Detection of dynamic characteristics of trailer or semitrailer

Abstract

The invention relates to a method and a device for detecting a dynamic behavior of a trailer or semitrailer (1) of a commercial vehicle combination (10), in which an image of the trailer or semitrailer (1) is captured by means of a sensor system, at least one side (2) of the trailer or semitrailer (1) being captured by means of a sensor system designed as a spatial phase imaging sensor system, according to the invention, a flat side (2) is identified on the basis of the same normal vector at at least approximately each position of the side (2) or at least very similar normal vectors in a specific range, and uneven or biased sides (2) are identified on the basis of different normal vectors at different positions of the side (2).

Description

TECHNICAL FIELD

[0001] The invention relates to a method for detecting the dynamic properties of a trailer or semitrailer of a commercial vehicle combination / commercial vehicle towing combination according to the preamble of claim 1 and to a device for detecting the dynamic properties of a trailer or semitrailer of a commercial vehicle combination according to the preamble of claim 7. BACKGROUND

[0002] During operation of a vehicle combination / vehicle towing combination consisting of a towing vehicle and a trailer or semitrailer, it is desirable to capture the dynamic properties of the trailer or semitrailer.

[0003] WO 2021 / 030454 A1 generally describes, in one aspect, a data management system for spatial phase imaging. A data management system for spatial phase imaging includes a storage engine configured to receive and store input data in a data set format, wherein the input data includes: pixel-level first-order basis elements generated based on electromagnetic (EM) radiation received from an object located in a field of view of an image sensor device; and pixel-level second-order basis elements generated based on the first-order basis elements. The data management system further includes an analysis engine configured to determine a plurality of characteristics of the object based on the pixel-level first-order basis elements and the pixel-level second-order basis elements; and an access engine configured to grant a user access to the plurality of characteristics of the object determined by the analysis engine and the input data stored by the storage engine. SUMMARY

[0004] It is the task of the present invention to provide a novel method and device for detecting the dynamic properties of a trailer or semitrailer of a commercial vehicle combination.

[0005] According to the invention, this task is accomplished by a method for detecting the dynamic properties of a trailer or semitrailer of a commercial vehicle combination having the features of claim 1 and by a device for detecting the dynamic properties of a trailer or semitrailer of a commercial vehicle combination having the features of claim 7.

[0006] Advantageous designs of the invention are the subject matter of the dependent claims.

[0007] A method for detecting the dynamic properties of a trailer or semitrailer of a commercial vehicle combination is proposed, wherein images of the trailer or semitrailer are captured by means of a sensor system. According to the invention, at least one side of the trailer or semitrailer is captured by means of a sensor system designed as a spatial phase imaging sensor system, wherein a flat side is identified based on normal vectors that are identical or at least very similar within a certain range at least almost everywhere on the side, wherein a non-flat or deviating side is identified based on different normal vectors at different positions on the side.

[0008] In one embodiment, the articulation angle between the towing vehicle and the semitrailer or trailer is determined on the basis of the information about the side surface acquired by the spatial phase imaging sensor system.

[0009] In one embodiment, the inclination of the semitrailer or trailer about the longitudinal axis of the commercial vehicle combination is determined on the basis of the information about the side surface acquired by the spatial phase imaging sensor system.

[0010] In one embodiment, countermeasures for stabilizing the commercial vehicle combination are taken by adjusting the operating strategy of the drive train and / or the chassis settings of the vehicle and / or by braking when the prescribed inclination limit is exceeded.

[0011] In one embodiment, the direction and intensity of the crosswind acting on the semitrailer or trailer are estimated on the basis of the information about the side surface acquired by the spatial phase imaging sensor system by means of machine learning, since the semitrailer or trailer is usually covered with a tarpaulin which under the influence of the crosswind will billow or otherwise deform.

[0012] In one embodiment, dangerous displacement of goods which are secured laterally only by the tarpaulin of the semitrailer or trailer is recognized when an uneven or deviating side surface is detected on the basis of the information about the side surface acquired by the spatial phase imaging sensor system.

[0013] According to one aspect of the application, a device for detecting the dynamic properties of a trailer or semitrailer of a commercial vehicle combination comprising a towing vehicle and a semitrailer or trailer is proposed, wherein the device has a sensor system for acquiring an image of the trailer or semitrailer. According to the application, the sensor system is designed as a spatial phase imaging sensor system for acquiring at least one side surface of the trailer or semitrailer, wherein the device is configured to recognize a flat side surface on the basis of identical or at least very similar normal vectors at least approximately at every location of the side surface and to recognize an uneven side surface on the basis of different normal vectors at different locations of the side surface. In particular, the device can be configured to carry out the above-described method.

[0014] In one embodiment, the spatial phase imaging sensor system has at least one camera with spatial phase imaging function which is arranged on the towing vehicle and is aligned to acquire one of the side walls of the semitrailer or trailer.

[0015] In one embodiment, one camera with spatial phase imaging function is arranged on each side of the towing vehicle for acquiring the respective side wall of the semitrailer or trailer.

[0016] In one embodiment, the camera is arranged in the place of or is designed as a rearview mirror replacement camera.

[0017] With the solution according to the application, an increase in safety can be achieved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Embodiments of the application are described in detail below with reference to the drawings, in which:

[0019] Figure 1 a schematic view of a semitrailer is shown,

[0020] Figure 2 a schematic view of a commercial vehicle combination comprising a semitrailer and a towing vehicle is shown.

[0021] Parts that correspond to one another have the same reference numerals in all the figures. DETAILED DESCRIPTION

[0022] Figure 1 a schematic view of a semitrailer 1 or trailer, which can be a component of a commercial vehicle combination 10.

[0023] The basis of the application is so-called "Spatial Phase Imaging", in the following also abbreviated as SPI. Spatial Phase Imaging is a technique for acquiring phase information of light waves for in-depth understanding of the properties of an object or system under investigation. The phase information describes the relative relationship of light waves to one another in time and space and can reveal important properties such as the thickness, refractive index and topology of an object.

[0024] One of the most common methods of spatial phase imaging is interferometry, which compares the light of an object with a reference wave to determine the phase shift. There are various types of interferometry, such as Mach-Zehnder interferometry, Michelson interferometry, Talbot-Higgins interferometry, Fourier transform interferometry and half-aperture interferometry.

[0025] Another method of spatial phase imaging is digital holography, in which the phase information of light is acquired by generating and evaluating a hologram. In this process, the light of an object crosses with a reference wave to produce an interference pattern, which is then acquired by a camera. This interference pattern contains the phase information of the light, which can be processed to generate a digital image of the object.

[0026] Depending on the specific application, other methods of spatial phase imaging can also be applicable, such as diffraction index modulation (holographic optical tweezers, tomographic imaging), which enables direct phase acquisition in one measurement (without interference).

[0027] In summary, spatial phase imaging is a technique that enables the acquisition of phase information of light waves, which can employ various types of interferometry and digital holography. Spatial phase imaging is a tool in microscopy, wavefront sensors, and optical metrology, among other applications, because it can reveal important properties of objects that are difficult to obtain with other methods.

[0028] By means of the SPI-capable camera 4, the side 2 of the semitrailer 1 can be monitored. Figure 1 It is shown how a plane can be acquired by means of the SPI camera 4. In this example, the side 2 of the semitrailer 1 exhibits a uniform color, for example, because the plane forms the same normal vector at each location or at least a very similar normal vector within a certain range.

[0029] Figure 2 A schematic view of a commercial vehicle combination 10, which comprises a semitrailer 1 or trailer and a towing vehicle 3. At least one SPI-capable camera 4 is arranged on the towing vehicle 3 and is aimed at acquiring one of the side walls 2 of the semitrailer 1 or trailer. For example, one such camera 4 can be arranged on each side of the towing vehicle 3 for acquiring the respective side wall of the semitrailer 1 or trailer. For example, the camera 4 can be arranged at the location of a rearview mirror replacement camera or be designed as a rearview mirror replacement camera.

[0030] On the basis of the information about the side 2 acquired by means of the SPI-capable camera 4, various dynamic properties of the semitrailer 1 or trailer can be derived. This information can reveal, among other things, the articulation angle between the towing vehicle 3 and the semitrailer 1 or trailer. In addition, the information can also be used to determine the inclination of the semitrailer 1 or trailer about the longitudinal axis of the commercial vehicle combination 10. It can occur that the semitrailer 1 or trailer tips out to the outside in the event of a very high lateral acceleration. By means of the method, such a situation can be recognized in advance and appropriate countermeasures can be taken.

[0031] By means of machine learning, from the data acquired by means of the SPI-capable camera 4, the direction and strength of a crosswind acting on the semitrailer 1 or trailer can be estimated, since the semitrailer 1 or trailer is usually covered with a tarpaulin, which is set in motion or deformed in other ways by the crosswind.

[0032] By means of classical algorithms, from the data acquired by means of the SPI-capable camera 4, it is possible to recognize a dangerous displacement of goods that are secured laterally only by the tarpaulin of the semitrailer 1 or trailer. This is the case when the tarpaulin no longer forms a flat surface but exhibits irregularities.

Claims

1. A method for detecting the dynamic characteristics of a trailer or semi-trailer (1) of a commercial vehicle assembly (10), wherein, Images of trailers or semi-trailers (1) are acquired using a sensor system. The feature is that at least one side (2) of a trailer or semi-trailer (1) is acquired by means of a sensing system designed as a spatial phase imaging sensing system, wherein a flat side (2) is identified based on the same or at least very similar normal vectors at at least nearly every position on the side (2), and an uneven or biased side (2) is identified based on different normal vectors at different positions on the side (2).

2. The method according to claim 1, characterized in that, The articulation angle between the tractor (3) and the semi-trailer (1) or trailer is determined based on information about the side (2) collected by the spatial phase imaging sensing system.

3. The method according to claim 1 or 2, characterized in that, The tilt of the semi-trailer (1) or trailer about the longitudinal axis of the commercial vehicle assembly (10) is determined based on information about the side (2) collected by the spatial phase imaging sensing system.

4. The method according to claim 3, characterized in that, When the specified tilt limit is exceeded, countermeasures are taken by adjusting the operating strategy of the drivetrain and / or the chassis settings of the vehicle (1).

5. The method according to any one of the preceding claims, characterized in that, The direction and intensity of the crosswind acting on the semi-trailer (1) or trailer are estimated by machine learning based on information about the side (2) collected by the spatial phase imaging sensing system.

6. The method according to any one of the preceding claims, characterized in that, Based on the information about the side (2) collected by the spatial phase imaging sensing system, when the uneven or deviated side (2) is detected, cargo that has been dangerously displaced is identified, which is laterally secured only by the tarpaulin of the semi-trailer (1) or the trailer.

7. An apparatus for detecting the dynamic characteristics of a trailer or semi-trailer (1) of a commercial vehicle assembly (10), the commercial vehicle assembly comprising a tractor (3) and a semi-trailer (1) or trailer, wherein, The device has a sensing system for acquiring images of trailers or semi-trailers (1), The feature is that the sensing system is designed as a spatial phase imaging sensing system for acquiring at least one side (2) of a trailer or semi-trailer (1), wherein the device is configured to: identify a flat side (2) based on the same or at least very similar normal vectors at at least nearly every location on the side (2), and identify an uneven side (2) based on different normal vectors at different locations on the side (2).

8. The apparatus according to claim 7, characterized in that, The spatial phase imaging sensing system has at least one camera (4) with spatial phase imaging function, which is arranged on the tractor (3) and aimed to capture one of the side walls (2) of the semi-trailer (1) or trailer.

9. The apparatus according to claim 8, characterized in that, A camera (4) with spatial phase imaging function is arranged on each side of the tractor (3) to collect data on the corresponding side wall of the semi-trailer (1) or trailer.

10. The apparatus according to claim 8 or 9, characterized in that, The camera (4) is positioned in the location of the rearview mirror as a camera or is designed to replace the rearview mirror as a camera.

Images