Semitrailer and tractor disengagement

Abstract

Method (400) for supporting a disengagement process of a tractor (105) from a semitrailer (110) wherein the semitrailer (110) comprises a left and a right support leg (340) which can be moved out independently of one another; wherein the method comprises the following steps: determining (415) a first load of the semitrailer (110) acting on the left support leg (340); determining (415) a second load of the semitrailer (110) acting on the right support leg (340); individually removing (425, 430) the support legs (340), the determined load of which is lower than the associated predetermined threshold value (240); and allowing (455) to open the connector (335) of the tractor (105) to the semitrailer (110) if the load of the semitrailer (110) acting on the tractor (105) is less than a predetermined further threshold value (240).

Description

Technical Field

[0001] This invention relates to a commercial vehicle, which includes a tractor unit with a semi-trailer. More particularly, this invention relates to the detachment of the semi-trailer from the tractor unit. Background Technology

[0002] A commercial trailer for road transport, having at least one axle with working wheels at its rear end, is configured at its front end for attachment to and towing by a tractor. Such trailers are also known as semi-trailers, saddle trailers, or semi-trailers. The tractor may also be called a saddle tractor. To separate the semi-trailer from the tractor, the outriggers can be moved downwards in the area in front of the semi-trailer to bear the static weight of the semi-trailer. The towing connection with the tractor can then be disconnected and the tractor removed.

[0003] To better utilize the tractor unit, it is desirable to automate the disengagement process between the tractor unit and the semi-trailer. A potential problem here is that the ground is uneven, causing the tractor unit and / or semi-trailer to be positioned with a lateral tilt. The separation of the connection between the tractor unit and the semi-trailer may therefore be disrupted.

[0004] WO 2022 / 077063 A1 relates to a technology for loading or unloading vehicle trailers using a loading / unloading platform that rests against the rear of the vehicle. To allow other vehicles to safely pass over the loading / unloading platform on steep inclines, it is recommended that the length of the loading / unloading platform, as well as the pitch and roll angles of the vehicle trailer, be designed to be controllable. Summary of the Invention

[0005] The objective of this invention is to describe a technique for better disengaging a semi-trailer from a tractor. This objective is achieved by means of the subject matter of the independent claims. The dependent claims reproduce preferred embodiments.

[0006] According to a first aspect of the invention, a method for supporting the disengagement process of a tractor and a semi-trailer is described, wherein the semi-trailer includes a left support leg and a right support leg that can be removed independently of each other; the method includes the steps of: determining a first load of the semi-trailer acting on the left support leg; determining a second load of the semi-trailer acting on the right support leg; individually removing the support leg whose determined load is lower than a predetermined threshold; and allowing the connector between the tractor and the semi-trailer to be opened if the load of the semi-trailer acting on the tractor is less than another predetermined threshold.

[0007] The disengagement process can include the separation of the tractor unit from the semi-trailer, that is, the separation of the traction lock connection between the tractor unit and the semi-trailer. A saddle connector can be installed on the tractor unit and a kingpin can be installed on the semi-trailer. Disengagement can include opening the saddle connector so that the kingpin can be removed from it. The tractor unit can then drive away from the semi-trailer.

[0008] It can be determined which support leg bears the smaller load, allowing only that support leg to be moved while the other support leg remains stationary. The energy source used to move the support leg can thus be less heavily loaded. When determining the load, a predetermined hysteresis—the tolerable deviation between loads—can be considered to avoid switching too frequently between manipulating the right and left support legs. The removal of the support legs can be done gradually, thus allowing for better control of the semi-trailer's correct position.

[0009] The trailer can only be disengaged when the absolute value of the deviation between the loads acting on the outriggers is below a predetermined threshold. This ensures, in particular, that the semi-trailer does not tilt excessively laterally around its longitudinal axis when disengaged. The trailer can also be safely parked when the ground is uneven and the outriggers have varying lengths to compensate for.

[0010] The support legs can be moved out such that disengagement from the tractor is only permitted if the absolute value of the deviation between the effective lengths of the support legs is below a predetermined threshold. If this deviation exceeds the threshold, the semi-trailer is excessively skewed relative to gravity. When the supports must be moved out very differently to achieve the same load, this indicates that the tractor is skewed. Therefore, it is meaningful to check for differences in the support travel and prevent disengagement when the values ​​are high.

[0011] The support legs can be moved out in such a way that the deviation of the absolute tilt angle of the semi-trailer from the vertical line is lower than a predetermined threshold.

[0012] The absolute roll angle of a vehicle is typically defined as the vehicle's orientation about its longitudinal axis. Here, a vertical line corresponding to the direction of gravity is usually used as a reference. If the vehicle is upright, the absolute roll angle is 0°. Monitoring the absolute roll angle helps prevent the semi-trailer from separating from the tractor in excessively skewed positions.

[0013] If a semi-trailer is loaded unevenly about its longitudinal axis, a 0° absolute roll angle cannot be achieved, while the loads acting on the outriggers are equal. Therefore, a predetermined deviation between the outrigger loads can be tolerated to keep the absolute roll angle sufficiently small.

[0014] The support legs can be moved out in such a way that the absolute value of the relative roll angle between the semi-trailer and the tractor is below a predetermined threshold. If the saddle connector is structurally limited to allow for deviation in the engaged state, then a deviation in the vehicle's roll angle may occur.

[0015] The relative roll angle between the tractor and the semi-trailer relates to the deviation in orientation of the two vehicles about their axes of yaw. In other words, the relative roll angle indicates how much one vehicle twists relative to the other. The relative roll angle can also be determined if the longitudinal axes of the vehicles do not intersect at a point or are offset from each other. The relative roll angle can be measured directly between the vehicles or by determining the absolute roll angles of the two vehicles and subtracting them. If, for example, the tractor is tilted +5° relative to the vertical and the semi-trailer is tilted -5° relative to the vertical, then the relative roll angle between the vehicles can be +5° - (-5°) = 10°.

[0016] The load acting on a support leg can be determined based on the load acting on a wheel mounted on the same side as that support leg. In different embodiments, the wheel may be included either in the tractor or in the semi-trailer. The load acting on the left support leg may depend on the load acting on the left wheel of the semi-trailer or on the left wheel of the tractor. The load acting on the right support leg of the semi-trailer may correspondingly depend on the load acting on the right wheel of the semi-trailer or on the right wheel of the tractor. This relationship may be linear. The load acting on a wheel can be determined, for example, by means of a dedicated sensor or based on pressure within the pneumatic running gear at the wheel. The load acting on the support leg can be determined taking into account the leverage ratio, which exists between the tractor wheel and the support leg or between the support leg and the semi-trailer wheel.

[0017] According to another aspect of the invention, a control system for supporting the disengagement process of a semi-trailer having a left support leg and a right support leg from a tractor includes: a first scanning device for determining the loads of the semi-trailer acting on the support legs respectively; a left actuator for removing the left support leg; a right actuator for removing the right support leg; a control device for individually controlling the removal of support legs whose associated loads are below a predetermined threshold; and a second scanning device for determining the loads of the semi-trailer acting on the tractor. Here, the control device is configured to allow the connection between the tractor and the semi-trailer to be opened if the load of the semi-trailer acting on the tractor is less than another predetermined threshold.

[0018] The control device can be configured to implement the methods described herein, either entirely or partially. For this purpose, the processing device can be implemented electronically and includes a programmable microcomputer or microcontroller, and the method can exist in the form of a computer program product having program code media. The computer program product can also be stored on a computer-readable data carrier. Features or advantages of the method can be transferred to the device, and vice versa.

[0019] According to another aspect of the invention, the vehicle includes the control system described herein. The vehicle may, in particular, include a tractor or a semi-trailer.

[0020] Another aspect of the invention relates to a vehicle system having a tractor and a semi-trailer. Here, the vehicle system, also referred to herein as a saddle-type tractor, includes the control system described herein. The control system can be configured to support an automatic disengagement process between the semi-trailer and the tractor. Components included in the control system can alternatively be disposed on the tractor side and / or the semi-trailer side, respectively.

[0021] The load acting on the support legs can be determined based on the load acting on the wheels of the semi-trailer. Specifically, the load acting on the wheels mounted on the same side as the support legs can be determined. The load acting on both support legs can be determined by subtracting the load acting on the wheels of the semi-trailer from the total load. Attached Figure Description

[0022] The invention will now be described more precisely with reference to the accompanying drawings, in which:

[0023] Figure 1 A vehicle system with a tractor and a semi-trailer is shown;

[0024] Figure 2 An exemplary relative position of the tractor to the semi-trailer is shown;

[0025] Figure 3 The control system is shown;

[0026] Figure 4 A flowchart of the method is shown. Detailed Implementation

[0027] Figure 1 A vehicle system 100 is shown, comprising a tractor unit 105 and a semi-trailer 110. The tractor unit 105 can be separated from the semi-trailer 110 for connection, for example, with another semi-trailer 110. The vertical dashed lines indicate at what point the vehicles 105 and 110 can be separated from each other. The connection of the vehicles 105 and 110 is referred to as docking or coupling, and the separation is referred to as disengagement.

[0028] During disengagement, vehicles 105 and 110 are positioned on ground 115, which ideally extends flat and horizontally, but in reality is sloping, uneven, or capable of bearing varying loads. The technique described herein relates to the disengagement process between vehicles 105 and 110 even under these challenging conditions. For this purpose, the semi-trailer 110 is supported in such a manner that the tractor unit 105 can be detached and driven away from the semi-trailer 110.

[0029] Figure 2 An exemplary relative position of the tractor 105 to the semi-trailer 110 is shown. The view shown corresponds to... Figure 1 The vehicle system 100 is shown in a longitudinal section along a plane containing dashed lines. Vehicles 105 and 110 are symbolically represented as squares. Each square is divided into two halves, both longitudinally and laterally, by dashed lines, wherein the longitudinal axes 202 of the associated vehicles 105 and 110 extend through the intersection of the dashed lines.

[0030] As can be seen, the squares representing vehicles 105 and 110 have each rotated relative to the vertical line by an absolute roll angle 205. The result is that vehicles 105 and 110 are twisted relative to each other by a relative roll angle 210. The absolute roll angles 205 are opposite to each other, and the relative roll angle 210 can be defined as the deviation of the absolute roll angle 205. If the relative twist is strong enough that the absolute value of the relative roll angle 210 exceeds a predetermined threshold, then when the tractor 105 disengages, a large force threatening the stability of vehicles 105 and 110 may occur at the semi-trailer 110.

[0031] exist Figure 2 The relative height 215 between the tractor 105 and the semi-trailer 110 is also shown. The relative height 215 is shown here as the vertical distance between the longitudinal axes 202 of the vehicles 105 and 110. If the tractor 105 is carrying the load of the semi-trailer 110, then the relative height 215 is zero. For disengagement, the tractor 105 can be lowered, while the semi-trailer 110 is supported on the support legs. Here, the relative height 215 is set to a value lower than a predetermined maximum value. After the saddle connectors separate, the tractor 105 can drive away from the semi-trailer 110.

[0032] It should be noted that the longitudinal axes of vehicles 105 and 110 are rarely perfectly aligned, but rather are often offset from each other at an angle or horizontally to a certain extent. Nevertheless, the relative roll angle 210 or relative height 215 in the area of ​​the coupling equipment between the tractor 105 and the semi-trailer 110 can still be determined in the manner described herein. Minor disturbance parameters or inconsistencies can be ignored here when determining the relative roll angle or relative height.

[0033] In terms of values ​​and their comparisons, in Figure 2 The diagram is shown in the area to the right. The value 225 is determined on a predetermined scale 220. The value 225 above the line marked with zero is positive, and the value 225 below it is negative. The absolute value 230 of the positive value 225 corresponds to the unchanged value 225; the absolute value of the negative value 225 corresponds to the value 225 obtained by multiplying the negative value by (-1).

[0034] Value 225 can be compared to range 235. Currently, value 225 may particularly relate to load. During the comparison, it can be determined whether value 225 is within or outside range 235. The boundaries of range 235 can be included in or excluded from range 235. Value 225 can also be compared to threshold 240. Here, it can be determined whether value 225 is below, equal to, or above threshold 240. Deviation 245 between value 225 and another value, such as threshold 240, can be determined as the numerical difference between the corresponding values ​​of value 225. Deviation 245 can be determined as a modulus or absolute value 230 in different implementations.

[0035] Figure 3 A control system 300 is shown for supporting the automatic disengagement process between the tractor 105 and the semi-trailer 110. The control system 300 is exemplary constructed as symmetrically as possible, i.e., components are provided not only on the tractor 105 but also on the semi-trailer 110. It may be sufficient to provide such components only on one side, i.e., only on the tractor 105 or the semi-trailer 110. Furthermore, it should be noted that some components that function similarly to those described herein may be implemented differently on the tractor 105 and the semi-trailer 110, as will be explained in more detail below.

[0036] In the illustrated embodiment, the control system 300 includes a control device 305, a first sensor 310, a second sensor 315, and a first actuator 320 and a second actuator 325 on the tractor 105. In some embodiments, only one sensor 310, 315 or only one actuator 320, 325 is provided. More preferably, an interface 330 for communication with components on the semi-trailer 110 is provided. The interface 330 can be implemented wired or wirelessly.

[0037] Control device 305 may include a common controller with processing means. Optionally, control device 305 is configured to perform tasks other than those described herein. Furthermore, it is preferred that control device 305 is connected to additional components on the body of tractor 105, particularly to allow interaction with other components and personnel. Control device 305 is further preferably configured to output warning signals. In one embodiment, the warning signal may be output to a controller or control system via an interface. In another embodiment, the warning signal may be output to personnel within the vehicle system 100, particularly to the driver of tractor 105.

[0038] The first sensor 310 is preferably securely mounted on the tractor 105 and configured to scan the semi-trailer 110. Scanning is further preferably non-contact, for example, by means of an ultrasonic sensor, radar sensor, or lidar sensor. Optionally, a signal transmitter, marker, or reflective element is mounted on the semi-trailer 110 to facilitate scanning by the first sensor 310. The marker may be made of, for example, a backward-reflective material. The first sensor 310 can determine the relative orientation of the semi-trailer 110 with respect to the tractor 105. The first sensor 310 is preferably located in the area of ​​the coupling device between the tractor 105 and the semi-trailer 110.

[0039] The second sensor 315 may include an acceleration sensor, an inertial platform, or a similar sensor, configured to determine the absolute roll angle of the tractor 105 with respect to the Earth's gravitational field. Optionally, the second sensor 315 may be sensitive around multiple axles and thus also determine the pitch or yaw angle of the tractor 105.

[0040] The first actuator 320 is configured to control the height of the rear end of the tractor 105. Preferably, two first actuators 320 are provided, which can be operated independently of each other to raise or lower the rear end of the tractor 105 either to the left or to the right. The first actuator 320 is shown, purely exemplary, as an airbag of a pneumatic travel mechanism. The airbag 320 elastically supports the wheels 322 of the tractor 105 and can control the height of the tractor 105 above the ground on which the wheels 322 stand. Other implementations are also possible.

[0041] The second actuator 325 is configured to influence the height and / or tilt angle of the coupling element that connects the semi-trailer 110 to the tractor 105. The coupling element includes, for example, a saddle plate 335, preferably implemented as a saddle engagement plate. The second actuator 325 includes, for example, two pneumatic or hydraulic actuators, one located on the left side of the tractor 105 and the other on the right side. Other embodiments are also possible.

[0042] Regarding the semi-trailer 110, in the illustrated embodiment, a control device 305, a first sensor 310, a second sensor 315, and a first actuator 320 are provided corresponding to the tractor 105. The functions of these components are described with reference to the components on the tractor 105 and can be applied accordingly to the semi-trailer 110.

[0043] Two support legs 340 may be provided on the semi-trailer 110, one support leg mounted on the left front and the other on the right front in the direction of travel. When the semi-trailer 110 is not resting on the saddle plate 335 of the tractor 105 at its front, the support legs 340 are configured to support the load relative to the ground 115 in the area at the front of the semi-trailer 110. The support legs 340 include actuators 342 for moving the support legs in or out, for example, pneumatically, hydraulically, or electrically. Here, the effective length 344 of the support legs 340 in the vertical direction can be varied. If the support legs 340 are upright on the ground, then in some embodiments the distance between the chassis of the semi-trailer 110 and the ground can be controlled by manipulating the actuators 342. Particularly preferred is that the left support leg 340 and the right support leg 340 can be moved in and out independently of each other. Furthermore, it is even more preferred that each support leg 340 is provided with an associated load sensor 345, the load sensor being configured to determine the load exerted by the semi-trailer 110 on the support leg 340.

[0044] Figure 4 A flowchart of method 400 is shown. Method 400 can be implemented by means of one or more interconnected control devices 405 of vehicle system 100 and is configured to support the disengagement process of tractor 110 and semi-trailer 115.

[0045] In step 405, a request for automatic disengagement of the tractor 105 from the semi-trailer 110 can be determined. This request can be provided, for example, by personnel or a control system within the body of one of the vehicles 105 or 110. At this point, the tractor 105 and semi-trailer 110 are preferably traction-locked together, and the front end of the semi-trailer 110 rests on the coupling device, particularly the saddle plate 335, on the rear end of the tractor 105. The vehicles 105 and 110 are immobile on the ground 115. Alternatively, a manually executed disengagement process can be determined or initiated in this step.

[0046] In step 410, the support legs 340 of the semi-trailer 110 can be removed. The purpose of removing them is to support the load of the semi-trailer relative to the ground 115 at the front end of the semi-trailer 110, thereby allowing the tractor 105 to be unloaded. Preferably, the removal is achieved by correspondingly driving the actuators 342 of the support legs 340.

[0047] In step 415, the effective load on the right and left sides of the semi-trailer 110 can be determined. The determined first load acts on the left support leg 340, and the second load acts on the right support leg 340. The first and second loads can be determined respectively by means of load sensors 345 attached to the respective support legs 340. Alternatively, the first or second load can be determined based on the total load of the semi-trailer 110 minus the load acting on the wheels of the semi-trailer 110. This determination can be performed comprehensively for both sides or separately for the right and left sides. The load acting on the wheels can be determined, for example, by the pneumatic pressure of the air suspension, which supports the chassis of the semi-trailer 110 relative to the wheels.

[0048] In one implementation, the support legs 340 are first moved out simultaneously to such an extent that each support leg contacts the ground 115. When the load acting on the support leg 340 exceeds its assigned first threshold 240, it can be determined that the support leg 340 has reached the ground 115. Typically, both support legs 340 are assigned the same first threshold 240. If the ground 115 is uneven, the support legs 340 must cross different vertical heights before their respective loads reach the first threshold 240. Correspondingly, the removal times of the left and right support legs 340 are different.

[0049] Next, the support leg 340 can be further moved out to deload the traction machine 105. To do this, it can be determined in step 420 whether the load acting on the left support leg 340 is greater than the load acting on the right support leg 340. If so, in step 425, the right support leg 340 can be further moved out, while the left support leg 340 is stopped. Otherwise, in step 430, the left support leg 340 can be moved out, while the right support leg 340 is stopped. In other words, the support leg 340 currently bearing the smaller load can be further moved out.

[0050] If the semi-trailer 110 is loaded evenly in the lateral direction and the same load is applied to the left support leg 340 and the right support leg 340, then the absolute roll angle 210 of the semi-trailer 110 with respect to gravity is essentially zero. However, if one of the support legs 340 cannot move further before it can bear a sufficient load, the absolute roll angle 210 may, for example, deviate from zero.

[0051] Therefore, during the removal of the support leg 340, the absolute roll angle 210 of the semi-trailer 110 can be determined using one or more of the sensors 310, 315. If the absolute value of the absolute roll angle 210 relative to the vertical or gravity exceeds the associated threshold 240, a warning signal can be output. In this case, method 400 can also be aborted in step 450, as explained in more detail below. Alternatively, the absolute roll angle 210 can be minimized by properly manipulating the support leg 340. This can come at the cost of predetermined inequalities between the loads acting on the support leg 340. If the inequalities between the support loads or the deviation of the roll angle of the semi-trailer 110 from the vertical are too large, method 400 can be aborted in step 450.

[0052] If the tractor 105 and the semi-trailer 110 stand parallel to the slope, the semi-trailer 110 can stand substantially vertically on it when the support load acting on the support legs 340 is the same. However, the tractor 105 can be oriented relative to the ground 115, resulting in a relative tilt angle 210 between the tractor 105 and the semi-trailer 110.

[0053] Therefore, the relative roll angle 210 between the tractor 105 and the semi-trailer 110 can be monitored during the removal of the support leg 340. If the absolute value of the relative roll angle 210 exceeds a predetermined threshold 240, a warning signal can be output. If an actuator 325 is available on the tractor 105, it can be driven to laterally swing the tractor and minimize the relative roll angle 210. The tractor 105 can also be raised on the left or right side to reduce the relative roll angle 210. Similarly, the support leg 340 can be manipulated to reduce the relative roll angle 210. In one compensation measure, a predetermined inequality between the loads acting on the support leg 340 can be used. If the relative roll angle 210 or the inequality is too large, method 400 can be aborted in step 450.

[0054] In one embodiment, the removal of the support leg 340 can be terminated when the load supported by the support leg 340 exceeds the respective assigned second threshold 240. The second threshold 240 is preferably selected uniformly. In this embodiment, the support legs 340 can also be removed simultaneously, during which time their respective loads are between the assigned first threshold 240 and the assigned second threshold 240. The removal of the support leg 340 can be terminated when the load supported by the support leg exceeds the assigned second threshold 240.

[0055] In another embodiment, the removal of the support leg 340 can be terminated in step 435 based on the load acting on the tractor 105. To determine the load, a corresponding sensor can be used on the tractor's saddle plate 435. Alternatively, the load acting on the tractor 105 can be determined based on the pneumatic pressure in the air suspension of the tractor 105 wheels, particularly the rear wheels. The load on the tractor 105 can be subtracted from the load determined in this way to determine the load on the semi-trailer. Alternatively, the leverage ratio between the rear wheels of the tractor 105, the support leg 340, and the rear wheels of the semi-trailer 110 can be considered to determine the load of the semi-trailer 110 acting on the support leg 340 based on wheel load or axle load.

[0056] If the load exerted on the tractor 105 by the semi-trailer 110 is lower than the associated third threshold 240, the support leg 340 can be stopped in step 440. The lock between the tractor 105 and the semi-trailer 110 can be released, thereby disengaging the lock. The tractor 105 can be disengaged from the semi-trailer 110 manually or automatically. If the third threshold 240 is greater than zero, the tractor 105 can be lowered to minimize the support load from the semi-trailer 110. The tractor 105 can then be driven forward away from the semi-trailer 110.

[0057] If it has been determined in step 435 that the semi-trailer 110 still exerts a load exceeding the third threshold 240 on the tractor 105, then in step 445 it can be checked whether the maximum adjustment range of the control system 400 has been reached. This is especially likely when one of the support legs 340 can no longer be moved further. If this is not the case, then method 400 can continue in step 415.

[0058] Otherwise, the removal of the support leg 340 can be terminated in step 450. In this case, method 400 can be terminated ineffectively in step 455. The tractor 105 and the semi-trailer 110 remain interconnected.

[0059] List of reference numerals (part of the instruction manual)

[0060] 100 vehicle system

[0061] 105 tractor

[0062] 110 semi-trailer

[0063] 115 Ground

[0064] 202 longitudinal axis

[0065] 203 Left Side

[0066] 204 right side

[0067] 205 absolute roll angle

[0068] 210 relative roll angle

[0069] 215 relative height

[0070] 220 scale

[0071] 225 value, especially the load value

[0072] 230 absolute value

[0073] 235 range

[0074] 240 threshold

[0075] 245 deviation

[0076] 300 Control System

[0077] 305 Control Equipment

[0078] 310 First Sensor

[0079] 315 Second Sensor

[0080] 320 First Actuator

[0081] 325 Second Actuator

[0082] 330 interface

[0083] 335 saddle plate

[0084] 340 Support Leg

[0085] 342 support leg actuator

[0086] 344 length

[0087] 345 load sensor

[0088] 400 Second Method

[0089] 405 request to automatically undo

[0090] 410 Remove the supporting leg

[0091] 415 Determine the load of the trailer acting on the outriggers / wheels.

[0092] Is the left load greater than the right load?

[0093] 425 Remove the right supporting leg

[0094] 430 Remove the left supporting leg

[0095] Is there a load acting on the traction machine?

[0096] 440 release tractor and trailer

[0097] 445 has reached its maximum adjustment range?

[0098] Stop at 450

[0099] 455 Allow or Open Connector

Claims

1. A method (400) for supporting the disengagement process of a tractor (105) and a semi-trailer (110), wherein, The semi-trailer (110) includes a left support leg and a right support leg (340) that can be moved out independently of each other; wherein the method (400) includes the following steps: - Determine (415) the first load of the semi-trailer (110) acting on the left support leg (340); - Determine (415) the second load of the semi-trailer (110) acting on the right support leg (340); - Individually remove (425, 430) the support leg (340) whose determined load (225) is below the pre-determined threshold (240) it is assigned; and - If the load (225) exerted by the semi-trailer (110) on the tractor (105) is less than a predetermined additional threshold (240), then the connector (335) between the tractor (105) and the semi-trailer (110) is allowed to be opened (455).

2. The method (400) according to claim 1, wherein, Determine which of the support legs (340) supports the smaller load (225) and remove that support leg (340) so that the other support leg (340) stops.

3. The method (400) according to claim 1 or 2, wherein, The traction machine (105) is only allowed to disengage when the absolute value (230) of the deviation (245) between the loads (225) acting on the support leg (340) is lower than a predetermined threshold (240) (435).

4. The method (400) according to any one of the preceding claims, wherein, Disengagement from the traction machine (105) is permitted (455) only when the absolute value (230) of the deviation (245) between the effective lengths (344) of the support legs (340) is below a predetermined threshold (240).

5. The method (400) according to any one of the preceding claims, wherein, Remove the support leg (340) so that the deviation (245) of the absolute tilt angle (215) of the semi-trailer (110) from the vertical line is lower than a predetermined threshold (240).

6. The method (400) according to any one of the preceding claims, wherein, Remove the support leg (340) so that the absolute value (230) of the relative roll angle (210) between the semi-trailer (110) and the tractor (105) is lower than a predetermined threshold (240).

7. The method (400) according to any one of the preceding claims, wherein the load (225) acting on the support leg (340) is determined (415) based on the load (225) acting on the wheel (322) mounted on the same side as a support leg (340).

8. The method (400) according to claim 7, wherein, The wheel (322) is included in the tractor (105).

9. The method (400) according to claim 7 or 8, wherein, The wheels (322) are included in the semi-trailer (110).

10. A control system (300) for supporting the disengagement process of a semi-trailer (110) having a left support leg and a right support leg (340) from a tractor (105), wherein, The control system (300) includes: - A first scanning device (345) for determining the loads of the semi-trailer (110) acting on the support legs (340) respectively. - Left actuator (342) for removing the left support leg (340); - Right actuator (342) for removing the right support leg (340); - A control device (305) for individually controlling the removal of a support leg (340) whose assigned load is below a predetermined threshold (240); and - A second scanning device (320, 335) for determining the load of the semi-trailer (110) acting on the tractor (105); - wherein the control device (305) is configured to allow the connection (335) between the tractor (105) and the semi-trailer (110) to be opened if the load exerted by the semi-trailer (110) on the tractor (105) is less than a predetermined additional threshold (240).

11. A vehicle (105, 110), said vehicle comprising the control system (300) according to claim 10.

12. A vehicle system (105, 110) comprising a tractor (105) and a semi-trailer (110) and a control system (300) according to claim 10.

Images