Camera system for accurately coupling trailer vehicle to tractor vehicle

Abstract

The invention describes, among other things, a camera system for accurately coupling a trailer vehicle (200) to a tractor vehicle (100), having: a first camera (130) attachable to the tractor vehicle (100) and providing first image data (133); and a second camera (131) providing second image data (134) and attached offset relative to the first camera (130) on one vehicle axis (x, y, z) of the towing vehicle (100), where the first and second image data (133, 134) are displayed as a common screen pattern (135) on a display device (132) mounted in the cab. According to the invention, the first and the second camera (130, 131) are oriented such that a safety-related area (SD) behind the towing vehicle (100) is recorded by means of the first camera (130) and a coupling-related area (SR) is recorded by means of the second camera (131), a coupling element (201) of the towing vehicle (200) to be controlled being discernible.

Description

Field of the Invention

[0001] The present invention relates to a camera system for precisely coupling a trailer vehicle to a towing vehicle according to the features in the preamble of claim 1. Furthermore, the present invention is implemented on the towing vehicle. Background Art

[0002] The towing vehicle has a corresponding coupling device for releasably attaching a trailer-side coupling element. During the coupling process, the towing vehicle generally reverses slowly towards a stationary trailer, and the trailer-side coupling element of the stationary trailer must be inserted as precisely as possible into the coupling device of the towing vehicle and then locked therein. An imprecise approach of the towing vehicle causes the trailer-side coupling element not to be engaged by the coupling device of the towing vehicle, which can cause significant damage to the vehicle. Particularly dangerous is a seemingly correct coupling in which the trailer-side coupling element is not fully locked into the towing vehicle-side coupling device, which can cause the vehicle to become detached during driving.

[0003] In the prior art, efforts have been made to simplify the coupling process for the driver. US2014 / 0151979A1 proposes mounting a camera carrier between the beams of the vehicle frame, mounting a first rear-facing camera on the camera carrier to capture the kingpin of the trailer vehicle, and mounting a second front-facing camera on the camera carrier to capture the inlet of the fifth-wheel coupler.

[0004] The two cameras are connected to a display device located in the cab. Then, the screen patterns from the two cameras can be displayed side by side on the display device, allowing the driver to see the trailer-side coupling element on one half of the screen and the towing vehicle-side coupling device on the other half. However, it has proven disadvantageous that the driver must alternately view the screen patterns from the first and second cameras during the maneuver to estimate the relative position of the kingpin with respect to the fifth-wheel coupler.

[0005] GB2513393A discloses an auxiliary system for coupling a trailer to a passenger vehicle having a number of cameras arranged thereon. A composite screen pattern can be generated on the display device based on the image data of the number of cameras, where the first camera provides image data of the rear driving area and the second camera is mounted in an external mirror that extends laterally out of the rear driving area.

[0006] DE102016120349A1 also describes a trailer reverse assistance system having a camera, the image data of which is used to determine the coupling angle between the towing vehicle and the trailer when the vehicle automatically steers during a trailer reverse maneuver. The camera can be particularly positioned in the upper region of the vehicle tailgate and has a field of view suitable for recording one or more images of the trailer. Summary of the Invention

[0007] Therefore, the object of the present invention is to improve a camera system or a towing vehicle on which a camera system is mounted, such that a driver can obtain a comprehensive overview of the areas behind the towing vehicle that are important to him without having to switch his thinking between a first screen pattern and a second screen pattern when viewing a display device during coupling.

[0008] This object is achieved by the features of claim 1. The first camera and the second camera operate especially in the visible light range. Alternatively, the cameras can also operate in the invisible spectrum, and the display device performs visible processing of the first image data and the second image data.

[0009] A single screen pattern always contains first image data from the first camera and second image data from the second camera. Any outlines and visible edges of the objects captured in the first image data and the second image data are seamlessly joined (i.e., without discontinuities) into the common screen pattern. The first image data of the safety-related area is preferably at least partially supplemented with the second image data of the coupling-related area along the vertical axis of the vehicle and / or in the rearward extension of the longitudinal axis of the vehicle.

[0010] This allows the driver to focus only on a single screen pattern, on which two types of information are visible: safety-related information about the safety-related area located behind the towing vehicle; and information about the coupled trailer vehicle in the coupling-related area in the rearward travel direction, while avoiding blind spots that cannot be seen.

[0011] The second image data is preferably displayed on the display device above the first image data.

[0012] The screen pattern is advantageously composed by stitching the simultaneously captured first image data and second image data. Stitching means creating a large screen pattern from various smaller individual images, which usually shows overlapping parts of the objects. Thus, a part of the common screen pattern is displayed using the first image data and the second image data.

[0013] Particularly advantageously, the safety-related area is defined by a vertical plane at a distance of 0.10 m to 5.00 m, particularly preferably 0.15 m to 3.50 m, very particularly preferably 0.30 m to 3.00 m, and most preferably 0.50 m to 1.00 m behind the towing vehicle. The vertical plane usually extends down to the road surface or rests on the road surface. If the vertical plane is captured by the first camera, collisions with persons or obstacles close to the ground are also detected.

[0014] The vertical plane can be detected by the first camera. This results in the advantage that obstacles located in the vertical plane are included in the first image data and displayed on the display device.

[0015] Preferably, the space traversed by the vertical plane along the expected trajectory is detected. When the towing vehicle travels in the reverse direction, the towing vehicle occupies this space. The vertical plane then moves backward along this trajectory, creating a three-dimensional space. In theory, any point within this space can be contacted by the towing vehicle. When the towing vehicle follows its trajectory, the safety-related area does not extend beyond this space in the directions of the vehicle's transverse axis and vertical axis.

[0016] The coupling-related area is the area where the coupling element of the trailer is first visible. The second camera is aligned and designed such that the coupling element of the trailer vehicle to be controlled is visible and in focus. The coupling element of the trailer vehicle to be controlled is always the first to be visible in the second image data of the second camera.

[0017] Both the safety-related area and the coupling-related area are located behind the vehicle, i.e., they are both at least partially located in the backward extension of the vehicle's longitudinal axis.

[0018] The screen pattern is conveniently formed from the first image data and the second image data, which are derived from different positions in the direction of the vehicle's longitudinal axis.

[0019] The first camera and the second camera are advantageously aligned in the backward travel direction of the towing vehicle. This configuration is useful because it makes both the safety-related area and the coupling-related area for maneuvering visible in the backward travel direction on the display device before coupling the trailer vehicle.

[0020] The above camera system can be mounted on the towing vehicle, where the second camera is attached to a component of the coupling device of the towing vehicle. Depending on the mounting position, the second camera can be fixedly mounted on the component of the coupling device or movable relative thereto, for example, to temporarily remove the second camera from the collision area with the trailer-side coupling element during coupling. The second camera can also be directly attached to the component of the coupling device or spaced therefrom by means of a bracket.

[0021] The towing vehicle is, for example, a semi-trailer tractor, and the coupling device is a fifth-wheel coupling with a coupling plate. Advantageously, the components of the fifth-wheel coupling are one of the coupling plate, one of the support blocks supporting the coupling plate, the mounting plate supporting the support block, and / or the support crossbeam members arranged between the support blocks and attached to both sides of the support blocks.

[0022] The first camera is preferably attached to the rear crossmember member of the semi-trailer tractor. According to a particularly advantageous embodiment of the invention, the semi-trailer tractor has a vehicle frame, wherein the vehicle frame is delimited at the rear by the rear crossmember member, and / or the vehicle frame is laterally protruded beyond by the rear crossmember member. The rear crossmember member forms the rear end of the semi-trailer tractor and is thus particularly suitable for attaching the first camera in order to capture the road surface immediately behind the semi-trailer tractor without any cover or blind spot.

[0023] Alternatively, the towing vehicle can also be a truck, and the coupling device can be a rod coupler. Then, the components of the rod coupler for attaching the second camera are conveniently its drive-in jaw, screwed flange, housing for the locking mechanism, and / or the coupler body with a drawbar.

[0024] The second camera can be attached directly to the respective component or via a bracket. Here, the second camera can also be attached to the respective component in a fixed position, or alternatively, it can be movably mounted thereon in order to temporarily move the second camera away from the potential collision area when the trailer-side coupling element approaches.

[0025] In particular, the first camera can be attached to the anti-intrusion protection bumper of the truck. The anti-intrusion protection bumper provides an unobstructed view of the safety-related area behind the towing vehicle for the first camera, in particular an unobstructed view of any person or obstacle located behind the truck. Description of the Drawings

[0026] For better understanding, the present invention will be explained in more detail below with reference to three drawings.

[0027] Figure 1 is a side view of a semi-trailer tractor having a camera system including a first camera and a second camera;

[0028] Figure 2 is a side view of a truck having a camera system including a first camera and a second camera; and

[0029] Figure 3 is a display device having a screen pattern composed of first image data and second image data. Detailed Description of the Invention

[0030] Figure 1 A side view of a towing vehicle 100 in the form of a semi-trailer tractor 110 is shown, which semi-trailer tractor 110 is reversing towards a stationary trailer vehicle 200 in order to couple it. The trailer vehicle 200 is a semi-trailer, and a kingpin is attached to the semi-trailer as a coupling element 201 in the front region.

[0031] The semi-trailer tractor 110 has a vehicle frame 101 extending along the vehicle longitudinal axis x, which supports a cab 102 at one front end and a coupling device 103 configured as a fifth-wheel coupler 140 at the opposite second end. The vehicle frame 101 also supports wheels 104 on which the tractor vehicle 100 stands on the road surface F.

[0032] The fifth-wheel coupler 140 includes a coupling plate 141 into which a coupling element 201 of the trailer vehicle 200 is driven during the coupling process and is releasably held by a locking mechanism (not shown). The coupling plate 141 is pivotally mounted about the vehicle transverse axis y via two support blocks 142, and only the front support block 142 in the image plane of the two support blocks is visible in Figure 1 a side view.

[0033] For better absorption of lateral moments and forces, a support cross-member 144 can be fixedly installed between the two support blocks 142 for strengthening purposes. The support cross-member 144 is attached to both sides of the support blocks 142. In Figure 1 a side view, the support cross-member 144 is hidden by the support blocks 142 protruding in front of it and is thus only indicated by a dashed line.

[0034] In principle, the support blocks 142 can be directly bolted to the vehicle frame 101 or bolted to the vehicle frame 101 by means of a sub-frame. However, in the illustrated embodiment, the support blocks 142 stand on a mounting plate 143 which in turn is placed on top of the vehicle frame 101 and bolted to the top of the vehicle frame 101.

[0035] The vehicle frame 101 terminates at the rear in a rear cross-member 111. The rear cross-member 111 protrudes laterally beyond the vehicle frame 101 on the vehicle transverse axis y and protects the rear of the semi-trailer tractor 110 from damage during travel in the absence of the trailer vehicle 200. Generally, the rear cross-member 111 also protrudes laterally beyond the wheels 104 on the vehicle transverse axis y.

[0036] A first camera 130 is fixedly mounted on the rear cross-member 111, which captures first image data 133 from a safety-related area S D located directly behind the tractor vehicle 100 and provides the first image data 133. The first camera 130 is connected to a display device 132 arranged in the cab 102 and within the driver's field of view, either wired or wirelessly.

[0037] Safety-related area S DComprising a vertical plane E extending from the road surface F, which vertical plane must be captured by the first camera 130. The vertical plane E may have a maximum dimension corresponding to the cross-sectional profile A of the towing vehicle 100. The vertical plane E is spaced apart from the towing vehicle 100 by a distance x in the rearward extension of the longitudinal axis x of the vehicle E .

[0038] On the components of the fifth-wheel coupling 140, for example, as Figure 1 shown, the second camera 131 is mounted on one of the support blocks 142 and / or on the coupling plate 141 and / or on the mounting plate 143 and / or on the support crossbeam member 144, which second camera 131 captures second image data 134 from the coupling-related area S R and provides the second image data 134.

[0039] The coupling-related area S R is arranged in the vertical axis z of the vehicle above the safety-related area S D and extends beyond the safety-related area S in the rearward extension of the longitudinal axis x of the vehicle D , such that there the intended coupling element 201 of the trailer vehicle 200 is first seen for coupling purposes in the rearward travel direction R.

[0040] Behind the towing vehicle 100, the coupling-related area S R and the safety-related area S D overlap as the distance along the longitudinal axis x of the vehicle increases.

[0041] In the safety-related area S captured by the first camera 130 D , the road surface F located directly behind the towing vehicle 100 is captured, while the coupling element 201 of the trailer vehicle 200 is only visible from a great distance, but cannot be recognized due to the focusing range of the first camera. Thus, the main purpose of the first camera 130 is to make a person P (see Figure 3 ) or a low obstacle located directly behind the towing vehicle 100 visible to the driver on the display device 132.

[0042] The second camera 131, which is offset from the first camera 130 along the longitudinal axis x and the vertical axis z of the vehicle, cannot capture the area of the road surface F located directly behind the towing vehicle 100 with its second image data 134, because this area is blocked by components of the towing vehicle 100, such as the fifth-wheel coupling 140, the vehicle frame 101 with attachments not shown, or the rear crossbeam member 111. Thus, based only on the second image data 134 on the display device 132, a person P or a low obstacle located directly behind the towing vehicle 100 will not be visible to the driver.

[0043] As will be explained below in conjunction with Figure 3 the display device 132 presents a coherent screen pattern 135 to the driver that includes first image data 133 from the first camera 130 and second image data 134 from the second camera 131, without the driver having to mentally switch between two or more separate screen patterns during the coupling operation.

[0044] Figure 2 An alternative embodiment of the invention is shown, in which the camera system is mounted on a tractor vehicle 100 in the form of a truck 120.

[0045] The rod coupler 150, shown enlarged for clarity, is located at the rear of the truck 120 and serves as the coupling device 103.

[0046] The trailer vehicle 200 has a drawbar as the coupling element 201, with a draw eye formed at the free end of the drawbar. To connect the truck 120 to the trailer vehicle 200, the draw eye is driven into the rod coupler 150 and locked therein by means of a coupling bolt (not shown).

[0047] The anti-drill protection bumper 121 is located below the rod coupler 150 in a manner offset on the vertical axis z of the vehicle. The anti-drill protection bumper 121 extends laterally beyond the vehicle frame 101 on the lateral axis y of the vehicle and prevents the trailer side coupling element 201, components of the trailer vehicle 200, or other obstacles from sliding under the tractor vehicle 100 and causing damage when reversing without the trailer vehicle 200. In this exemplary embodiment, the first camera 130 is mounted on the anti-drill protection bumper 121.

[0048] The first camera 130 captures first image data 133 of a safety-related area S located directly behind the anti-drill protection bumper 121 on the longitudinal axis x of the vehicle D The first image data 133 particularly includes the road surface F located behind the tractor vehicle 100. The first camera 130 is not suitable for capturing the coupling element 201 of the trailer vehicle 200 due to its low mounting position on the truck 120 and its focusing range, since the coupling element 201 is significantly above the first camera 130 along the vertical axis x of the vehicle. The safety-related area S D is defined by a distance x of the vertical plane E from the tractor vehicle 100 E and is delimited.

[0049] The second camera 131, attached to a component of the rod coupler 100, is used for navigation during coupling. In particular, and as Figure 2As shown, it is mounted on the housing 153 of the locking mechanism and / or is indicated by a dashed line, mounted on the driving-in jaw 151 and / or preferably mounted by means of a camera holder on a coupling body having a towing rod 154 and / or also preferably mounted by means of a camera holder on a screwed flange 152. In this mounting position, the second camera 131 is at a height on the vertical axis z of the vehicle opposite to the trailer-side coupling element 201 adapted in the form of a towing eye. When the truck 120 approaches the trailer vehicle 200, the second image data 134 recorded by the second camera 131 mainly depicts the coupling-related area S R within the trailer-side coupling element 201, but does not capture the rear safety-related area S D directly behind the anti-drill protection bumper 121 and the road surface F located there.

[0050] On the display device 132 shown as an example in Figure 3 , the first image data 133 and the second image data 134 are linked to each other and are displayed on the display device 132 as a common screen pattern 135.

[0051] The first image data 133 is displayed in a partial section of the display device 132, and the safety-related area S directly behind the towing vehicle 100 can be seen. D . Anyone P (e.g., a child crawling to search for a ball) crawling behind the towing vehicle 100 is captured by the first image data 133 and is not in the blind spot of the higher-mounted second camera 131. The second camera 131 provides the second image data 134 in another partial section of the display device 132, and the second image data 134 is optimized for displaying the trailer vehicle 200 and its coupling element 201 in the form of a kingpin, for example. However, the partial section having the first image data 133 and the partial section having the second image data 134 do not need to occupy the same size on the display device 132.

[0052] The first image data 133 and the second image data 134 are seamlessly joined to each other, so that the driver only needs to focus on a single screen pattern 135. The first image data 133 is preferably arranged at the bottom of the display device 132, and the second image data 134 is arranged at the top.

[0053] List of reference numerals

[0054] 100 Towing vehicle

[0055] 101 Vehicle frame

[0056] 102 Cab

[0057] 103 Coupling device

[0058] 104th wheel

[0059] 110 semi - trailer tractor

[0060] 111 rear cross - beam member

[0061] 120 truck

[0062] 121 anti - intrusion protection bumper

[0063] 130 first camera

[0064] 131 second camera

[0065] 132 display device

[0066] 133 first image data

[0067] 134 second image data

[0068] 135 screen pattern

[0069] 140 fifth wheel coupler

[0070] 141 coupling plate

[0071] 142 support block

[0072] 143 mounting plate

[0073] 144 support cross - beam member

[0074] 150 rod coupler

[0075] 151 driving pawl

[0076] 152 screwed flange

[0077] 153 housing locking mechanism

[0078] 154 coupler body with drawbar

[0079] 200 trailer vehicle

[0080] 201 coupling element

[0081] A Cross - sectional profile of the tractor vehicle

[0082] E Vertical plane of the safety - relevant area

[0083] F Road surface

[0084] P Person

[0085] R Backward travel direction

[0086] S D Safety - relevant area

[0087] S R Connection-related area

[0088] x Longitudinal axis of the vehicle

[0089] x E Distance between the plane and the safety-related area

[0090] y Transverse axis of the vehicle

[0091] z Vertical axis of the vehicle

Claims

1. A camera system for accurately coupling a trailer vehicle (200) to a towing vehicle (100), the camera system having: a first camera (130) that can be attached to the towing vehicle (100), and the first camera (130) provides first image data (133); and a second camera (131) that provides second image data (134), and the second camera (131) is attached in a manner offset with respect to the first camera (130) on one of the vehicle axes (x, y, z) of the towing vehicle (100), wherein, The first image data (133) and the second image data (134) are displayed as a common screen pattern (135) on a display device (132) installed in the cab. It is characterized in that The first camera (130) and the second camera (131) are oriented such that a safety-relevant area (S D ) behind the towing vehicle (100) is recorded by means of the first camera (130), and a coupling-relevant area (S R ) is recorded by means of the second camera (131), in which coupling-relevant area (S R ) the coupling element (201) of the towed vehicle (200) to be controlled is distinguishable.

2. The camera system according to claim 1, wherein The safety-related area (S D ) is delimited by a vertical plane (E) at a distance (x E) ) behind the towing vehicle (100) of from 0.10 m to 5.00 m, particularly preferably from 0.15 m to 3.50 m, very particularly preferably from 0.30 m to 3.00 m and most preferably from 0.50 m to 1.00 m.

3. The camera system according to claim 2, characterized in that, the vertical plane (E) is detected by the first camera (130).

4. The camera system according to claim 2 or 3, characterized in that, Detect the space spanned by the plane (E) along the expected trajectory.

5. The camera system according to any one of claims 1 to 4, characterized in that, The screen pattern (135) is formed by the first image data (133) and the second image data (134) originating from different positions in the direction of the longitudinal axis (x) of the vehicle.

6. The camera system according to any one of claims 1 to 5, characterized in that, The first image data (133) always captures a part of the road surface (F) located directly behind the tractor vehicle (100).

7. The camera system according to any one of claims 1 to 6, characterized in that, The first camera (130) and the second camera (131) are aligned in the backward traveling direction (R) of the tractor vehicle (100).

8. A tractor vehicle (100), the tractor vehicle (100) having a camera system according to any one of claims 1 to 7, characterized in that, The second camera (131) is attached to a component of the coupling device (103) of the tractor vehicle (100).

9. The towing vehicle (100) according to claim 8, characterized in that, The tractor vehicle (100) is a semi-trailer tractor (110), and the coupling device (103) is a fifth-wheel coupler (140) having a coupling plate (141).

10. The tractor vehicle (100) according to claim 9, characterized in that, The components of the fifth-wheel coupler (140) are: the coupling plate (141); one of a plurality of support blocks (142) supporting the coupling plate (141); a mounting plate (143) supporting the support block (142); and / or a support crossbeam member (144) disposed between the support blocks (142) and attached to both sides of the support blocks (142).

11. The towing vehicle (100) according to claim 9 or 10, characterized in that, The first camera (130) is attached to the rear crossbeam member (111) of the semi-trailer tractor (110).

12. The tractor vehicle (100) according to claim 11, characterized in that, The semi-trailer tractor (110) has a vehicle frame (101), wherein the vehicle frame (101) is defined by the rear crossbeam member (111) at the rear, and / or the rear crossbeam member (111) projects laterally beyond the vehicle frame (101).

13. The tractor vehicle (100) according to claim 8, characterized in that, The tractor vehicle (100) is a truck (120), and the coupling device (103) is a rod coupler (150).

14. The tractor vehicle (100) according to claim 13, characterized in that, The components of the rod coupler (150) are: a drive-in jaw (151); a screwed flange (152); a housing of the locking mechanism (153); and / or a coupler body having a drawbar (154).

15. The towing vehicle according to claim 13 or 14, characterized in that, The first camera (130) is attached to the anti-drill protection bumper (121) of the truck (120).

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