Camera-based system and method for determining and verifying trailer position

Abstract

A camera-based vehicle system having a traction unit (4) and a trailer (5) extending rearward and pivotable to the traction unit, comprising at least one image capture device (2) located on the traction unit (4) and having an image sensor for capturing temporally continuous camera images (6) of the trailer (5); at least one display device (1) for displaying the camera image (6) captured by the at least one image capture device (2); the at least one processing device (3) is configured to execute a method for verifying information about the position of the trailer end received from an external method, and to determine and verify the trailer end.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the priority of German Patent Application No. 102023131359.2 filed on November 10, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present invention relates to a camera-based system (observation system or mirror replacement system) and a method for determining and verifying the position of the end (edge) of a rearwardly extended trailer pivotally connected to the vehicle, suitable for use with a semitrailer, trailer or other commercial vehicle having a pivotally connected cab or tractor unit extending rearwardly. Background Art

[0004] For vehicles with a tractor unit or with a trailer extended to the rear and swivelled to the tractor unit, the driver of the vehicle usually observes the traffic behind via side mirrors attached to the sides of the tractor unit. Such side mirrors are increasingly being replaced by camera systems, such as camera monitoring systems, mirror replacement systems mounted on the sides or rear of the vehicle, respectively. They replace or supplement the conventional mirror systems prescribed for motor vehicles, such as exterior mirrors (main mirrors) on cars, interior mirrors on cars or wide-angle mirrors and front and rear mirrors on commercial vehicles.

[0005] In the above-mentioned systems, for example, the corresponding field of view which is usually visible via a rearview mirror is permanently displayed in real time to the vehicle driver on a monitor or other display unit (e.g. inside the vehicle), so that the vehicle driver always sees the corresponding field of view even though he neither directly sees the corresponding field of view nor has an existing rearview mirror.

[0006] According to current technology, trailers include trailers connected to a vehicle (tractor or trailer unit) via a trailer coupler, such as a semitrailer (so-called trailer), and placed in the rear lowered area of ​​the tractor unit and pivotably connected around at least one vertical axis. Alternatively, such trailers can also be trailers connected to a passenger car, in which case the passenger car is equivalent to the tractor unit. Generally speaking, the trailer is the part that is located behind and extends backward relative to the vehicle cab, and is also the part that is movable (pivotable) to one side relative to the cab, and pivots relative to the cab around a vertical axis when turning. Articulated trucks or articulated trains are also trailers referred to in the present invention.

[0007] However, when using a rearview mirror replacement system as described above, when a vehicle with a towing unit and a trailer turns, as the flexion angle (kink angle or bend angle) between the towing unit and the trailer increases, rear traffic becomes increasingly hidden in the image of the rearview mirror replacement system of field of view category II according to ECE R46. In addition, the rear of the trailer is lost (disappears) near the rear axle, which may cause the end of the trailer to disappear from the monitor image displayed to the driver.

[0008] In order to solve this problem, methods have been proposed for tracking the end of the trailer and moving the image portion displayed on the monitor so that the end edge of the trailer is displayed as close to the center of the monitor image as possible. According to EP 16 198 485, the tracking of the end edge of the trailer is currently carried out by, for example, vehicle sensors, which obtain information about the rotational movement of the wheels. This information is analyzed by a control unit to determine the rear area of ​​the rearward extension and to perform appropriate tracking of the rear area based on the information obtained about the rotational movement of the wheels. However, since these sensors can only provide reliable signals above a certain speed, for example from about 2 km / h, tracking of the end edge of the trailer can only be provided when driving forward at a higher speed. These sensors cannot be used to detect the end edge of the trailer with sufficient accuracy during backward maneuvers and at low speeds and to track (update) the end edge of the trailer in the monitor image. In addition, the known methods for tracking the end of the trailer have an accuracy that may need to be corrected. Summary of the invention

[0009] A first object of the invention is to validate a method of tracking a trailer end, ie to perform a plausibility check, eg whether the trailer end obtained or determined is acceptable for tracking.

[0010] A second object of the invention is to solve the above-mentioned problems and to detect the position of the end of the trailer with sufficient accuracy for tracking (updating) in the monitor image during rearward maneuvers and at low speeds, independently of information obtained by, for example, the type of trailer and the installed sensors.

[0011] The above-mentioned problem is solved by a method having the features of claims 1 and 13 and a system having the features of claims 10 and 19. Advantageous further developments of the invention are given in the dependent claims.

[0012] According to the method for verifying the method for tracking the end of a trailer of the present invention, information about the position of the end of the trailer of the trailer extending backward from the towing unit of the vehicle and transferable to the towing unit is received from the method for tracking the end of the trailer, and the method for tracking the end of the trailer has to be verified. The method according to the present invention acquires (captures) a camera image of the side area of ​​the trailer by means of an image sensor of at least one image capture device attached to the vehicle, preferably attached to the towing unit, and determines so-called feature points in the captured camera image based on one or more image parameters, wherein the feature point corresponds to at least one pixel or pixel cluster in the camera image. For example, a pixel in the camera image can be determined as a feature point if the value of the image parameter of the pixel differs from the value of the corresponding image parameter of one or more adjacent pixels by a preset value.

[0013] For example, several adjacent pixels forming a pixel cluster may also be compared with an adjacent or neighboring pixel cluster with respect to at least one image parameter for determining a feature point.The pixels or pixel clusters do not have to be directly adjacent, spatial proximity to each other may be sufficient.

[0014] For example, a feature point may be determined based on one or more image parameters, at least one or more calculated values ​​of the image parameters and / or their gradients, wherein the feature point corresponds to at least one pixel in the camera image. A pixel in the camera image may be determined as a feature point if the value of the image parameter of the pixel differs from the value of the corresponding image parameter of one or more adjacent pixels by a preset value.

[0015] For example, more neighboring pixels forming a pixel cluster may be compared with adjacent or neighboring pixel clusters in terms of at least one image parameter for determining feature points. The pixels or pixel clusters do not have to be directly adjacent, it may be sufficient that they are spatially close to each other.

[0016] Then, the method according to the present invention generates a block grid on at least a portion of the captured camera image, wherein the block grid has a plurality of columns and rows defining cells. By creating the block grid on the camera image containing the determined feature points, a distribution of the plurality of feature points is defined on a plurality of cells of the block grid.

[0017] The method according to the invention then compares the block grid with the distribution of feature points created in this way with the distribution of feature points of a plurality of corresponding stored block grids, wherein the stored block grids respectively define different distributions of feature points and actual trailer end positions. Based on the correlation between the distribution of feature points in the created block grid and the distribution of feature points in the stored block grids, one of the stored block grids with actual trailer end information is selected and used for verifying the received information about the trailer end.

[0018] According to an advantageous embodiment of the method according to the invention, the feature points in the created block grid are weighted. For example, such weighting values ​​can be based on differences in contrast between pixels or pixel clusters and adjacent pixels or pixel clusters or very close pixels or pixel clusters. One or more known image parameters can serve as a basis for the weighting.

[0019] According to another advantageous embodiment of the method according to the invention, the received information about the trailer end can be corrected based on the above-mentioned verification if the deviation exceeds a preset threshold value.

[0020] According to another advantageous embodiment of the method according to the invention, the distribution of characteristic points in the stored block grid and the corresponding trailer end positions can be pre-stored or created and stored in real time at fixed defined or dynamically adjustable time intervals, for example during forward driving.

[0021] According to another advantageous embodiment of the method according to the invention, the different distribution of the characteristic points in the stored block grid may depend on the flexion angle or the relative position relationship between the trailer and the tractor unit stored together with the block grid. The flexion angle or the relative position relationship may be determined independently from the captured camera images, for example by a flexion angle sensor attached to the vehicle, or may be estimated based on data received from a steering angle sensor. The corresponding flexion angle may be stored together with the block grid.

[0022] According to a further advantageous embodiment of the method, the image parameter is, for example, at least one of a brightness value, a color value, a grayscale or a gradient of these values, wherein before determining the feature points in the camera image, the camera image remains unprocessed or is suitably processed to make contrast differences, brightness differences, etc. even more clearly visible. Other image parameters not explicitly listed here are also possible.

[0023] According to another advantageous embodiment of the method according to the invention, the tracking method of the trailer end position to be verified may be a radar-based method, an ultrasonic method, a lidar-based method, a CAN-based method and / or an optical method.

[0024] The method according to the invention is for determining a trailer end of a trailer extending rearwardly from a towing unit of a vehicle and pivoting relative to the towing unit, acquiring a camera image of the trailer and determining a plurality of feature points in the camera image based on at least one image parameter, wherein one feature point corresponds to at least one pixel in the camera image. The method according to the invention further creates a block grid on at least a portion of the captured camera image, similar to the verification method according to the invention described above, wherein the block grid defines a plurality of cells, and determines a distribution of a plurality of feature points over the plurality of cells of the block grid. By comparing the distribution of feature points in the created block grid with the distribution of feature points of a plurality of corresponding stored block grids, wherein each of the stored block grids defines a different distribution of feature points together with the actual trailer end, a block grid can be selected from the stored block grids that is most relevant to the created block grid. According to the invention, information about the trailer end stored together with or associated with the selected block grid is determined as the trailer end.

[0025] According to another advantageous embodiment of the method according to the invention, the distribution of characteristic points and corresponding trailer ends can be stored in advance in a block grid or can be created and stored in real time at fixed defined or dynamically adjustable time intervals, which can be performed, for example, during a forward drive. The stored block grid can then be used in a subsequent slow reverse movement (drive) to determine the trailer end.

[0026] According to another advantageous embodiment of the method according to the invention, the different distribution of the characteristic points of the corresponding trailer ends in the stored block grids depends on the flexion angle between the trailer and the tractor unit or the relative positional relationship between the trailer and the tractor unit. For example, information about the flexion angle and / or the relative positional relationship can be stored with each block grid. This means that, for example, if the current flexion angle obtained by a sensor mounted on the vehicle is known, the corresponding stored block grid for this flexion angle can be directly found and the trailer end defined in this stored block grid can be determined as the position of the trailer end.

[0027] According to a further advantageous embodiment of the method according to the invention, the determination of the end of the trailer can be applied to temporally continuous camera images and tracking of the end of the trailer can be achieved so that when turning, the position of the end of the trailer is displayed to the driver at a preferred position within the monitor image, for example in the center of the monitor image or offset to the left or right by plus or minus 10% to 25% from the center.

[0028] According to a further advantageous embodiment of the method according to the invention, the trailer end determined in this way can be verified by means of the above-described verification method.

[0029] The system for verifying and determining the end of a trailer according to the invention is a camera-based system for a vehicle having a towing unit and a rotatable trailer extending rearwardly, the system comprising at least one image capture device, whose image sensor is used to acquire temporally consecutive camera images of the trailer, and at least one processing device configured to execute the above-described method for verifying and determining the end of a trailer according to the invention.

[0030] Optionally, the system according to the invention comprises display means for displaying the position of the end of the trailer on the monitor image.

[0031] According to an advantageous embodiment of the system according to the invention, the camera-based system according to the invention is a rear view mirror replacement system approved according to UNECE R46, preferably for commercial vehicles.

[0032] Aspects of the Invention 1. A method for validating a method for tracking the end of a trailer comprising the following steps: receiving from a method for tracking a trailer end information at least about the position of a trailer end (12) of a trailer (5) extending rearwardly from a tractor unit (4) of a vehicle and pivotable to the tractor unit (4); capturing a camera image (6) of at least one side area of ​​the trailer by means of an image sensor of at least one image capturing device (2); Determining a plurality of feature points (8) in the camera image (6) based on at least one image parameter, wherein a feature point (8) corresponds to at least one pixel in the camera image (6); generating a block grid (10) on at least a portion of the captured camera image (6), wherein the block grid (10) defines a plurality of cells (11), and determining a distribution of a plurality of feature points (8) on the plurality of cells (11) of the block grid (10) as part of the generated block grid (10); comparing the distribution of feature points (8) in the generated block grid (10) with the distribution of feature points of a plurality of corresponding stored block grids, wherein the stored block grids each define a different distribution of feature points together with the actual trailer end; Selecting one of the storage block grids based on a correlation between the distribution of the feature points (8) in the generated block grid (10) and the distribution of the feature points in the storage block grids; The received information about the position of the trailer end (12) is verified by comparing the actual position of the trailer end defined by the selected block grid with the received information about the position of the trailer end (12).

[0033] 2. The method according to claim 1, further comprising correcting the received information about the position of the trailer end (12) based on the verification.

[0034] 3. A method according to claim 1 or 2, wherein the distribution of feature points and corresponding trailer ends in the storage block grid is pre-stored or generated and stored in real time at fixed defined or dynamically adjustable time intervals.

[0035] 4. A method according to any of the preceding claims, wherein the distribution of feature points in one stored block grid is different from the distribution of feature points in another stored block grid depending on the relative positional relationship between the trailer (5) and the tractor unit (4).

[0036] 5. A method according to any of the preceding claims, wherein at least one image parameter is at least one of a brightness value, a color value, a grayscale, a contrast value and / or a calculated amount of these values ​​and / or a gradient of these values ​​of a pixel and / or a pixel cluster in the camera image (6).

[0037] 6. The method according to any of the preceding claims, wherein the method for tracking (updating) the position of the trailer end is a radar-based method, an ultrasonic method, a lidar-based method, a CAN-based method and / or an optical method.

[0038] 7. A method according to any of the preceding claims, wherein a feature point (8) corresponds to a pixel or a cluster of pixels consisting of a small number of directly adjacent pixels or pixels close to each other.

[0039] 8. A method according to any preceding claim, wherein the corresponding actual trailer extremities defined in the stored block grid are obtained from another method.

[0040] 9. A method according to any preceding claim, comprising tracking (updating) the position of the trailer end so that the trailer end appears at a preferred position in a monitor image of at least one display device (1) of the camera-based system.

[0041] 10. A camera-based vehicle system having a towing unit (4) and a trailer (5) extending rearwardly from the towing unit (4) and pivotable to the towing unit (4), comprising: at least one image capture device (2) arranged on the tractor unit (4) and having at least one image sensor for capturing camera images (6) of the trailer (5) in succession in time, and At least one processing device (3) configured to perform the method according to any one of claims 1 to 9.

[0042] 11. The camera-based system according to claim 10, further comprising: At least one display device (1) is used to display a camera image (6) captured by at least one image capture device (2), and to track a determined position of the trailer end in the camera image (6) over a continuous period of time based on the position of the trailer (5) relative to an image sensor that acquires the camera image (6), so that the trailer end appears at a preferred position in a monitor image of the display device (1).

[0043] 12. A camera based system according to claim 10 or 11, approved under UNECE R46.

[0044] 13. A method for determining the trailer end of a trailer (5) extending rearwardly from a tractor unit (4) of a vehicle and pivotable to said tractor unit (4), comprising the following steps: capturing a camera image (6) of the trailer (5) by means of an image sensor of at least one image capture device (2); Determining a plurality of feature points (8) in the camera image (6) based on at least one image parameter, wherein a feature point (8) corresponds to at least one pixel in the camera image (6); Creating a block grid (10) on at least a portion of the captured camera image (6), wherein the block grid (10) defines a plurality of cells (11), and determining a distribution of a plurality of feature points (8) on the plurality of cells (11) of the block grid (10) as part of the generated block grid (10); comparing the distribution of feature points (8) in the created block grid (10) with the distribution of feature points of a plurality of corresponding stored block grids, wherein the stored block grids each define a different distribution of feature points and the actual position of the trailer end; selecting one of the stored block grids based on a correlation between feature points (8) in the created block grid (10) and feature points in the stored block grids; The end of the trailer (5) defined in the selected block grid is determined as the location of the trailer end.

[0045] 14. The method according to claim 13, wherein the distribution of the characteristic points and the corresponding trailer ends in the storage block grid is pre-stored or created and stored in real time at fixed defined or dynamically adjustable time intervals.

[0046] 15. A method according to claim 13 or 14, wherein at least one image parameter is at least one of a brightness value, a color value, a grayscale, a contrast value and / or a calculated amount of these values ​​and / or a gradient of these values ​​of a pixel and / or a pixel cluster in the camera image (6).

[0047] 16. A method according to any one of claims 13 to 15, wherein the determined trailer end is verified by a method according to any one of claims 1 to 9.

[0048] 17. A method according to any one of claims 13 to 16, wherein the corresponding actual positions of the trailer ends defined in the stored block grid are obtained from another method.

[0049] 18. A method according to any one of claims 13 to 17, further comprising tracking (updating) the position of the trailer end in the camera image (6) over a continuous time based on the position of the trailer (5) relative to the image sensor acquiring the camera image (6), so that the trailer end is displayed at a preferred position in the monitor image of the display device (1) of the camera-based system.

[0050] 19. A camera-based vehicle system having a towing unit (4) and a trailer (5) extending rearwardly from the towing unit (4) and pivotable to the towing unit (4), comprising: at least one image capture device (2) located on the tractor unit (4), comprising an image sensor for acquiring camera images (6) of the trailer (5) in succession in time; and At least one processing device (3) is configured to perform a method according to any one of claims 13 to 18.

[0051] 20. Camera-based systems, including At least one display device (1) is used to display a camera image (6) captured by at least one image capture device (2) and track (update) the position of the trailer end in the camera image (6) over a continuous period of time based on the position of the trailer (5) relative to the image sensor that acquires the camera image (6) so that the trailer end appears at a preferred position in the monitor image of the display device (1).

[0052] 21. A camera based system according to claim 19 or 20, approved under UNECE R46. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In the following, the present invention is described more fully by way of examples with reference to the accompanying drawings in which the same reference characters designate the same or similar parts.

[0054] Figure 1 A schematic diagram showing a camera-based system according to a preferred embodiment of the present invention; Figure 2 Shows the use Figure 1 A top view of a vehicle in a camera-based system; Figure 3 Shown by Figure 1 A camera image captured by a camera system in the embodiment of the present invention; Figure 4 Display according to Figure 3 camera image to illustrate the determination of feature points; Figure 5 The block grid according to the preferred embodiment of the present invention is shown. Figure 4 camera image; Figure 6 The preferred embodiment of the present invention has characteristic points. Figure 3 Schematic diagram of a cell of a block grid; Figure 7 according to Figure 3 The camera image displayed is shown as a monitor image tracking (updating) the position of the trailer end.

[0055] Figure 1 A camera based system according to a preferred embodiment of the invention is shown having display means 1a, 1b, image capturing means 2a, 2b and processing means 3a, 3b.

[0056] The image capturing devices 2a, 2b are preferably arranged on opposite sides of the vehicle and are connected to the display devices 1a, 1b via processing devices 3a, 3b, respectively. The image capturing devices 2a, 2b are arranged on opposite sides of the vehicle, for example Figure 2 The processing device 3a, 3b according to the preferred embodiment comprises, for example, a flexion angle determination device and an image data processing device, which are not described in more detail, and is in particular capable of executing the method according to the invention for determining the position of the trailer end, and for tracking (updating) and correcting the position of the trailer end on the display device 1a, 1b, as described below.

[0057] For simplicity, only the display device 1a, the image capturing device 2a and the processing device 3a are described. However, the explanation is similarly applicable to the display device 1b, the image capturing device 2b and the processing device 3b located opposite the vehicle. In addition, according to a preferred embodiment, only a single processing unit having the same functions as the processing devices 3a and 3b may be provided.

[0058] like Figure 2 As shown, the vehicle comprises a tractor 4 and a trailer 5, for example pivotably connected thereto. The image capture device 2a covers with its recording area a viewing area or field of view corresponding to the "main mirror (large) group II" according to ECE-R46. Depending on national regulations, the image capture device 2a may cover other suitable defined fields of view.

[0059] Figure 2The vehicle is shown traveling straight ahead with no kink angle between the tractor 4 and trailer 5. When turning, a kink angle is created between the tractor 4 and trailer 5, and as the kink angle increases, the rear end of the trailer 5 shifts (moves) in the field of view of the image capture device 2a. Figure 3 A camera image 6 captured by the image capture device 2a is shown, wherein the end of the trailer 5 hides the traffic behind with increasing flexion angle. The image capture device 2a may capture a series of images in temporal succession.

[0060] Figure 3 Shows Figure 1 A camera image 6 captured by a camera-based system is used as a monitor image of the trailer 5 and rear traffic 7 displayed on a monitor. Figure 4 It is used to explain the determination of the feature point 8 in the camera image 6. DETAILED DESCRIPTION

[0061] According to a preferred embodiment of the method according to the invention for verifying a trailer end or a trailer end edge in a camera image 6, a plurality of feature points 8 are determined in a two-dimensional camera image 6 having coordinate axes x and y, such as Figure 4 As shown, each feature point 8 corresponds to a single pixel or several pixels in a pixel cluster. Figure 4 A pixel field 9 is shown in an enlarged view of a partial cutout of a camera image 6. According to a preferred embodiment, a pixel having neighboring pixels 1 to 5 is determined to be a feature point, for example, if a predetermined contrast difference exists for at least a portion of the neighboring pixels. Other image parameters for defining whether a pixel is a feature point may also be used alternatively or additionally.

[0062] According to a preferred embodiment of the method according to the present invention, Figure 4 The feature points 8 determined in the image sensor are weighted in order to emphasize or better determine the contrast differences between adjacent pixels or spatially neighboring pixels. The weighting parameter can be, for example, how fast the feature points change (move) relative to the tractor, i.e. with respect to their position on the image sensor: no or only slight changes can be weighted high, since it can be assumed that the feature points are points that move with the vehicle and are therefore on the trailer. For further processing according to the method of the invention, for example only feature points with a predetermined weight or higher are used, so that not all feature points have to be used, in order to save computing power.

[0063] According to a preferred embodiment of the method according to the invention, a block grid 10 is generated on at least a portion of the camera image 6, such as Figure 5 For example, you can use Figure 4 The first block grid 10 is generated from the starting point 0 shown in FIG. The block grid 10 includes a plurality of columns and rows defining a plurality of cells 11. Figure 5In the block grid 10 in FIG. 1 , the number of columns is different from the number of rows. In principle, grid layouts other than rectangular cells can also be used. Figure 5 Also shown is the end of the trailer that needs to be verified, represented by a vertical line 12, which is obtained by an external method of determining the end of the trailer.

[0064] According to a preferred embodiment of the method according to the present invention, the distribution of the plurality of feature points 8 determined in the above-described manner is determined on a plurality of cells 11. For example, Figure 6 The cell 11 shown in comprises two feature points 8. The distribution of the feature points on the cells of the generated block grid 10 is then compared with the distribution of the feature points of a plurality of corresponding stored block grids (not shown). The stored block grids each define a different distribution of feature points, as well as the position and the buckling angle of the actual trailer end. According to a preferred embodiment of the method according to the invention, a corresponding stored block grid defining the actual trailer end is selected based on the correlation of the feature point distributions in the generated block grid and the stored block grids and the buckling angle. By comparing this actual trailer end with a previously determined (input) trailer end, a verification can be performed and, if necessary, discarded or corrected.

[0065] According to a preferred embodiment of the method according to the invention, during execution of the method, the distribution of feature points stored in the stored block grid and the corresponding (actual) trailer ends can be pre-stored or generated and stored in real time at fixed defined or dynamic time intervals.

[0066] By using a stored block grid, in addition to the distribution of feature points on the cells, information about the position of the trailer end is also stored. According to a preferred embodiment of the method for determining the position of the trailer end of the present invention, the trailer end can be determined in the above-mentioned manner without the trailer end position being verified by comparing the generated block grid with the stored block grid, and can be used for center tracking within the camera image, as described above.

[0067] Figure 7 The tracked (updated) position of the end of the trailer in the camera image 6 at a preferred position in the displayed monitor image is shown. For example, the preferred position is the center of the monitor image, or shifted 0% to 25% to the left or right from the center. The preferred position can also be offset 0% to 25% from the left edge or right edge of the monitor image.

[0068] It is expressly emphasized that all features disclosed in the description and / or claims are to be understood as separate and independent from each other, both for the purpose of original disclosure and for the purpose of limiting the claimed invention, regardless of the combination of features in the embodiments and / or claims. It is expressly pointed out that any range specification or specification of a group of units includes any intermediate values ​​or subgroups of units, both for the purpose of original disclosure and for the purpose of limiting the claimed invention, in particular also including the limits of the range indication.

[0069] Reference designation list 0 Starting point 1a, 1b Display device 2a, 2b Image capture device 3a, 3b Processing device 4 Tractor or tractor unit 5. Trailer 6 Camera images 7 Rear traffic 8 Feature points 9 pixel field 10-block grid 11 cells 12 The row indicating the end of the trailer to be verified.

Claims

1. A method for validating a method for tracking the end of a trailer, comprising the following steps: receiving from a method for tracking a trailer end at least one piece of information about the position of a trailer end (12) of a trailer (5) extending rearwardly from a tractor unit (4) of a vehicle and pivotable to the tractor unit (4); capturing a camera image (6) of at least one side area of ​​the trailer by means of an image sensor of at least one image capturing device (2); Determining a plurality of feature points (8) in the camera image (6) based on at least one image parameter, wherein a feature point (8) corresponds to at least one pixel in the camera image (6); generating a block grid (10) on at least a portion of the captured camera image (6), wherein the block grid (10) defines a plurality of cells (11), and determining a distribution of a plurality of feature points (8) on the plurality of cells (11) of the block grid (10) as part of the generated block grid (10); comparing the distribution of feature points (8) in the generated block grid (10) with the distribution of feature points of a plurality of corresponding stored block grids, wherein the stored block grids each define a different distribution of feature points together with the actual trailer end; Selecting one of the storage block grids based on a correlation between the distribution of the feature points (8) in the generated block grid (10) and the distribution of the feature points in the storage block grids; The received information about the position of the trailer end (12) is verified by comparing the actual position of the trailer end defined by the selected block grid with the received information about the position of the trailer end (12).

2. The method according to claim 1, characterized in that Further comprising correcting the received information regarding the position of the trailer end (12) based on the verification.

3. The method according to claim 1, characterized in that The distribution of characteristic points and corresponding trailer ends in the storage block grid is pre-stored or generated and stored in real time at fixed defined or dynamically adjustable time intervals.

4. The method according to claim 1, characterized in that: According to the relative positional relationship between the trailer (5) and the traction unit (4), the distribution of the characteristic points in one of the stored block grids is different from the distribution of the characteristic points in the other stored block grid.

5. The method according to claim 1, characterized in that The at least one image parameter is at least one of the brightness value, color value, grayscale, contrast value and / or calculated quantities of these values ​​and / or gradients of these values ​​of pixels and / or pixel clusters in the camera image (6).

6. The method according to claim 1, characterized in that Methods for tracking (updating) the position of the trailer end are radar-based methods, ultrasonic methods, lidar-based methods, CAN-based methods and / or optical methods.

7. The method according to claim 1, characterized in that The feature point (8) corresponds to a pixel or a pixel cluster consisting of a small number of directly adjacent pixels or pixels close to each other.

8. The method according to claim 1, characterized in that The corresponding actual trailer ends defined in the stored block grid are obtained from another method.

9. The method according to claim 1, characterized in that: include: The position of the trailer end is tracked (updated) so that the trailer end appears at a preferred position in the monitor image of at least one display device (1) of the camera-based system.

10. A camera-based vehicle system having a towing unit (4) and a trailer (5) extending rearwardly from the towing unit (4) and pivotable to the towing unit (4), comprising: at least one image capture device (2) arranged on the tractor unit (4) and having at least one image sensor for capturing camera images (6) of the trailer (5) in succession in time, and At least one processing device (3) is configured to perform a method according to any one of claims 1 to 9.

11. The camera-based system according to claim 10, characterized in that Further including: At least one display device (1) is used to display a camera image (6) captured by at least one image capture device (2), and to track the determined position of the trailer end in the camera image (6) over a continuous period of time based on the position of the trailer (5) relative to the image sensor that acquires the camera image (6), so that the trailer end appears at a preferred position in the monitor image of the display device (1).

12. The camera-based system according to claim 10, characterized in that The system is approved according to UNECE R46.

13. A method for determining a trailer end of a trailer (5) extending rearwardly from a tractor unit (4) of a vehicle and pivotable to said tractor unit (4), comprising the following steps: capturing a camera image (6) of the trailer (5) by means of an image sensor of at least one image capture device (2); Determining a plurality of feature points (8) in the camera image (6) based on at least one image parameter, wherein a feature point (8) corresponds to at least one pixel in the camera image (6); Creating a block grid (10) on at least a portion of the captured camera image (6), wherein the block grid (10) defines a plurality of cells (11), and determining a distribution of a plurality of feature points (8) on the plurality of cells (11) of the block grid (10) as part of the generated block grid (10); comparing the distribution of feature points (8) in the created block grid (10) with the distribution of feature points of a plurality of corresponding stored block grids, wherein the stored block grids each define a different distribution of feature points and the actual position of the trailer end; selecting one of the stored block grids based on a correlation between feature points (8) in the created block grid (10) and feature points in the stored block grids; The end of the trailer (5) defined in the selected block grid is determined as the location of the trailer end.

14. The method according to claim 13, characterized in that The distribution of feature points and corresponding trailer ends in the storage block grid is either pre-stored or created and stored in real time at fixed defined or dynamically adjustable time intervals.

15. The method according to claim 13, characterized in that At least one image parameter is at least one of a brightness value, a color value, a grayscale, a contrast value and / or a calculated amount of these values ​​and / or a gradient of these values ​​from one of the gradients of pixels and / or pixel clusters in the camera image (6).

16. The method according to claim 13, characterized in that The determined trailer end is verified by a method according to any one of claims 1 to 9.

17. The method according to claim 13, characterized in that The corresponding actual position of the trailer end defined in the stored block grid is obtained from another method.

18. The method according to claim 13, characterized in that The method further includes tracking (updating) the position of the end of the trailer in the camera image (6) over a continuous period of time based on the position of the trailer (5) relative to the image sensor that acquires the camera image (6), so that the end of the trailer is displayed at a preferred position in the monitor image of the display device (1) of the camera-based system.

19. A camera-based vehicle system having a towing unit (4) and a trailer (5) extending rearwardly from the towing unit (4) and pivotable to the towing unit (4), comprising: at least one image capture device (2) located on the tractor unit (4), comprising an image sensor for acquiring camera images (6) of the trailer (5) in succession in time; as well as At least one processing device (3) is configured to perform a method according to any one of claims 13 to 18.

20. Camera-based systems, including At least one display device (1) is used to display a camera image (6) captured by at least one image capture device (2) and track (update) the position of the trailer end in the camera image (6) over a continuous period of time based on the position of the trailer (5) relative to the image sensor that acquires the camera image (6) so that the trailer end appears at a preferred position in the monitor image of the display device (1).

21. The camera-based system of claim 19, wherein: The system is approved according to UNECE R46.

22. The camera-based system of claim 20, wherein: The system is approved according to UNECE R46.

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