Method for monitoring rear and / or lateral spaces of multi-section vehicle combination, in particular commercial vehicle combination, computer program and / or computer-readable medium, controller, trailer, tractor, and multi-section vehicle combination, in particular commercial vehicle combination

Abstract

The invention relates to a method (400) for monitoring a rear space (300) and / or a lateral space (301, 302) of a multi-section vehicle combination (200a), in particular a commercial vehicle combination (200b), comprising a trailer (250) having a camera (101, 102) arranged at a front region (254) of the trailer (250) for monitoring the rear space (300) and / or the lateral space (301, 302), and a tractor (240) having a mirror replacement system (247), the camera (101, 102) being arranged at a rear region (254) of the trailer (250) for monitoring the rear space (300) and / or the lateral space (301, 302). Wherein the method (400) comprises: detecting (410) identifiability information (501) relating to the identifiability of the trailer (250), the rear space (300) and / or the side spaces (301, 302); learning (420) the display information (502) on the basis of the identifiability information (501); and outputting (430) a control signal (510) in accordance with the display information (502) for outputting image data (515) from the cameras (101, 102) on an output device (245).

Description

Technical Field

[0001] The present invention relates to a method for monitoring the rear space and / or the side space of a multi-section vehicle combination, in particular a commercial vehicle combination, the multi-section vehicle combination comprising a trailer and a tractor, the trailer having a camera arranged in the front area of ​​the trailer for monitoring the rear space and / or the side space, the tractor having a mirror replacement system. The present invention also relates to: a computer program and / or computer-readable medium; a controller for a multi-section vehicle combination, in particular a commercial vehicle combination, for monitoring the rear space and / or the side space, the multi-section vehicle combination comprising a trailer and a tractor, the trailer having a camera arranged in the front area of ​​the trailer for monitoring the rear space and / or the side space; a trailer for a multi-section vehicle combination, in particular a commercial vehicle combination, the multi-section vehicle combination comprising the trailer and the tractor, the trailer having a camera for monitoring the rear space and / or the side space; a tractor for a multi-section vehicle combination, in particular a commercial vehicle combination, the multi-section vehicle combination comprising such a trailer and the tractor; and a multi-section vehicle combination, in particular a commercial vehicle combination. Background Art

[0002] Monitoring the side and / or rear space of a multi-vehicle combination, in particular a commercial vehicle combination, is a safety feature that facilitates reversing maneuvers using the vehicle combination, in particular a commercial vehicle combination. By monitoring the side and / or rear space, the risk of injury and / or accidents caused by the driver's lack of visibility to the side and / or rear space can be reduced.

[0003] According to the General Safety Regulation (GSR) (Regulation (EU) 2019 / 2144 of the European Parliament and of the Council of 27 November 2019), a reversing information system (ReIS) or reversing assistance system requires either a camera image from a rear-facing camera or a detection and warning system. Drivers prefer camera images over other assistance systems because the visual interpretation of the scene provides them with more operational options.

[0004] Camera assemblies for vehicles are known from the prior art.

[0005] For example, so-called surround view systems are known. Such surround view systems are capable of monitoring the complete surroundings of a rear vehicle section, for example a trailer. Here, not only a combined overall image can be provided, but also individual images, which can be switched depending on the driving situation. However, a central display is required for such surround view systems. In contrast, the driver is used to using a rearview mirror or a mirror replacement system, the monitor of which is generally arranged near the corresponding A-pillar. In order to display the image data of the surround view system simultaneously, a "stitching" is required, i.e. the image data from multiple cameras are joined to one another. However, the "stitched" view of the surround view system requires habituation. Practice and experience are required in order to interpret the "stitched" display. Furthermore, the detection range of the surround view system is not standardized. When changing the trailer and thus the cameras, different perspectives can cause confusion. Finally, due to the unfamiliarity with the display and the display principle, in some cases a dangerous point can not be recognized correctly.

[0006] In addition to the surround view system, other laterally arranged sensors, such as ultrasound and / or radar, can also be suitable for generating a warning of a shunting damage.

[0007] US 5,027,200 discloses a device which enables the observation of the traffic or other conditions behind and to the side of a motor vehicle from both sides. The device comprises a video camera arrangement which is assembled at the vehicle and is directed laterally with respect to the vehicle, and a CRT arrangement (Cathode-Ray-Tube-Struktur) which is connected in a manner consistent with the operation to the video camera arrangement for displaying the camera output on a CRT screen area or CRT area, wherein the driver looks at the CRT screen area in order to improve the observation of the rear side and the side of the vehicle.

[0008] DE 10 2008 039 649 A1 discloses an environment detection device for observing the environment of a segmented vehicle. The environment detection device comprises at least one camera which can be arranged at a rear vehicle segment, a display unit which is arranged in a front vehicle segment for displaying images taken by means of the at least one camera, and a mobile quick fastening device for fastening the at least one camera at different rear vehicle segments. Here, an automatic image switching is provided, which selects a camera on the dead angle side of the segmented vehicle when reversing. Thereby, in the case of reversing, in particular shunting, the dead angle region is advantageously displayed to the driver. The display unit is configured as a screen which is viewable for the driver in the driver's cab.

[0009] According to the prior art, also "stitching" and / or central displays are used in order to enable the driver to monitor the lateral and / or rear space. SUMMARY

[0010] Therefore, the present invention aims to enhance the existing technology and provide an improved method for monitoring lateral and / or rear spaces. In particular, embodiments of the present invention can achieve safer monitoring of lateral and / or rear spaces and provide a user-friendly display for monitoring lateral and / or rear spaces.

[0011] This object is achieved by the method according to claim 1 and by the subject matter according to the other independent claims. The dependent claims specify optional developments of the invention.

[0012] According to one aspect of the present invention, a method for monitoring rear and / or lateral spaces of a multi-vehicle combination, particularly a commercial vehicle combination, is provided. The vehicle combination comprises a trailer and a tractor, wherein the trailer has a camera disposed at a front region thereof for monitoring rear and / or lateral spaces of the trailer, and the tractor has a mirror replacement system. The method includes: detecting recognizability information related to the recognizability of the trailer, rear and / or lateral spaces; obtaining display information based on the recognizability information; and outputting a control signal based on the display information for outputting image data from the camera to an output device.

[0013] In this context, a vehicle combination, in particular a commercial vehicle combination, is referred to as a vehicle combination. The vehicle combination is multi-section and has a trailer and a tractor.

[0014] The tractor vehicle has a mirror replacement system and an output device. The driver of the vehicle combination is accustomed to using this mirror replacement system instead of and / or in addition to mirrors to monitor the space to the sides and / or behind the tractor vehicle. To this end, the output device is configured to display visually perceptible outputs to the driver of the vehicle combination.

[0015] The trailer has a front area. Here, the front area refers to the section of the trailer that is closer to the tractor than to the rear space when the tractor and trailer form a multi-section vehicle combination. A camera is arranged in the front area for monitoring the rear space and / or the side space of the trailer. The camera is configured to capture image data related to the rear space and / or the side space.

[0016] In order to appropriately present the image data from the camera to the driver of the vehicle combination, recognizability information is detected. The recognizability information may relate to the recognizability of the trailer, the rear space, and / or the side space for a user and / or a mirror replacement system. It has been recognized that, for example, the recognizability of the trailer by a mirror replacement system may result in sections of the side space and / or rear space being obscured by the trailer and therefore not being recognizable by the mirror replacement system.

[0017] The display information is derived from the recognizability information. To determine the display information, the recognizability information is evaluated. The display information can be used to determine which image data is to be output via the output device. For example, if the rear end of a trailer is no longer visible in the mirror replacement system, the mirror replacement system can use the image from the trailer's camera.

[0018] Based on the display information, a control signal is output for outputting image data from the camera on an output device of the mirror replacement system. The control signal causes the image data detected by the camera to be displayed on the output device. The driver can optionally view the image data at a location that is customary to the driver, wherein the image data displays a view of the side and / or rear space that is customary to the driver.

[0019] The technical effect provided by the present invention is that a camera in the front area of ​​a trailer operates with the same "viewing direction" or detection range as a camera-based mirror replacement system. It can be positioned at the level of the trailer's end wall and oriented toward the trailer, i.e., toward the rear. This allows the camera to have the same viewing direction as the driver knows from legally required mirrors or approved mirror replacement systems. This field of view is intuitive for the driver. In particular, if the trailer's swerve obstructs the view to one end of the trailer, the view from the trailer-mounted camera can be displayed on a display device in the tractor. The trailer's camera can thus be considered an extension of the "mirror's field of view."

[0020] Optionally, the identifiability information includes a kink angle. Alternatively or additionally, the identifiability information includes motion data related to the movement of the tractor vehicle for determining the kink angle. The kink angle here refers to the direction of travel of the tractor vehicle or the angle between the longitudinal axis of the tractor vehicle and the longitudinal axis of the trailer. It has been recognized that the kink angle has a decisive influence on the visibility of the lateral and / or rear space. When the kink angle increases, the trailer, in particular its end facing the tractor vehicle, can gradually obstruct the user's field of vision and / or the detection range of the mirror replacement system. It has also been recognized that the kink angle can be measured directly with the aid of sensors, for example, and can therefore be detected efficiently. Alternatively or additionally, the kink angle can be calculated or determined based on the motion data. Based on the vehicle movement, in particular the steering wheel angle and the speed, the kink angle that causes the invisible area in the lateral and / or rear space of the trailer can be inferred.

[0021] Optionally, the displayed information is determined based on a predetermined condition related to the kink angle. It is recognized that a switch from the mirror replacement system to the trailer's camera can be initiated as soon as the kink angle between the tractor and trailer exceeds a specific value. The predetermined condition can include the kink angle value and a comparison of the measured kink angle with this value.

[0022] Optionally, the recognizability information comprises a mirror replacement image data detected by the mirror replacement system. Here, the visibility information can comprise that the end side of the trailer is recognized by the mirror replacement system and that the end of the trailer is occluded. Here, the recognizability information can be obtained, for example, efficiently by object recognition in the mirror replacement image data.

[0023] Optionally, the display information is dependent on whether a front end side of the trailer is imaged in the mirror replacement image data and / or which end side section of the front end side is imaged. Thus, for example, sections of the lateral space and / or the rear space located left or right in the driving direction can be monitored differently.

[0024] According to another aspect of the application, a computer program and / or a computer readable medium is provided. The computer program and / or the computer readable medium comprises instructions which, when the program or instructions are executed by a computer, cause the computer to carry out the method described herein and / or the steps of the method described herein. The computer program and / or the computer readable medium can comprise instructions to perform the method steps described as optional to achieve the respective technical effects.

[0025] According to an aspect of the application, a controller for a multi-section vehicle combination, in particular a commercial vehicle combination, is provided, the multi-section vehicle combination comprising a trailer and a towing vehicle, the trailer having a camera arranged at a front region of the trailer for monitoring a rear space and / or a lateral space, the controller being for monitoring the rear space and / or the lateral space. Here, the controller is set up to carry out the method described above. The controller can be set up to carry out the method steps described as optional to achieve the respective technical effects.

[0026] Optionally, the controller is a controller of the towing vehicle. Thus, the controller of the towing vehicle is set up to carry out the method described above. Thus, a high-performance controller for the trailer is not necessary. Thus, it is sufficient that the trailer has a data processing device providing an interface to the controller. The data processing device is set up to transmit the image data to the towing vehicle. The controller can request the image data detected by the camera by a control signal, for example. Alternatively, the controller can receive the image data even without a request by the controller of the towing vehicle. Here, the trailer can continuously send the camera data or the image data to the controller of the towing vehicle even without a request by the controller of the towing vehicle.

[0027] According to an aspect of the present application, a trailer for a multi-section vehicle combination, in particular a commercial vehicle combination, is provided, the multi-section vehicle combination comprising the trailer and a towing vehicle, the trailer having a camera arranged at a front region of the trailer for monitoring a rearward space and / or a lateral space. Herein, the trailer has a data processing device for transmitting image data to the towing vehicle, and the data processing device is set up to receive control signals from the towing vehicle for outputting image data from the camera on an output device. Furthermore, it is disclosed that the trailer is set up to continuously transmit image data to the towing vehicle without receiving control signals, wherein the towing vehicle is set up to perform all display control.

[0028] Thus, the trailer is set up to provide the camera for performing the above-mentioned method. The trailer can have two cameras, wherein a first camera of the two cameras is arranged and set up to monitor a left lateral space, and a second camera of the two cameras is correspondingly arranged and set up to monitor a right lateral space. The trailer can have a reversing camera for monitoring a rearward space.

[0029] According to an aspect of the present application, a towing vehicle for a multi-section vehicle combination, in particular a commercial vehicle combination, is provided, the multi-section vehicle combination comprising the above-mentioned trailer and the towing vehicle. Herein, the towing vehicle has the above-mentioned controller and a mirror replacement system with an output device.

[0030] Thus, the towing vehicle is set up to perform the above-mentioned method. The mirror replacement system can have two mirror replacement cameras, wherein a first mirror replacement camera of the two mirror replacement cameras is arranged and set up to monitor a left lateral space, and a second mirror replacement camera of the two mirror replacement cameras is correspondingly arranged and set up to monitor a right lateral space. The mirror replacement system can have two mirror replacement output devices, wherein a first mirror replacement output device of the two mirror replacement output devices is set up to output mirror replacement image data of the first mirror replacement camera, and a second mirror replacement output device of the two mirror replacement output devices is set up to output mirror replacement image data of the second mirror replacement camera.

[0031] Optionally, the mirror replacement system has a mirror replacement output device, and the output device is different from the mirror replacement output device. In other words, in the present embodiment, a further output device can be provided. The output device can be arranged in the vicinity of the mirror replacement output device. Herein, the output device can be specifically set up for image data of the camera of the trailer and does not influence the mirror replacement system. Thus, it can be possible to maintain compliance with legal provisions related to the mirror replacement system.

[0032] Optionally, the mirror replacement system has a mirror replacement output device and the output device comprises the mirror replacement output device. In other words, the image data of the trailer camera and / or the mirror replacement image data can be displayed on a common output device or mirror replacement output device. Thus, a separate output device for outputting the image data of the trailer camera is not necessary.

[0033] Optionally, the output device is arranged for outputting the image data from the camera and from the reversing camera simultaneously. In other words, the output device can be used for the image data of the trailer camera and for the image data of the reversing camera (split screen). Thereby, the overall not visible rear space is presented in a way the driver is used to. For example, a monitor at the right A-pillar would present the trailer right side in the monitor upper area. In the display lower area the video of the reversing camera would be presented. A monitor at the left A-pillar would present the trailer left side in the monitor upper area. In the display lower area the video of the reversing camera would be presented.

[0034] Optionally, the controller is arranged for performing an overlay of the image data from the camera with the mirror replacement image data. For example, when the mirror replacement output device is allowed to be used for overlaying the image data of the trailer camera, the mirror replacement image data and the image data of the trailer camera can be monitored simultaneously in order to avoid damages, for example, caused by protruding trailer end sides.

[0035] According to an aspect of the present application, a multi-section vehicle combination, in particular a commercial vehicle combination, is provided. The vehicle combination, in particular the commercial vehicle combination, comprises the above-mentioned towing vehicle and the above-mentioned trailer.

[0036] Optionally, the multi-section vehicle combination, in particular the commercial vehicle combination, comprises a communication interface for transmitting information between the controller of the towing vehicle and the data processing device of the trailer. Via the communication interface a control of the camera and / or the transfer of image data can be performed. Optionally, the image data of multiple cameras can be transmitted via a common, in particular standardized, data line, thereby simplifying the wiring between the camera and the towing vehicle and avoiding compatibility problems between the towing vehicle (truck) and the trailer (trailer). A standardized service function of the camera can be provided which the towing vehicle can request when needed. BRIEF DESCRIPTION OF DRAWINGS

[0037] Further advantages and features of the present application, as well as the technical effects thereof, will become apparent from the following description with reference to the drawings, wherein:

[0038] Figure 1 a multi-section vehicle combination, in particular a commercial vehicle combination, with a typical damage layout according to the prior art is shown;

[0039] Figure 2 A multi-section vehicle combination, in particular a commercial vehicle combination, is shown while driving on a straight track according to the prior art;

[0040] Figure 3 A multi-section vehicle combination, in particular a commercial vehicle combination, is shown while driving on a curve according to the prior art;

[0041] Figure 4 A multi-section vehicle combination, in particular a commercial vehicle combination, is shown while driving on a straight track according to the prior art;

[0042] Figure 5 A multi-section vehicle combination, in particular a commercial vehicle combination, is shown while driving on a curve according to the prior art;

[0043] Figure 6 A multi-section vehicle combination, in particular a commercial vehicle combination, is shown while driving on a curve according to the prior art;

[0044] Figure 7 A multi-section vehicle combination, in particular a commercial vehicle combination, is shown while driving on a curve according to an aspect of the present application;

[0045] Figure 8 A multi-section vehicle combination, in particular a commercial vehicle combination, is shown while driving on a curve according to an aspect of the present application;

[0046] Figure 9 A multi-section vehicle combination, in particular a commercial vehicle combination, is shown while driving on a curve according to an aspect of the present application; and

[0047] Figure 10 A schematic flow chart of a method according to an aspect of the present application is shown. DETAILED DESCRIPTION

[0048] With reference to the following figures, a multi-section vehicle combination 200a, in particular a commercial vehicle combination 200b, is also referred to as vehicle combination 200a, 200b. Such a vehicle combination 200a, 200b has a towing vehicle 240 and a trailer 250.

[0049] Figure 1 A multi-section vehicle combination 200a, in particular a commercial vehicle combination 200b, is shown according to the prior art with a typical damage 350 layout.

[0050] An analysis of the vehicle combination 200a, 200b according to the prior art shows that the end of the hitched vehicle or trailer 250 is a high-risk area for damage 350. It is shown here that an increasing damage 350 is also observed on the side of the trailer 250. Figure 1 The damage 350 shown in the middle occurs with reference to Figures 2 to 5the area which is not visible during the maneuvering, in particular when the vehicle combination 200a, 200b is reversing with a turn.

[0051] Figure 2 A multi-section vehicle combination 200, in particular a commercial vehicle combination 200b, is shown while driving on a straight track according to the prior art.

[0052] The towing vehicle 240 has two mirror replacement cameras 103, 104. One of the mirror replacement cameras 103 is arranged on the left side in the driving direction F. The other one of the mirror replacement cameras 104 is arranged on the right side in the driving direction F. Each of the mirror replacement cameras 103 is oriented against the driving direction F and in turn has an observation area 242 which is directed in the direction of the rearward space 300 from the respective mirror replacement camera 103, 104. By the arrangement of the mirror replacement cameras 103, 104, the side spaces 301, 302 are arranged in the observation area 242. The side spaces 301, 302 comprise the trailer 250 or the vehicle body structure 251 of the trailer 250.

[0053] When driving straight backwards, as shown by the hatched area, the rearward space 300 of the trailer 250 is not visible, that is to say the rearward space 300 is not located within the observation area 242, and the line of sight to the rearward space 300 is obstructed by the trailer 250. This explains the occurrence of damage 350 (not drawn) in this area. To avoid damage 350, sensor systems can be provided which can give a warning before an object is reached or can even trigger a brake intervention in the brake system of the trailer 250.

[0054] Figure 3 A multi-section vehicle combination 200a, in particular a commercial vehicle combination 200b, is shown while driving on a curve according to the prior art. The following is described in connection with Figure 2 Figure 3 .

[0055] In Figure 3 , the towing vehicle 240 has a driving direction F. The driving direction F corresponds to the longitudinal axis of the towing vehicle 240. The driving direction F is different from the longitudinal axis L of the trailer 250. Thus, the vehicle combination 200a, 200b has a bend angle 210. The bend angle 210 describes the difference between the orientation of the driving direction F, i.e. the longitudinal axis of the towing vehicle 240, and the orientation of the longitudinal axis L of the trailer 250.

[0056] ​Due to the bend 210, the invisible areas of the lateral spaces 301, 302 and / or rear space 300 (as indicated by the shading) change. On the right side of the tractor 240 in the travel direction F, the right side space 301 and the right side of the trailer 240 can be detected by the mirror instead of the camera 103. However, the front side 252 of the trailer 250's body structure 251, arranged in the travel direction F, blocks the free view of the left side area 302 (as indicated by the dotted line within the shading).

[0057] Therefore, the damage 350 ( Figure 3 (not shown) can be explained by invisible areas.

[0058] Figure 4 A multi-vehicle combination 200a, in particular a commercial vehicle combination 200b, is shown according to the prior art while traveling on a straight road.

[0059] Vehicle combinations 200a, 200b have a reversing camera 110 for monitoring the rear space 300. In particular, using a wide-angle lens, the rear space 300 can be made visible to the driver and the automated systems. Data is transmitted to the tractor 240 via an interface for digital data transmission of image and / or video data and supplied to a display and / or evaluation unit.

[0060] Figure 5 The following shows a multi-section vehicle combination 200a, in particular a commercial vehicle combination 200b, when traveling on a curve according to the prior art. Figure 5 Shown is a reference Figure 3 The scenario described, wherein the vehicle combination 200a, 200b has the same Figure 4 However, the centrally located reversing camera 110 cannot fully monitor the side spaces 301 and 302 as illustrated by the shaded surfaces.

[0061] Figure 6 The present invention illustrates a multi-section vehicle combination 200a, specifically a commercial vehicle combination 200b, while navigating a curve according to the prior art. Vehicle combinations 200a and 200b are equipped with multiple side-view cameras 111 and a reversing camera 110. Thus, vehicle combinations 200a and 200b provide a surround-view system. This system monitors the side spaces 301 and 302 and the rear space 300, but in a manner not intuitively perceived by the user.

[0062] Figure 7 A multi-vehicle combination 300a, in particular a commercial vehicle combination 300b, is shown according to one aspect of the present invention while driving on a curve.

[0063] The vehicle combination 200a, 200b comprises a towing vehicle 240 and a trailer 250. The towing vehicle 240 comprises a cab, in which a driver (not shown) can manoeuvre the vehicle combination 200a, 200b.

[0064] The towing vehicle 240 is characterised by a front driving direction when driving on a straight, hereinafter referred to as driving direction F. The driving direction F corresponds to a longitudinal axis of the towing vehicle 240. The towing vehicle 240 is set up for driving against the driving direction F, i.e. reversing, for example for shunting.

[0065] The trailer 250 is defined by a longitudinal axis L. The longitudinal axis L corresponds to a front driving direction of the trailer 250 when driving on a straight.

[0066] The towing vehicle 240 has a bend angle 210. The bend angle 210 is due to a difference between the driving direction F and the longitudinal axis L. The bend angle 210 is measured by a bend angle measuring sensor (not shown) of the towing vehicle 240 and / or the trailer 250.

[0067] The surroundings of the vehicle combination 200a, 200b comprise lateral spaces 301, 302 and a rear space 300. Here, the lateral spaces 301, 302 comprise a right lateral space 301 and a left lateral space 302 with respect to the driving direction F. The lateral spaces 301, 302 refer to sections of the surroundings of the vehicle combination 200a, 200b which are arranged laterally, i.e. to the left or to the right, of the towing vehicle 240 and the trailer 250. The rear space 300 refers to a section of the surroundings of the vehicle combination 200a, 200b which is arranged behind the trailer 250 with respect to the longitudinal direction L.

[0068] The towing vehicle 240 comprises a mirror replacement system 247 (as Figure 8 and Figure 9 depicted), wherein a right mirror replacement camera 103 is arranged on the right side along the driving direction F and a left mirror replacement camera 104 is arranged on the left side along the driving direction F. Each of the mirror replacement cameras 103, 104 has a viewing area 242, the boundaries of which are indicated by a dashed line. The mirror replacement cameras 103, 104 are oriented against the driving direction F in order to monitor the trailer 250 or the lateral spaces 301, 302 and / or the rear space 300.

[0069] The trailer 250 has a vehicle body structure 251. The vehicle body structure 251 can be set up for transporting goods. The trailer 250 has a front region 254. The front region 254 is a section of the trailer 250 which is arranged in front of the trailer 250 with respect to the longitudinal direction L, i.e. closer to the towing vehicle 240 than the rear space 300.

[0070] The vehicle body structure 251 has an end face 252 that is located forward relative to the longitudinal direction L. When the vehicle combination 200a, 200b has a bend angle 210, the end face 252 protrudes with its end face section 253 into the viewing area 242 of the mirror replacement cameras 103, 104. Consequently, the trailer 250 obstructs the viewing area 242 for monitoring the side spaces 301, 302 and / or the rear space 300 by one or more mirror replacement cameras 103, 104.

[0071] The trailer 250 has two cameras 101, 102 arranged in the front area 254 of the trailer 250 for monitoring the rear space 300 and / or the side spaces 301, 302. In another embodiment not shown, the trailer 250 can have exactly one or more than two such cameras. Figure 7 In the embodiment of the present invention, cameras 101 and 102 include a camera 102 arranged on the left side along the longitudinal direction L for monitoring the left side space 302 and / or the rear space 300, and a camera 101 arranged on the right side for monitoring the right side space 301 and / or the rear space 300. Cameras 101 and 102 are oriented opposite the longitudinal direction L to monitor the trailer 250 or the side spaces 301, 302 and / or the rear space 300. Thus, each camera 101 and 102 has a detection range 305. When the trailer 240 does not block the viewing area 242, the detection range 305 of the left camera 102 corresponds to the viewing area 242 of the left mirror replacement camera 104.

[0072] The trailer 250 has a reversing camera 110 arranged in the rear section of the trailer 250 for monitoring the rear space 300 .

[0073] The cameras 101 , 102 and the reversing camera 110 may in particular be high-resolution cameras, so that areas of particular interest can be zoomed in.

[0074] In one embodiment, the image data 515 is presented when the vehicle is traveling in reverse, and is presented only when the rear end of the trailer 250 is obstructed when the vehicle is traveling in forward direction. Alternatively, the image data 515 is presented only when the rear end of the trailer 250 is obstructed.

[0075] Refer to the following Figure 8 and Figure 9 The vehicle combinations 200a, 200b are further described.

[0076] Figure 8 A schematic diagram of a multi-section vehicle combination 200a, in particular a commercial vehicle combination 200b, according to one aspect of the present invention is shown. Figure 8 Shown Figure 7An embodiment of the vehicle combination 200a, 200b as shown in the middle. Figure 8 The application will be described with reference to Figure 7 .

[0077] The vehicle combination 200a, 200b is set up for carrying out the method 400 described with reference to Figure 10 . To this end, the towing vehicle 240 has a controller 243. The trailer 250 has a data processing device 260. Figure 8

[0078] The controller 243 is set up for detecting identifiability information 501. Here, the identifiability information 501 relates to the identifiability of the trailer 250, the rear space 300 and / or the side spaces 301, 302 by the mirror replacement system 247. The identifiability information 501 will therefore state whether the trailer 250, the rear space 300 and / or the side spaces 301, 302 are arranged in the viewing area 242 of the mirror replacement system 247. The identifiability information 501 can also state which parts of the trailer 250, the rear space 300 and / or the side spaces 301, 302 are arranged in the viewing area 242 of the mirror replacement system 247. The identifiability information 501 comprises the bend angle 210 and / or movement data 264 relating to the movement of the towing vehicle 240 for ascertaining the bend angle 210. To this end, the controller 243 can be connected with a bend angle sensor and / or detect information about the steering angle and the speed of the vehicle combination 200a, 200b via a CAN bus in order to determine the bend angle 210. The identifiability information 501 additionally comprises mirror replacement image data 516 detected by the mirror replacement system 247, whereby the occlusion of the side spaces 301, 302 and / or the rear space 300 can be ascertained by means of object recognition, for example.

[0079] ​The controller 243 is set up to learn the display information 502 from the identifiability information 501. Here, the display information 502 specifies which image data 515 to request from one of the cameras 101, 102 and / or to output via the output device 245. Here, the display information 502 is learned in dependence on a predetermined condition 262 related to the bending angle 210. Here, the predetermined condition 262 can comprise a threshold value for the bending angle 210 or a magnitude, i.e. an absolute value, of the bending angle 210 from which the image data 515 of one or more of the cameras 101, 102 are to be output. The predetermined condition 262 can also take into account an orientation of the bending angle 210 so that a switching between the image data 515 of the cameras 101, 102 can be made. Additionally or alternatively, the display information 502 can be learned in dependence on whether and / or which end side section 253 of the front end side 252 of the trailer 250 is imaged in the mirror replacement image data 516. The imaging of the front end side 252 and / or the end side section 253 is indicative of an occlusion of the viewing area 242 of the mirror replacement system 247.

[0080] The controller 243 is set up to output a control signal 510 for outputting the image data 515 from the cameras 101, 102 on the output device 245 in accordance with the display information 502. To this end, the vehicle combination 200a, 200b comprises a communication interface 249 for transmitting information between the controller 243 of the towing vehicle 240 and a data processing device 260 of the trailer 250. The data processing device 260 is set up to receive the control signal 510 from the towing vehicle 240 via the communication interface 249 in order to output the image data 515 from the cameras 101, 102 on the output device 245 in accordance with the display information 502. Here, the data processing device 260 can act as a driver for the cameras 101, 102, that is to say the control signal 510 comprises a request for specific image data 515 from at least one of the cameras 101, 102. In accordance with this, the image data 515 is transmitted to the towing vehicle 240 via the communication interface 249. Alternatively, the data processing device 260 can actively intervene in order to learn which image data 515 to send to the towing vehicle 240.

[0081] The controller 243 is configured to perform a superimposition of the image data 515 from the cameras 101, 102 and the mirror replacement image data 516. The superimposition can be dependent on the deflection angle 210 and / or the occlusion of the observation area 242 of the mirror replacement system 247, in particular. The presentation of the image data 515 can be unnecessary when the deflection angle 210 is small or the occlusion of the observation area 242 is less. The more the deflection angle 210 is or the more the occlusion of the observation area 242 is, the more the mirror replacement image data 516 is superimposed with the image data 515 in order to achieve a direct presentation of the relevant lateral spaces 301, 302 and / or the rear space 300.

[0082] The mirror replacement system 247 has a mirror replacement output device 265 and the output device 245 comprises the mirror replacement output device 265. In other words, the mirror replacement output device 265 and the output device 245 comprise one or more identical displays. The output device 245 is configured to output the image data 515 from the cameras 101, 102 and the mirror replacement image data 516.

[0083] The output device 245 is configured to output the image data 515 from the cameras 101, 102 and from the reversing camera 110 simultaneously.

[0084] Figure 9 A schematic view of a multi-section vehicle combination 200a, in particular a commercial vehicle combination 200b, according to an aspect of the present application is shown. The following is described with reference to Figure 8 Fig. 1. Figure 9 The differences between the embodiments shown in Figure 8 Fig. 1 and Figure 9 Fig. 2 are described herein.

[0085] The mirror replacement system 247 comprises a mirror replacement output device 265. The output device 245 and the mirror replacement output device 265 are different from each other. In other words, the mirror replacement output device 265 and the output device 245 comprise different displays from each other. The output device 245 is configured to output the image data 515 from the cameras 101, 102 and the mirror replacement output device 265 is configured to output the mirror replacement image data 516.

[0086] Figure 10A schematic flow chart illustrating a method 400 according to an aspect of the present application is shown. The method 400 is a method 400 for monitoring a rear space 300 and / or a lateral space 301, 302 of a multi-section vehicle combination 200a, in particular of a commercial vehicle combination 200b, the multi-section vehicle combination comprising a trailer 250 having a camera 101, 102 arranged at a front region 254 of the trailer 250 for monitoring the rear space 300 and / or the lateral space 301, 302 and a towing vehicle 240 having a mirror replacement system 247. Such a vehicle combination 200a, 200b is described with reference to Figures 7 to 9 , respectively. The method 400 is described below with reference to Figures 7 to 9 . Figure 10 .

[0087] The method 400 according to Figure 10 comprises detecting 410 identifiability information 501 related to an identifiability of the trailer 250, the rear space 300 and / or the lateral space 301, 302. Herein, the identifiability information 501 comprises the bending angle 210 and / or motion data 264 related to a motion of the towing vehicle 240 for deriving the bending angle 210. Alternatively or additionally, the identifiability information 501 comprises mirror replacement image data 516 detected by the mirror replacement system 247.

[0088] The display information 502 is derived 420 depending on the identifiability information 501. Herein, the display information 502 is derived depending on a predetermined condition 262 related to the bending angle 210. Herein, the display information 502 is derived depending on whether the front end side 252 of the trailer 250 is imaged in the mirror replacement image data 516 and / or which end side section 253 of the front end side 252 is imaged.

[0089] The control signal 510 is output 430 depending on the display information 502 in order to output the image data 515 from the camera 101, 102 on the output device 245.

[0090] List of reference signs (integral part of the description)

[0091] 101 camera

[0092] 102 camera

[0093] 103 mirror replacement camera

[0094] 104 mirror replacement camera

[0095] 110 rear view camera

[0096] 111 side view camera

[0097] 112 front view camera

[0098] 200a vehicle combination

[0099] 200b commercial vehicle combination

[0100] 210 bending angle

[0101] 240 tractor

[0102] 242 Observation Area

[0103] 243 controller

[0104] 245 output devices

[0105] 246 cab

[0106] 247 mirror replacement system

[0107] 248 output interface

[0108] 249 communication interface

[0109] 250 trailer

[0110] 251 vehicle structure

[0111] 252 end side

[0112] 253 end side section

[0113] 254 front area

[0114] 260 data processing equipment

[0115] 262 reservation conditions

[0116] 264 motion data

[0117] 265 Viewfinder Alternative Output Device

[0118] 300 rear space

[0119] 301 Left Side Space

[0120] 302 Right Side Space

[0121] 305 detection range

[0122] 350 damage

[0123] 400 Method

[0124] 410 detection

[0125] 420 learned

[0126] 430 output

[0127] 501 Identifiable Information

[0128] 502 Display Information

[0129] 510 control signal

[0130] 515 image data

[0131] 516 mirror replacement data

[0132] L longitudinal axis

[0133] F Driving direction

Claims

1. A method (400) for monitoring a rear space (300) and / or a side space (301, 302) of a multi-section vehicle combination (200a), in particular a commercial vehicle combination (200b), the multi-section vehicle combination comprising: - a trailer (250) having cameras (101, 102) arranged at a front area (254) of the trailer (250) for monitoring the rear space (300) and / or the side space (301, 302) of the trailer (250), and - a tractor (240) having a mirror replacement system (247), The method (400) includes: - detecting (410) recognizability information (501) related to the recognizability of the trailer (250), the rear space (300) and / or the side spaces (301, 302); - obtaining (420) display information (502) based on the identifiability information (501); and - outputting (430) a control signal (510) based on the display information (502) for outputting image data (515) from the camera (101, 102) on an output device (245).

2. The method (400) according to claim 1, wherein The identifiable information (501) includes a bending angle (210) and / or movement data (264) related to the movement of the tractor (240) for determining the bending angle (210).

3. The method (400) according to claim 2, wherein: The display information (502) is obtained depending on a predetermined condition (262) related to the bending angle (210).

4. The method (400) according to any one of the preceding claims, wherein The identifiable information (501) includes mirror replacement image data (516) detected by the mirror replacement system (247).

5. The method (400) according to claim 4, wherein The display information (502) is determined depending on whether the front end side (252) of the trailer (250) is imaged in the mirror replacement image data (516) and / or which end side section (253) of the front end side (252) is imaged.

6. Computer program and / or computer-readable medium, comprising instructions which, when the program or the instructions are executed by a computer, cause the computer to execute the method (400) and / or the steps of the method (400) according to any one of claims 1 to 5.

7. A controller (243) for a multi-section vehicle combination (200a), in particular a commercial vehicle combination (200b), the multi-section vehicle combination comprising a trailer (250) and a tractor (240), the trailer having cameras (101, 102) arranged at a front region (254) of the trailer (250) for monitoring a rear space (300) and / or a side space (301, 302), the controller being used to monitor the rear space (300) and / or the side space (301, 302) of the trailer (250), wherein: The controller (243) is configured to carry out the method (400) according to any one of claims 1 to 5.

8. The controller (243) according to claim 7, wherein: The controller (243) is the controller (243) of the tractor (240).

9. A trailer (250) for a multi-section vehicle combination (200a), in particular a commercial vehicle combination (200b), the multi-section vehicle combination comprising the trailer (250) and a tractor (240), the trailer having cameras (101, 102) arranged at a front region (254) of the trailer (250) for monitoring a rear space (300) and / or a side space (301, 302) of the trailer (250), wherein: The trailer (250) has a data processing device (260) for transmitting image data (515) to the tractor (240), and the data processing device (260) is configured to receive a control signal (510) from the tractor (240) for outputting the image data (515) from the cameras (101, 102) on an output device (245).

10. A tractor (240) for a multi-section vehicle combination (200a), in particular a commercial vehicle combination (200b), the multi-section vehicle combination comprising a trailer (250) according to claim 9 and the tractor (240), wherein: The tractor (240) has a control unit (243) according to claim 7 or 8 and a mirror replacement system (247) with an output device (245).

11. The tractor (240) according to claim 10, wherein: The mirror replacement system (247) has a mirror replacement output device (265), and the output device (245) is different from the mirror replacement output device (265).

12. The tractor (240) according to claim 10, wherein: The mirror replacement system (247) has a mirror replacement output device (265), and the output device (245) includes the mirror replacement output device (265).

13. The tractor (240) according to any one of claims 10 to 12, wherein: The output device (245) is configured to simultaneously output image data (515) from the cameras (101, 102) and from a reversing camera (110).

14. The tractor (240) according to any one of claims 10 to 13, wherein: The controller (243) is configured to superimpose image data (515) from the cameras (101, 102) and mirror replacement image data (516).

15. A multi-vehicle combination (200a), in particular a commercial vehicle combination (200b), comprising a tractor (240) according to any one of claims 10 to 14 and a trailer (250) according to claim 9.

16. A multi-section vehicle combination (200a), in particular a commercial vehicle combination (200b), according to claim 15, comprising a communication interface (249) for transmitting information between a controller (243) of the tractor (240) and a data processing device (260) of the trailer (250).

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