherein the kingpin 6 can be received in a coupling interface 8 (see FIG. 1 ) in the coupling plate 5 of the tractor vehicle 1a. Figure 1a ) and can be locked or fixed in the coupling interface via a locking device 4 or a lock (e.g. a locking tongue or a clamp) in order to couple the semitrailer 1b to the tractor vehicle 1a in a swingable manner. The locking device 4 can be automatically actuated via a locking control device 4a in order to ensure that the kingpin is automatically locked / fixed in the coupling interface 8 during the coupling process AV or the kingpin 6 is automatically released / released during the decoupling process BV.

[0033] The tractor vehicle 1a also has a level control system 10, such as an ECAS (“Electronically Controlled Air Suspension”), by means of which the chassis 2 can be actively raised or lowered relative to one or more rear axles 11 of the tractor vehicle 1a. Since the coupling device is firmly connected to the chassis 2 by means of the coupling plate 5, the height of the coupling plate 5 relative to the rear axle 11 and thus also relative to the ground U is also adjusted via the level control system 10.

[0034] The level control system 10 is controlled by a level control control device 12. The level control device can, in the presence of a level control signal SN, actively raise or lower the chassis 2 relative to the rear axle 11, for example by actively inflating or deflating a spring bellows (not shown) of the level control system 10. For example, the level control signal SN can contain a given height value HSoll, via which the level control device 12 can predetermine a desired height H between the chassis 2 and the rear axle 11.

[0035] Furthermore, the level control system 10 has a height sensor 13 which is designed to measure the currently existing height H between the chassis 2 and the rear axle 11. The level control system 10 can output a corresponding actual height value HIst via a height signal SH, which characterizes the currently measured height H. In principle, the height between the coupling plate 5 and the rear axle 11 or the ground U can also be derived from the actual height value HIst by simple geometric considerations.

[0036] In addition, a coupling control device 14 is provided in the tractor vehicle 1a, via which the coupling process AV and the decoupling process BV can be controlled. The coupling control device 14 is configured to read a height signal SH having an actual height value HIst and output a level control signal SN having a corresponding set height value HSoll to the level control device 12, in order to actively request the tractor vehicle 1a to be lowered or raised.

[0037] For this purpose, the coupling control device 14 can be integrated in the level control device 12, but can also be provided as an external unit, for example for retrofitting or expanding an existing level control system 10. As an external unit, the coupling control device 14 can communicate with the level control device 12, for example via a data bus 15, such as a CAN bus 15a, in order to exchange signals SN, SH.

[0038] In addition, the semitrailer 1b of the vehicle combination 1 has legs 16 on both sides, which are used to support the semitrailer 1b on the ground U when the semitrailer 1b is not coupled to the tractor 1a. Here, the leg 16 has a housing 16a firmly connected to the semitrailer 1b, and a leg link 16b with a support foot 16c is guided in a movable manner in the housing. A leg actuator 16d, such as an electric motor or a pneumatic mechanism or a hydraulic mechanism, acts on the leg link 16b, so that the leg link moves relative to the housing 16a, and thereby the support foot 16c is raised or lowered.

[0039] The outrigger actuator 16d can be controlled via the outrigger control 16e as a function of the automatically predetermined outrigger signal S16. The outrigger signal S16 can be transmitted from the coupling control 14 to the outrigger control 16e by wire, for example via the data bus 15, in particular the CAN bus 15a, or wirelessly, for example via the WLAN connection 9. In this way, the leg link 16b can be automatically adjusted between the extended position S1 (for example, in the uncoupled state, in which the leg 16c rests on the ground U) and the retracted position S2 for the coupled state or for driving operation, with at least one intermediate stage or in a stepless manner. The outrigger control device 16e can detect the current actual position SIst of the leg link 16b during the activation of the outrigger actuator 16d and output it (via a wired connection (15, 15a) or a wireless connection (9)), for example as a percentage value between 100% (extended position S1) and 0% (retracted position S2) or as an absolute value between the maximum adjustment travel Vmax (extended position S1) and the minimum adjustment travel Vmin (retracted position S2). The actual position SIst can be estimated, for example, by sensory measurement or from the adjustment time and adjustment speed of the leg link 16b.

[0040] Furthermore, the tractor vehicle 1a has a motion control unit 50 (see Figure 3 ), the motion control unit can automatically control the drive system 51, the brake system 52 and the steering system 53 of the tractor vehicle 1a so as to move the tractor vehicle 1a in the longitudinal direction X. As a result, the tractor vehicle 1a can be fully automatically moved along a predetermined trajectory TSoll so as to approach the semitrailer 1b to be coupled in the approach process NV, or the tractor vehicle 1a and the coupled semitrailer 1b together (after the coupling process AV) move away from the parking position PA or only the tractor vehicle 1a (after the disconnection process BV) moves away from the parking position PA.

[0041] The level control system 10 or level control device 12, the coupling control device 14, the locking control device 4a, the outrigger control device 16e and the movement control unit 50 are connected to each other in an arbitrary manner in terms of signal transmission, for example via a data bus 15 of the tractor vehicle 1a, in particular a CAN bus 15a, and form a coupling assembly 100, which is coordinated, for example, by the coupling control device 14. Figure 2a and Figure 2b As described above, the coupling assembly 100 can be used to realize a fully automated coupling process AV or a fully automated decoupling process BV between the tractor vehicle 1a and the semitrailer 1b in the following steps:

[0042] For the coupling process AV, in the initial coupling step STA0, the semitrailer 1b in the environment U of the parking position PA is identified and located, and based on this, the given trajectory TSoll is known. In the first coupling step STA1, the tractor vehicle 1a is automatically driven by the motion control unit 50 and moves along the given trajectory TSoll toward the parking position PA, so as to approach the semitrailer 1b to be coupled in the automated approach process NV.

[0043] In a second coupling step STA2, which is executed in parallel with the automated approach process NV in the first coupling step STA1, a coupling plate reference point P5, which is located, for example, in the center of the coupling opening 8 of the coupling plate 5, is continuously known (see Figure 1a ) with, for example, a kingpin reference point P6 located directly on kingpin 6 (see Figure 1 ) between the longitudinal spacing B (see Figure 3 ). The longitudinal distance B indicates to what extent the king pin 6 has approached the coupling plate 5 in the lateral direction X during the automated approach process NV.

[0044] If it is confirmed in the third coupling step STA3 that the longitudinal spacing B has dropped below a first safety spacing B1 in the longitudinal direction, for example 4 m, and at the same time is higher than a second safety spacing B2 in the longitudinal direction, for example 1.2 m, then in the fourth coupling step STA4, the actuation of the horizontal adjustment system 10 is initiated, for example accompanied by a prompt signal. Within the scope of this horizontal adjustment system, an automated adjustment of the height H of the towing vehicle 1a takes place, for example, as follows:

[0045] First, it must be ensured that the height H between the chassis 2 of the towing vehicle 1a and one or more rear axles 11 is set in such a way that the towing vehicle 1a can continue to drive backward towards the semi-trailer 1b to be coupled. For this purpose, the coupling control device 14 predefines a first height value H1, for example a minimum height HMin, as the setpoint height value HSoll for the horizontal adjustment control device 12 via the horizontal adjustment signal SN. This first height value H1 is determined in such a way that the towing vehicle 1a can drive towards the semi-trailer 1b to be coupled after setting the first height value H1 without the coupling plate 5 and the saddle plate 7 touching each other. Preferably, the kingpin 6 should also be higher than the coupling plate 5 to avoid contact during approach. This state is as Figure 1 shown. During the setting of the first height value H1, for example the minimum height HMin, the towing vehicle 1a can stop briefly or can also continue to approach the semi-trailer 1b to be coupled during this time.

[0046] After that, the towing vehicle 1a automatically drives towards the parked semi-trailer 1b via the motion control unit 50 such that the coupling plate 5 and the saddle plate 7 at least partially coincide in the lateral direction X, where the coupling plate 5 is located below the saddle plate 7 but does not touch the saddle plate. This can be ensured, for example, by checking whether the longitudinal spacing B is below the second safety spacing B2 in the longitudinal direction. At the same time, for example, by monitoring that the longitudinal spacing B does not drop below a value of 0.7 m after dropping below the second safety spacing B2 in the longitudinal direction, it is ensured that the kingpin 6 does not coincide laterally with the coupling plate 5, where any of the spacing indications (B1, B2, 0.7 m) may need to be adjusted differently depending on the design structure. In this case (B < B2), the towing vehicle 1a will be brought to a standstill or stopped via the motion control unit 50.

[0047] After that, a second height value H2, for example a maximum height HMax, is predefined for the horizontal adjustment control device 12 via the horizontal adjustment signal SN as the setpoint height value HSoll, requesting the lifting of the chassis 2. As Figure 4As shown in , the coupling plate 5 is thereby brought close to the saddle plate 7 which is placed in overlap. By evaluating the height signal SH or the actual height value HIst contained therein, the coupling criterion AK is subsequently checked, which indicates whether the saddle plate 7 has come into contact with the coupling plate 5. This can be done, for example, by evaluating the current speed at which the chassis 2 is lifted or by comparing the actual height gradient dHI and the expected course of the actual height gradient (reference height gradient). For example, it can be concluded whether the saddle plate 7 acts on the coupling plate 5 at the current actual height value HIst. The height change of the chassis 2 or the actual height gradient dHI obtained directly indicates how fast the coupling plate 5 is lifted, because the coupling plate is firmly connected to the chassis 2. Therefore, the contact between the coupling plate 5 and the saddle plate 7 will also directly affect the movement of the chassis 2 and thus the actual height gradient dHI:

[0048] If the saddle plate 7 is not in contact with the coupling plate 5, then it is expected that the actual height gradient dHI corresponds to the reference height gradient, since no additional load acts on the chassis 2 and the chassis can move upwards unhindered. However, if the actual height gradient dHI associated with the determined actual height value HIst deviates from the reference height gradient also associated with the actual height value HIst, then additional loads act on the chassis 2, mainly via the coupling plate 5, due to the weight of the semitrailer 1b.

[0049] Therefore, if, by comparing the actual height gradient dHI with the expected course of the actual height gradient (reference height gradient), it can be assumed that the semitrailer 1b, in particular the saddle plate 7, acts on the tractor 1a, in particular on the coupling plate 5, then the coupling criterion AK is satisfied for the respective semitrailer 1b. In principle, however, the coupling criterion AK can be checked in another way within the scope of the coupling process AV.

[0050] If the coupling criterion AK is met, the current actual height value HIst can be output as a set height value HSoll via the level control signal SN, and the lifting of the chassis 2 is stopped via the level control system 10. If the coupling criterion AK is not met, the chassis 2 is further lifted.

[0051] If the coupling criterion AK is met and further lifting of the chassis 2 is stopped, the tractor vehicle 1a can continue to approach the semitrailer 1b to be coupled via the motion control unit 50 in a subsequent fifth coupling step STA5 (see Figure 5 ), wherein for this purpose a lowering of the traction vehicle 1 a can additionally be requested via the level control signal SN in order to facilitate the accommodation of the king pin 6 in the coupling opening 8 .

[0052] In principle, the tractor vehicle 2a may also approach the semitrailer 1b to be coupled in the correct orientation in such a way that the kingpin 6 is located above the coupling interface 8. In the fourth coupling step STA4, the kingpin 6 then enters the coupling interface 8 in an ideal manner when the height H is adjusted via the level adjustment system 10, and the contact between the saddle plate 7 and the coupling plate 5 is detected by monitoring the actual height gradient dHIst as described. In this case, the fifth coupling step STA5 can be omitted.

[0053] Then, in the sixth coupling step STA6, the locking device 4 can be operated by automated control via the locking control unit 4a to fix the king pin 6 in the coupling port 8. To this end, sensors in the locking device 4 can be called, which can detect whether the positioning of the king pin 6 in the coupling port 8 is correct, thereby ensuring that the locking device 4 is operated at the correct time point.

[0054] In this coupled state, in the seventh coupling step STA7, the semitrailer parking brake 18 on the coupled semitrailer 1b and / or the tractor parking brake 19 on the tractor vehicle 1a are automatically engaged to keep the tractor vehicle 1a together with the coupled semitrailer 1b safely stationary. The parking brakes 18, 19 are shown in a highly schematic manner in the drawings.

[0055] Subsequently, in an eighth coupling step STA8, an electrical and / or hydraulic and / or pneumatic connection 20 is formed between the tractor vehicle 1a and the coupled semitrailer 1b. For this purpose, for example, the tractor vehicle line 23 on the tractor vehicle 1a in the region of the coupling plate 5 or the saddle plate 7 can be automatically connected to the semitrailer line 25 on the coupled semitrailer 1b via a plug / socket connection 24 (see Figure 6 This is done by the fact that the plug-and-socket connection 24 is automatically formed by plugging in the kingpin 6 when it is locked in the coupling interface 8, or by plugging in a robot (not shown). After the connection 20 is formed, it can then be checked whether the electronic trailer system 26 (for example the brake system in the trailer 1b) is functioning properly.

[0056] Then, in the ninth coupling step STA9, the outrigger 16 (Landing Leg) or the outrigger actuator 16c of the coupled semitrailer 1b is actuated to place the leg link 16b in the retracted position S2. For this purpose, the outrigger control unit 16e is automatically actuated by the coupling control device 14 via the corresponding outrigger signal S16. Then, the leg link 16b of the respective outrigger 16 is adjusted from the extended position S1 to the retracted position S2, wherein this is completed within a certain time period between 30s and 60s (depending on the type of the outrigger actuator 16d).

[0057] In order to speed up the automated process in the warehouse, in the tenth coupling step STA10, when it is confirmed that the leg link 16b has reached the specified intermediate position SZ during the retraction, the tractor vehicle 1a and the coupled semitrailer 1b have automatically started to move via the motion control unit 50. For example, when it is derived from the current actual position SIst of the leg link 16b that the leg link 16b is at a percentage intermediate value WZ of, for example, 60%, or has been retracted to 40% and still has 60% to be retracted, it can be said that the intermediate position SZ has been reached. If the leg control unit 16e directly obtains and outputs the percentage value as the actual position SIst, the reaching of the percentage intermediate value WZ can be directly read. If the leg control unit 16e obtains the absolute value as the actual position SIst, the intermediate adjustment value VZ corresponding to the intermediate position SZ can be confirmed, and then the reaching of the intermediate adjustment value can be monitored accordingly.

[0058] The intermediate position SZ or the percentage intermediate value WZ or the (absolute) intermediate adjustment value VZ is determined in such a way that in each of the assigned positions of the leg link 16b, a contact between the leg 16 or the foot 14c and the flat ground surface U cannot be ruled out. Depending on the design of the semitrailer 1b or the nature of the ground surface U, different intermediate positions SZ can be determined. Thus, the tractor vehicle 1a can already move the coupled semitrailer 1b away from or out of the parking position PA when the leg link 16b is not yet in the retracted position S1, thereby saving time in the automated process.

[0059] In order to further optimize the automation process, as a supplementary provision for retracting the leg link 16b to the intermediate position SZ in the tenth coupling step STA10, the coupling control device 14 requests the lifting of the chassis 2 via the level adjustment signal SN in the following manner, that is, for example, a predetermined third height value H3, preferably a maximum height HMax, as a given height value HSoll. As a result, the semitrailer 1b itself and the legs 16 are lifted in the coupled state, so that they are further away from the ground U. On the other hand, the intermediate position SZ can be adjusted in the following manner, for example, that is, when the leg link 16b is at a percentage intermediate value WZ of, for example, 80%, or has been retracted to 20% and still has 80% to retract, the intermediate position SZ has been reached. As a result, the intermediate position SZ can be reached in advance, so that more time can be saved in the automation process.

[0060] In order to ensure safe driving even when the respective intermediate position SZ is reached but the retracted position S2 of the leg link 16 b is not yet reached, the motion control unit 50 is activated under specified limits E. For example, as limits E, a limit speed vG which must not be exceeded and / or the presence of a flat ground surface U is specified, so that a collision of the not yet completely retracted leg 16 c with an inclined ground surface U can be excluded. For example, a flat ground surface U can be considered when the slope dS is less than 5%, preferably less than 2%, in particular less than 1%, which can be detected by corresponding sensors on the tractor vehicle 1 a. Furthermore, as limits E, it can also be specified that the tractor vehicle 1 a is located in the driving route on or moves along a ground surface U having an object O (e.g. a curb, a pillar, a threshold, a pothole, etc.) that is less than a specified limit object height OH. As a result, a collision with such an object can be excluded, wherein such an object can be detected or detected, for example, by a camera or by predictive movements of the vehicle combination 1 based on knowledge of the environment based on map data.

[0061] If there is no flat ground U (slope dS>5%, preferably>2%, in particular>1%) or an object O greater than or higher than a defined boundary object height OH is detected or known on the ground U in the driving route, the activation of the movement control unit 50 and thus the movement of the vehicle combination 1 is prevented.

[0062] If the leg link 16b of the leg 16 is completely in the retracted position S2 at a certain point in time, the motion control unit 50 will be activated normally again without taking into account the limit E. The chassis 2 can then also be adjusted to its original height H again via the level adjustment system 10. The coupling process AV is then finally completed and the vehicle combination 1 continues to move automatically on the specified given trajectory TSoll to the specific target location PZ of the warehouse.

[0063] For the uncoupling process BV, the vehicle combination 1 consisting of the tractor vehicle 1a and the coupled semitrailer 1b is first automatically moved along a predetermined given trajectory TSoll to the parking position PA of the warehouse where the semitrailer 1b is to be uncoupled, controlled by the movement control unit 50. If it is confirmed in the first uncoupling step STB1 that a release signal SF is present, wherein the release signal SF is generated and output as soon as the vehicle combination 1 enters the prescribed environment F around the parking position PA, then during the automated movement of the vehicle combination 1, the outrigger 16 (grounded leg) on ​​the coupled semitrailer 1b is also actuated so that the leg link 16b is placed in the extended position S1. For this purpose, the outrigger control unit 16e is driven by the coupling control device 14 via the outrigger signal S16. Afterwards, the leg link 16b of the respective outrigger 16 is adjusted from the retracted position S2 to the extended position S1, wherein this is completed within a certain time period of 30s to 60s. If the vehicle combination 1 is manually brought closer to the parking position PA within the scope of the disconnection process BV, the release signal SF can also be generated and output by a manual driver input, for example by actuating a control element 17 in the driver's cab 3 .

[0064] The extension of the leg link 16b is already carried out before the parking position PA is reached and during the automated movement of the vehicle combination 1, so as to accelerate the automated process in the warehouse, instead of starting to extend the leg link 16b only when the parking position PA is reached. In order to prevent the leg 16c from coming into contact with the ground U before the semitrailer 1b reaches the parking position PA, the leg link 16b is only extended to the specified intermediate position SZ before reaching the parking position PA. In order to achieve this, the environment F and the corresponding time point when the leg 16 on the coupled semitrailer 1b is manipulated so that the leg link 16b is placed in the extended position S1 can be selected in the following way under the condition of knowing the adjustment speed of the leg link 16b, that is, when the semitrailer 1b has reached the parking position PA and is stationary, the intermediate position SZ is just reached. This aspect can be estimated accordingly under the condition of knowing the given trajectory TSoll. Then, when the vehicle combination 1 is no longer moving, the extension of the leg link 16b beyond the intermediate position SZ is immediately continued at the parking position PA.

[0065] Alternatively, the coupling control device 14 can also control the leg control unit 16e in two steps, wherein in a first step, the leg link 16b is first adjusted only to the center position SZ via the leg signal S16 when entering the defined environment F. Only after the parking position PA is reached and the vehicle combination 1 is therefore stationary, is the leg link 16b finally placed (from the center position SZ) in the extended position S1 in a second step via the leg signal S16.

[0066] During the disconnection process BV, for example, when it is derived from the current actual position SIst of the leg link 16b that the leg link 16b is at a percentage intermediate value WZ of, for example, 60%, or has been extended to 60% and still has 40% to be extended, the intermediate position SZ may be reached. If the leg control unit 16e directly determines and outputs the percentage value as the actual position SIst, the percentage intermediate value WZ can be read directly. If the leg control unit 16e determines the absolute value as the actual position SIst, the intermediate adjustment value VZ corresponding to the intermediate position SZ can be determined and then monitored accordingly.

[0067] In order to further optimize the automation process, in addition to extending the leg link 16b into the intermediate position SZ in the first disconnection step STB1, it is provided that the coupling control device 14 requests the lifting of the chassis 2 via the level control signal SN, for example in the following way, that is, a third height value H3, preferably a maximum height HMax, is predetermined as the given height value HSoll. As a result, the semitrailer 1b itself and the legs 16 are lifted in the stationary coupled state, so that they are further away from the ground U. On the other hand, the intermediate position SZ can be adjusted in this way, for example, so that the intermediate position SZ is only reached when the leg link 16b is at a percentage intermediate value WZ of, for example, 80% or has been extended to 80% and still has 20% to extend. After that, the leg link 16b only needs to be extended by 20% in the parking position PA, which speeds up the automation process.

[0068] After the legs 16 have been actuated or after the leg link 16 b has been extended to the intermediate position SZ, in the case of the decoupling process BV, the automated movement of the vehicle combination 1 by the control motion control unit 50 also takes place under specified limits E. For example, as limits E, a limit speed vG which must not be exceeded and / or the presence of a flat surface U is specified, so that a collision of the legs 16 c which have not yet been completely retracted with an inclined surface U can be excluded. For example, a flat surface U can be considered when the gradient dS is less than 5%, preferably less than 2%, in particular less than 1%, which can be detected by corresponding sensors in the tractor vehicle 1 a. Furthermore, as limits E, it can also be specified that the tractor vehicle 1 a is located in the driving route on or moves along a surface U having an object O (e.g. a curb, a pillar, a threshold, a pothole, etc.) which is less than a specified limit object height OH. As a result, a collision with such an object can be excluded, wherein such an object can be detected or detected, for example, by a camera or by a predictive movement of the vehicle combination 1 with knowledge of the environment based on map data.

[0069] If there is no flat ground U (slope dS>5%, preferably>2%, in particular>1%) or if an object O greater than or higher than a defined boundary object height OH is detected or known on the ground U in the driving route, the activation of the movement control unit 50 and thus the movement of the vehicle combination 1 is prevented.

[0070] If the parking position PA is reached and the leg link 16b is placed in the extended position S1 or the leg 16c touches the ground U in the second disconnection step STB2, the semitrailer 1b can be disconnected from the tractor vehicle 1a. To this end, in the third disconnection step STB3, the semitrailer parking brake 18 on the still coupled semitrailer 1b and / or the tractor vehicle parking brake 19 on the tractor vehicle 1a are automatically engaged to keep both stationary, and in the fourth disconnection step STB4, the electrical and / or hydraulic and / or pneumatic connection 20 between the tractor vehicle 1a and the coupled semitrailer 1b is disconnected. In the fifth disconnection step STB5, the locking device 4 is actuated by automated control via the locking control unit 4a to release the kingpin 6 in the coupling interface 8.

[0071] In the sixth disconnection step STB6, the coupling control device 14 predetermines the first height value H1, for example the minimum height HMin, as the set height value HSoll to the level control device 12 via the level control signal SN. As a result, the coupling plate 5 of the tractor vehicle 1a is separated from the saddle plate on the semitrailer 1b, preferably until the kingpin 6 is higher than the coupling plate. As a result, after reaching the first height value H1, preferably the minimum height HMin, the tractor vehicle 1a can be moved away from the semitrailer 1b in the subsequent seventh disconnection step STB7 by automatically controlling the motion control device 50 without the kingpin 6 touching the coupling plate 5. Then, the tractor vehicle 1a can be automatically moved to the target position PZ of the warehouse along the corresponding set trajectory TSoll without the coupled semitrailer 1b.

[0072] If only a short distance is to be covered between the coupling process AV at the first parking position PA1 and the uncoupling process BV at the second parking position PA2, it can also be provided that the vehicle combination 1 is automatically moved from the first parking position PA1 to the second parking position PA2 without the leg link 16b of the leg 16 being completely retracted into the second position S2. The leg link 16b can then remain in the intermediate position SZ, and during this time the motion control device 50 can be controlled accordingly, taking into account the limit E, in order to automatically move the vehicle combination 1 from the first parking position PA1 to the second parking position PA2. This can speed up the automated process in the warehouse and minimize wear, because the leg 16 is not actuated so frequently, or the leg link 16b is not adjusted over the entire adjustment path.

[0073] List of reference numerals (part of the description):

[0074] 1 Vehicle combination

[0075] 1a Towing vehicle

[0076] 1b Semi-trailer

[0077] 2 Chassis

[0078] 3 Cab

[0079] 4 Lock the device

[0080] 4a Locking control

[0081] 5 Coupling plate

[0082] 6 Kingpin

[0083] 7 Saddle plate

[0084] 8 Coupling interface

[0085] 9. WLAN connection

[0086] 10 Level adjustment system

[0087] 11 Rear axle of tractor vehicle 1a

[0088] 12 Level adjustment control device

[0089] 13 Height sensor

[0090] 14 Connection control device

[0091] 15 Data Bus

[0092] 15a CAN bus

[0093] 16 Legs

[0094] 16a Housing

[0095] 16b Leg segment

[0096] 16c Support feet

[0097] 16d Outrigger Actuator

[0098] 16e Outrigger Controls

[0099] 17 Operating elements

[0100] 18 Semi-trailer parking brake

[0101] 19 Towing vehicle parking brake

[0102] 20 Connection between tractor vehicle 1a and semitrailer 1b

[0103] 23 Traction vehicle lines

[0104] 24 Plug and socket connection

[0105] 25 Semi-trailer lines

[0106] 50 Motion Control Device

[0107] 51 Drive system

[0108] 52 Braking system

[0109] 53 Steering system

[0110] 100 Connection components

[0111] AK coupling criterion

[0112] AV Coupling Process

[0113] B The longitudinal spacing between P5 and P6

[0114] B1 The first longitudinal safety distance

[0115] B2 Second longitudinal safety distance

[0116] BV Disconnection Process

[0117] dHI Actual height gradient

[0118] E Limit

[0119] dS Slope

[0120] F Environment

[0121] H Height between chassis 2 and rear axle 11

[0122] H1 first height value

[0123] H2 Second height value

[0124] H3 third height value

[0125] HIst actual height value

[0126] HMax Maximum height

[0127] HMin minimum height

[0128] HSoll Given height value

[0129] NV approach process

[0130] O Object

[0131] OH Boundary object height

[0132] P5 Saddle plate reference point

[0133] P6 Kingpin reference point

[0134] PA parking location

[0135] PA1 First parking position

[0136] PA2 Second parking position

[0137] PZ Targeting

[0138] S1 extended position

[0139] S2 Retracted position

[0140] SIst Actual location

[0141] SF release signal

[0142] SH Height Signal

[0143] SN Level adjustment signal

[0144] SZ Middle position

[0145] TSoll Given trajectory

[0146] U Ground

[0147] vG Boundary Speed

[0148] VMax Maximum adjustment stroke

[0149] VMin minimum adjustment stroke

[0150] VZ intermediate adjustment stroke

[0151] WZ Percent Median

[0152] X vertical direction

[0153] STA1~STA10 Coupling steps of the coupling process AV

[0154] STB1~STB7 disconnection process disconnection step BV

Claims

1. A method for controlling a vehicle combination (1) consisting of a tractor vehicle (1a) and a semitrailer (1b), wherein: The tractor vehicle (1a) has a chassis (2) and a coupling plate (5) arranged on the chassis, and the semitrailer (1b) has a saddle plate (7) with a kingpin (6), wherein: The king pin (6) can be fixed in a pivotable manner in a coupling interface (8) on the coupling plate (5) by a locking device (4) in a coupled state, and At least one leg (16) is arranged on the semitrailer (1b), the leg having a leg link (16b) and a support foot (16c) fastened to the lower side of the leg link, wherein the leg link (16b) can be adjusted between an extended position (S1) and a retracted position (S2), in which the semitrailer (1b) is supported on the ground (U) via the support foot (16c), wherein: - in a coupling process (AV), the semitrailer (1b) is coupled to the tractor vehicle (1a) at a parking position (PA), in particular automatically, wherein, when the semitrailer (1b) is coupled, the respective leg link (16b) is adjusted from the extended position (S1) in the direction of the retracted position (S2), and / or - in a decoupling process (BV), the semitrailer (1b) is decoupled from the tractor vehicle (1a) at a parking position (PA), in particular automatically decoupled, wherein before the semitrailer (1b) is decoupled, the respective leg link (16b) is adjusted into the extended position (S1), It is characterized in that While the vehicle combination (1) is stationary and in the parking position (PA), the respective leg link (16b) is automatically adjusted between a neutral position (SZ) and the extended position (S1) or vice versa, and / or While a semitrailer (1b) coupled to the tractor vehicle (1a) moves away from the parking position (PA) during a coupling process (AV) or in the direction of the parking position (PA) during a decoupling process (BV), in particular while the vehicle combination (1) is not stationary, the respective leg link (16b) is automatically adjusted between a neutral position (SZ) and the retracted position (S2) or vice versa.

2. The method according to claim 1, characterized in that The intermediate position (SZ) is reached when the respective leg link (16b) is located at a percentage intermediate value (WZ) between the retracted position (S2) and the extended position (S1), wherein the percentage intermediate value (WZ) is between 30% and 90%, preferably 60%, so that the respective leg link (16b) is retracted to between 70% and 10%, in particular 40%, and / or extended to between 30% and 90%, preferably 60%.

3. The method according to claim 1 or 2, characterized in that: The intermediate position (SZ) is reached when a previously specified intermediate adjustment value (VZ) for the respective leg link (16b) is reached, wherein the intermediate adjustment value (VZ) is between a maximum adjustment travel (Vmax) corresponding to the extended position (S1) and a minimum adjustment travel (Vmin) corresponding to the retracted position (S2).

4. The method according to claim 2 or 3, characterized in that: The tractor vehicle (1a) further comprises a level control system (10), wherein the height (H) of the chassis (2) of the tractor vehicle (1a) relative to the rear axle (11) of the tractor vehicle (1a) can be varied between a minimum height (HMin) and a maximum height (HMax) by actuating the level control system (10), wherein the height (H) of the chassis (2) relative to the rear axle (11) is varied automatically in the direction of the maximum height (HMax), for example to the maximum height (HMax), before or during the automatic adjustment of the respective leg link (16b) between the intermediate position (SZ) and the retracted position (S2) during the movement of the semitrailer (1b).

5. The method according to claim 4, characterized in that The percentage intermediate value (WZ) and / or the intermediate adjustment value (VZ) are adjusted as a function of the height (H) of the chassis (2) relative to the rear axle (11).

6. The method according to any one of the preceding claims, characterized in that A semitrailer (1b) coupled to the tractor vehicle (1a) is automatically moved away from the parking position (PA) during a coupling process (AV) or automatically moved in the direction of the parking position (PA) during a decoupling process (AV), in that the tractor vehicle (1a) is automatically controlled by a motion control device (50) so that the tractor vehicle (1a) moves, for example, along a given trajectory (TSoll), wherein the motion control device (50) automatically controls and / or moves the tractor vehicle (1a) with at least one limitation (E) as long as the leg link (16b) is between the intermediate position (SZ) and the retracted position (S2).

7. The method according to claim 6, characterized in that The movement control device (50) automatically controls and / or moves the traction vehicle (1a) with the following restrictions (E), namely, - the towing vehicle (1a) does not exceed a prescribed limit speed (vG), and / or The tractor vehicle (1a) is located on a terrain (U) having a slope (dS) of less than 5%, preferably less than 2%, in particular less than 1%, and / or The tractor vehicle (1a) is located on or moves along a terrain (U) having an object (O) below a predetermined boundary object height (OH).

8. The method according to any one of the preceding claims, characterized in that While the semitrailer (1b) previously coupled to the tractor vehicle (1b) is stationary and in a first parking position (PA1), the respective leg link (16b) is automatically adjusted from the extended position (S1) to the intermediate position (SZ), and / or while the respective leg link (16b) is in the intermediate position (SZ), the semitrailer (1b) coupled to the tractor vehicle (1b) is moved from the first parking position (PA1) to a second parking position (PA2), and while stationary and in the second parking position (PA2), the respective leg link (16b) is automatically adjusted from the intermediate position (SZ) to the extended position (S1) in order to subsequently decouple the semitrailer (1b).

9. The method according to any one of the preceding claims, characterized in that - during the coupling process (AV), while the semitrailer (1b) previously coupled to the tractor vehicle (1b) is stationary and in the parking position (PA), the respective leg link (16b) is automatically adjusted from the extended position (S1) into the intermediate position (SZ), and / or - during the uncoupling process (BV), while the semitrailer (1b) still coupled to the tractor vehicle (1b) is stationary and in the parking position (PA), the respective leg link (16b) is automatically adjusted from the neutral position (SZ) into the extended position (S1), and / or - during a coupling process (AV), when the semitrailer (1b) previously coupled to the tractor vehicle (1b) moves out of the parking position (PA), the respective leg link (16b) is automatically adjusted from the intermediate position (SZ) into the retracted position (S2), and / or - during a decoupling process (BV), while the semitrailer (1b) still coupled to the tractor vehicle (1b) is moved in the direction of the parking position (PA), the respective leg link (16b) is automatically adjusted from the retracted position (S2) into the intermediate position (SZ).

10. The method according to any one of the preceding claims, characterized in that During a decoupling process (BV), the respective leg link (16b) is automatically adjusted from the retracted position (S2) to the intermediate position (SZ) as soon as a release signal (SF) is present, wherein the release signal (SF) is generated and output as soon as the semitrailer (1b) enters a defined environment (F) around the parking position (PA) and / or there is a manual driver input via an operating element (17).

11. The method according to any one of the preceding claims, characterized in that The respective leg link (16b) is automatically adjusted out of the retracted position (S2) so that during the uncoupling process (BV), before the semitrailer (1b) reaches the parking position (PA) and comes to a standstill, as soon as the semitrailer reaches the parking position and comes to a standstill, or after the semitrailer reaches the parking position and comes to a standstill, the respective leg link (16b) reaches the intermediate position (SZ).

12. The method according to claim 11, characterized in that If the intermediate position (SZ) has already been reached beforehand, the leg link (11b) is held in the intermediate position (SZ) until the parking position (PA) is reached.

13. A vehicle combination (1), the vehicle combination consisting of a tractor vehicle (1a) and a semitrailer (1b) which can be coupled to the tractor vehicle (1a), wherein: The tractor vehicle (1a) comprises: - a chassis (2) and a coupling plate (5) arranged on said chassis, and - a coupling control device (14), in particular for carrying out the method as claimed in any one of the preceding claims, The semitrailer (1b) comprises: a saddle plate (7) having a king pin (6), wherein the king pin (6) in the coupled state can be pivotably fixed in a coupling interface (8) on a coupling plate (5) of the tractor vehicle (1a) by means of a locking device (4), and - at least one outrigger (16), comprising a leg link (16b) and a support foot (16c) fastened to the underside of the leg link, wherein the leg link (16b) can be automatically adjusted by an outrigger actuator (16d) between an extended position (S1) and a retracted position (S2), in which the semitrailer (1b) can be supported on the ground (U) via the support foot (16c), Wherein, the connection control device (14) is configured as follows: - in a coupling process (AV), the semitrailer (1b) is coupled to the tractor vehicle (1a) in a parking position (PA), and when the semitrailer (1b) is coupled, the respective leg link (16b) is adjusted from the extended position (S1) in the direction of the retracted position (S2), and / or - in a decoupling process (BV), the semitrailer (1b) is decoupled from the tractor vehicle (1a) in the parking position (PA) and, while the semitrailer (1b) is still coupled, the respective leg links (16b) are adjusted into the extended position (S1), It is characterized in that The coupling control device (14) is also configured to automatically adjust the respective leg link (16b) between the intermediate position (SZ) and the extended position (S1) or vice versa while the semitrailer (1b) coupled to the tractor vehicle (1b) is stationary and in the parking position (PA), and / or While the semitrailer (1b) coupled to the tractor vehicle (1b) moves away from the parking position (PA) during a coupling process (AV) or moves in the direction of the parking position (PA) during a decoupling process (BV), in particular while the semitrailer (1b) coupled to the tractor vehicle (1b) is not stationary, the respective leg link (16b) is automatically adjusted between a neutral position (SZ) and the retracted position (S2) or vice versa.

14. The vehicle combination (1) according to claim 13, characterized in that The tractor vehicle (1a) has a motion control device (50) which is designed to automatically control a drive system (51), a brake system (52) and a steering system (53) of the tractor vehicle (1a) so as to move a coupled semitrailer (1b) away from the parking position (PA) during a coupling process (AV) or to move the semitrailer (1b) to be uncoupled in the direction of the parking position (PA) during an uncoupling process (BV).

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