Motor vehicle with a tail lift and method for safety monitoring of a tail lift movement for a corresponding motor vehicle

Abstract

The invention relates to a motor vehicle, preferably a commercial vehicle, such as a truck, wherein the motor vehicle comprises a remotely controlled movable tail lift, a first sensor device, at least one second sensor device and a safety device. Here, the first sensor device is designed to at least partially detect a range of movement of the tail lift, while the at least one second sensor device is designed to detect an area outside the range of movement of the tail lift, for example a side and / or front area of ​​the motor vehicle. The combined evaluation or fusion of the sensor data from the various areas by the safety device advantageously increases operational safety when operating the tail lift, since this also allows for the proactive detection of emerging dangerous situations.Furthermore, the invention also relates to a method for safety monitoring of a tail lift movement for a corresponding motor vehicle.

Description

[0001] The invention relates to a motor vehicle, preferably a commercial vehicle, such as a truck, with a tail lift. The invention also relates to a method for safety monitoring a tail lift movement for a corresponding motor vehicle.

[0002] Tail lifts are often used, especially in the commercial vehicle sector, for unloading at terminals or in urban distribution. Tail lifts are the side of a motor vehicle or trailer that is usually vertical when not in use. For easy loading and unloading of cargo, they can be tilted horizontally, for example, using a hydraulic and / or electric drive, and then lowered horizontally to a ramp or roadway level. In the current state of technology, such a tail lift—usually located at the rear—is often also referred to as a tail lift or lifting platform.

[0003] With most of today's standard tail lift systems, the driver must leave the vehicle to operate the tail lift (tilt / raise / lower) and control the movement of the tail lift using controls (e.g., levers, buttons, handheld control bulbs, etc.) located on the outside of the vehicle – usually near the tail lift. This provides the operator with a direct view of the tail lift's movement area, allowing them to reliably detect potential objects, especially people, in the tail lift's danger zone and / or prevent damage to the tail lift.

[0004] The disadvantage of these methods, however, is that they require considerable time and concentration from the driver, as they have to leave the vehicle and monitor the tail lift movement. Consequently, there is a need for a solution that enables simplified yet safe operation of a vehicle's tail lift.

[0005] Accordingly, it is therefore an object of the invention to provide a solution which requires less time and concentration from the driver when operating the tail lift of a motor vehicle, without resulting in dangers for persons and objects in the working area of ​​the tail lift.

[0006] This object is achieved by a motor vehicle and a method having the features of the independent claims. Advantageous embodiments and applications of the invention are the subject of the dependent claims and are explained in more detail in the following description, with partial reference to the figures.

[0007] A basic idea is that instead of the driver directly monitoring the movement area of ​​the tail lift, there is preferably automatic monitoring by means of sensors, whereby an area outside the immediate movement area of ​​the tail lift is also monitored in order to detect possible dangerous situations as early as possible and in a proactive manner.

[0008] For this purpose, the motor vehicle according to the invention, preferably a commercial vehicle, e.g., a truck, comprises a preferably remote-controlled, movable tail lift and a sensor device, which, for ease of differentiation, will be referred to below as the "first" sensor device. This first sensor device has an associated "first" detection range and is designed to at least partially detect a movement range of the tail lift with this first detection range. The "detection range" is to be understood as any spatial segment that can be detected by sensors from the current location of the sensor devices. In contrast, the term "movement range" - which can alternatively also be referred to as a work or danger zone - characterizes a spatial area in or through which the tail lift is movable, in particular during loading and unloading processes.

[0009] In addition to the detection of the immediate movement range of the tail lift by the first sensor device, the motor vehicle comprises at least one further sensor device, preferably for the most proactive detection of impending dangerous situations – for example, whether a person is approaching the movement range of the tail lift. This sensor device, hereinafter referred to as at least one "second" sensor device, has an associated "second" detection range and is designed to use this second detection range to detect an area outside the movement range of the tail lift. In other words, the detection range of the at least one second sensor device can detect a spatial area in or through which no immediate movement of the tail lift is occurring. For example, the second detection range can be a side and / or front area of ​​the motor vehicle.

[0010] Furthermore, the motor vehicle according to the invention comprises a, preferably central, safety device that is designed to receive sensor data from the first and at least one second sensor device. This can be done, for example, via a radio and / or cable connection between the safety device and the sensor devices. Furthermore, the safety device is designed to determine, based on the received sensor data, whether an emergency stop of the tail lift needs to be initiated. For this purpose, the safety device can be designed to perform object detection based on the received sensor data. For example, an emergency stop can be initiated if an object is detected in the movement range of the tail lift.In addition or alternatively, the determination of whether an emergency stop should be initiated can also be made based on other factors, such as the location, direction of movement and / or distance of an object from the movement area of ​​the tail lift, whereby such criteria will be discussed in more detail below.

[0011] By deliberately using or merging the sensor data relating to the immediate movement range of the tail lift (first sensor device) with sensor data relating to an area outside the movement range of the tail lift (at least one second sensor device), the operational safety of the tail lift is advantageously increased, as this allows even impending dangerous situations to be anticipated. Remote control of the tail lift, for example, from the driver's cab, in conjunction with the aforementioned monitoring, also advantageously enables time- and concentration-saving operation of the tail lift without resulting in danger to people and property in the tail lift's working area.

[0012] In this context, the aforementioned first and / or at least one second sensor device of the motor vehicle can be configured, for example, as ultrasonic, radar, laser, and / or lidar sensors. Additionally or alternatively, the first and / or at least one second sensor device can also be a camera device. It is also particularly advantageous if sensor devices from assistance systems already present in the motor vehicle are used.

[0013] Based on this idea, according to a first aspect of the invention, the first and / or at least one second sensor device can comprise a camera device of a bird's-eye view system. Bird's-eye view systems known in the prior art, which are sometimes also called surround-view systems, refer to driver assistance systems in which the driver is presented with an (artificial) image of their vehicle surroundings and / or their motor vehicle from a bird's-eye view. Additionally or alternatively, the first and / or at least one second sensor device can be part of a camera network comprising at least four cameras, wherein image data from the at least four cameras of the camera network can be linked to one another to obtain a bird's-eye view of the motor vehicle.The term "bird's-eye view" refers to an image, preferably a complete panoramic image, of the vehicle's surroundings and / or the motor vehicle from a bird's-eye view, with the corresponding four cameras preferably arranged on all sides of the motor vehicle (front, rear, left, and right). Additionally or alternatively, the first and / or at least one second sensor device can comprise a wide-angle camera, preferably with an angle of view of at least 130°, particularly preferably with an angle of view of at least 180°. This advantageously allows a large spatial area around the motor vehicle to be captured, allowing early detection of potentially dangerous situations, e.g., a person approaching the movement area of ​​the tail lift.

[0014] According to a further aspect of the invention, the at least one second sensor device can also comprise a camera device of a mirror replacement system. Such mirror replacement systems known in the prior art refer to driver assistance systems in which mirror devices for indirect vision are replaced and / or supplemented by cameras or image recording units. These can be designed such that a camera mounted on the outside of the motor vehicle records an image of the surroundings of the motor vehicle, and the (possibly additionally processed) image is displayed for the driver to see on a display device mounted in the interior of the motor vehicle. Such mirror replacement systems generally have the advantage that the cameras used are significantly smaller than mirrors, and environmental influences can also be better controlled.In this context, the area detected by the at least one second sensor device can additionally or alternatively correspond to the surroundings of the motor vehicle, which are conventionally represented by a mirror, preferably an exterior mirror. Furthermore, a legally prescribed field of vision of the motor vehicle can also be represented from image data of the at least one second sensor device. Advantageously, an economical dual use of the driver assistance systems can also be achieved here, whereby the mirror replacement systems can again detect a large spatial area around the motor vehicle, which increases operational reliability when operating the tail lift.

[0015] According to a further aspect of the invention, the at least one second sensor device can also comprise a front-view camera. A front-view camera is understood to be a camera whose field of view is oriented substantially in the normal direction of travel. The front-view camera is preferably a front-view camera of an emergency braking assistance system and / or an adaptive cruise control system. These driver assistance systems—known per se in the prior art—typically use image data from the front-view camera, often in combination with radar data, to detect objects in front of the motor vehicle or vehicles traveling ahead in order to implement speed control or collision avoidance based on this determination.This dual use of the often standard front-view camera for monitoring the tail lift also makes it possible to economically implement tail lift monitoring. This variant is also particularly advantageous if the tail lift is mounted on the side of the vehicle, i.e., if the vehicle is a side loader, for example.

[0016] According to a further aspect of the invention, the first and / or at least one second sensor device can be designed as a pure image capture device, without any evaluation of image data for object recognition on the sensor side. In other words, the first and / or at least one second sensor device should not be a "smart camera" or "intelligent camera," for example. Preferably, the first and / or at least one second sensor device is thus designed solely to transmit image data to the safety device. This advantageously provides a particularly cost-effective option for monitoring tail lift operation.

[0017] According to a further aspect of the invention, the motor vehicle can also comprise a, preferably central, fusion device, wherein the, preferably central, fusion device can be part of the security device. The fusion device can further be configured to fuse the sensor data from the first and at least one second sensor device into a common model of the motor vehicle's surroundings and to provide this model to the security device for detecting impending dangerous situations.

[0018] An environment model can be understood as the information collected or processed by the sensor devices regarding other road users, infrastructure, static objects, road conditions, etc. – i.e., the vehicle's surroundings. State-of-the-art methods, such as grid-based and / or object-based environment modeling procedures, can be used for this purpose. The combination or fusion of sensor data can thus advantageously achieve more precise detection of objects, thereby increasing overall operational reliability.

[0019] According to a further aspect of the invention, the safety device can further output a message of an impending dangerous situation if movement of an object in the second detection range towards the movement range of the tail lift is detected. The term "object" is understood to mean a person, an animal, a thing, or an object. In other words, a message of an impending dangerous situation, i.e., one that is in the process of developing or not yet acute, can be output if movement of an object in the second detection range towards the tail lift or towards the movement range of the tail lift is detected.

[0020] Additionally or alternatively, the safety device can also issue a warning of an impending hazardous situation if the distance of an object in the second detection zone to the tail lift's movement area falls below a certain threshold. The "distance" can refer to the shortest spatial connection between an object in the second detection zone and the edge or geometric center of the tail lift's movement area.

[0021] Additionally or alternatively, the safety device can issue a message indicating an impending hazardous situation if a predicted trajectory of an object in the second detection zone intersects the movement range of the tail lift. In this case, the safety device or the fusion device can be configured to determine a possible future movement of the object based on the environment model or the environment data and / or directly based on the sensor data from the first and at least one second sensor device.

[0022] Regardless of the specific criteria used to detect an impending hazardous situation, issuing a warning, such as a visual and / or acoustic warning, can advantageously provide the driver with early warning before an acute hazardous situation actually occurs. The driver can then initiate appropriate countermeasures and thus prevent an emergency stop of the tail lift, which would delay the loading or unloading process.

[0023] According to a further aspect of the invention, the at least one second sensor device can be configured to detect a side and / or front area of ​​the motor vehicle with the second detection area. Additionally or alternatively, the at least one second sensor device can also be configured to detect exclusively an area outside the movement area of ​​the tail lift. Both aspects advantageously enable the most proactive and thus early detection of dangerous situations, preferably those that are just beginning to develop.

[0024] Furthermore, since appropriate monitoring of the tail lift or its range of movement is not necessary in all operating situations of the motor vehicle, according to a further aspect of the invention the safety device can only evaluate the sensor data of the first and at least one second sensor device if a reverse gear of the motor vehicle is engaged and / or the motor vehicle is maneuvering. In addition or alternatively the safety device can also only evaluate the sensor data of the first and at least one second sensor device if a parking brake and / or handbrake has been activated and / or if the motor vehicle is stationary. In this case, the determination or recognition of whether the motor vehicle is maneuvering or stationary can be determined, for example, based on the vehicle speed, the engaged gear, the engine speed and / or location data.This coupling of the tail lift monitoring to specific operating situations advantageously enables resource-saving and thus efficient operation of the vehicle.

[0025] According to a further aspect of the invention, movement of the tail lift can be controllable from inside the motor vehicle. In other words, a driver can operate the tail lift from inside the motor vehicle, for example from the driver's cab, without having to be in the immediate vicinity of the tail lift. This means that the tail lift can be moved by remote control. "Remote control" should generally be understood to mean any possibility of targeted mechanical, hydraulic, pneumatic, electrical, and / or electronic influence and control of the tail lift. This occurs remotely, i.e., at a distance from the device in question, and not via control elements mounted directly above or on the tail lift itself or in its immediate vicinity.Accordingly, according to a further aspect, the movement of the tail lift can also be controlled by means of a portable control element located outside and / or at a distance from the motor vehicle. This advantageously allows for significant time savings, since the driver does not have to leave the motor vehicle to operate the tail lift.

[0026] According to a further aspect of the invention, the first and / or at least one second sensor device can comprise a radar sensor. The radar sensor can be a combination of radar transmitter and radar receiver. Due to the fact that radar sensors operate largely independently of visibility, i.e. even in the dark, fog, rain, etc., and have a long range, this makes it possible to increase the reliability of tail lift monitoring, particularly in combination with camera devices. The radar sensor is preferably a side radar sensor of a turning assistance system and / or a front radar sensor of an emergency braking assistance and / or adaptive cruise control system - as described above. The latter variant is particularly advantageous if the tail lift is arranged on the side of the motor vehicle, i.e. if the motor vehicle is, for example, a side loader.

[0027] The aspects described above with regard to a motor vehicle with a tail lift can – as will be immediately apparent to a person skilled in the art – also be applied to motor vehicles with tail lift-like attachments, such as garbage trucks and / or transport vehicles with a sliding platform. Accordingly, these embodiments are also to be considered disclosed and claimed. Furthermore, a vehicle combination (e.g., a semi-trailer truck) in which the trailer includes a tail lift, preferably a remote-controlled one, is also to be considered a motor vehicle according to the claim. In other words, in these cases, the motor vehicle is also to include the trailer.

[0028] Furthermore, the invention also provides a method, preferably for safety monitoring of a tail lift movement for a motor vehicle, as described in this document. Accordingly, the motor vehicle disclosed within the scope of the method can also have all the features of the motor vehicle that have already been described for the motor vehicle in this document. This means that the features of the motor vehicle disclosed according to the device are also intended to be disclosed and claimable in connection with the method.

[0029] The method comprises the step of merging the sensor data from the first and at least one second sensor device to form a common model of the motor vehicle's environment. For this purpose, methods known in the prior art, such as grid-based and / or object-based methods for modeling the environment, can be used. The method also comprises the step of detecting an impending dangerous situation using the model of the motor vehicle's environment. This can be done using predetermined criteria, such as the position, size and / or direction of movement of an object in the vehicle's environment. In this context, object detection is preferably also carried out on the basis of the model of the environment and / or the received sensor data. Furthermore, the method also comprises outputting a message about an impending dangerous situation. This can be in the form of a visual and / or acoustic warning message, for example. By merging orBy combining the sensor data relating to the immediate movement range of the tail lift (first sensor device) with sensor data relating to an area outside the movement range of the tail lift (at least one second sensor device), a method for safety monitoring of a tail lift movement is advantageously provided, by means of which even impending dangerous situations can be anticipated.

[0030] According to a further aspect of the invention, the imminent dangerous situation can be the movement of an object in the second detection area toward the movement area of ​​the tail lift. In other words, an imminent dangerous situation, i.e., one that is in the process of developing or not yet acute, can occur if the movement of an object in the second detection area toward the tail lift or toward the movement area of ​​the tail lift is detected.

[0031] Additionally or alternatively, the impending hazardous situation may also be the infringement of a safety distance between an object in the second detection zone and the tail lift's movement area. The safety distance can be defined as a fixed or variable distance value from the edge or geometric center of the tail lift's movement area.

[0032] Additionally or alternatively, the impending hazardous situation can also be the intersection of a predicted trajectory of an object in the second detection zone with the movement zone of the tail lift. In this context, a possible future movement of the object can also be determined based on the environment model or the environment data and / or directly based on the sensor data of the first and at least one second sensor device.

[0033] Overall, all these criteria enable reliable detection of impending dangerous situations and thus the most proactive monitoring of the tail lift movement possible.

[0034] The above-described aspects and features of the invention can be combined with one another in any desired manner. Further details and advantages of the invention are described below with reference to the accompanying drawings. They show: Fig. 1: A schematic representation of a motor vehicle in side view according to a first embodiment of the invention; Fig. 2: A schematic representation of a motor vehicle in plan view according to a second embodiment of the invention; Fig. 3: A schematic representation of a motor vehicle in plan view according to a third embodiment of the invention; and Fig. 4: A flowchart of a method for safety monitoring of a tail lift movement for a motor vehicle according to a first embodiment of the invention.

[0035] Identical or functionally equivalent elements are designated by the same reference numerals in all figures and are partly not described separately.

[0036] Fig. Figure 1 shows a schematic side view of a motor vehicle 10 according to a first embodiment of the invention. The motor vehicle 10 is a semi-trailer vehicle, i.e., a combination of a tractor unit and a semi-trailer. The motor vehicle 10 comprises a remote-controlled tail lift 1 at the rear, particularly the semi-trailer, which can be moved from the driver's cab. As indicated by the arrows in Fig. As illustrated in Figure 1, this tail lift 1 can be tilted horizontally from a vertical driving position and then lowered horizontally. As an alternative to the illustrated embodiment of the tail lift 1, it can also be designed as a foldable and / or drive-under tail lift 1 and / or arranged at other locations, e.g., on the side of the motor vehicle 10, without departing from the scope of the invention.

[0037] The spatial area in or through which the tail lift 1 can be moved - by means of motor drive means not shown in detail (e.g. in the form of a hydraulic drive) - is referred to as the movement area 4 of the tail lift 1 (dotted area in Fig. 1). If an object 7, e.g., a person or an obstacle, is located in this area during a loading or unloading process, possible collisions pose an immediate danger to these objects 7 (e.g., crushing injuries) or damage to the tail lift itself.

[0038] In order to detect such immediate danger situations, the motor vehicle 10 comprises a first sensor device 2a, having a first detection area 3a (in Fig. 2), wherein the first sensor device 2a is designed to at least partially detect a movement area 4 of the tail lift 1 with the first detection area 3a. For this purpose, the first sensor device 2a can be designed, for example, as a camera which is arranged at an upper rear end area of ​​the motor vehicle 10 and from there looks frontally downwards or diagonally downwards. In addition to this detection of the immediate movement area 4 of the tail lift 1 by the first sensor device 2a, the motor vehicle 10 comprises at least one second sensor device 2b1, preferably for the most proactive detection of impending dangerous situations - for example, whether a person is approaching the movement area 4 of the tail lift 1. This at least one second sensor device 2b1 has a second detection area 3b1 (in Fig. 2) and is designed to detect an area outside the movement range 4 of the tail lift 1 with the second detection area 3b1. In the present case, the second detection area 3b1 is a side area of ​​the motor vehicle 10. Furthermore, the first and / or at least one second sensor device of the motor vehicle can be designed, for example, as ultrasonic, radar, laser and / or lidar sensor(s) and / or as camera device(s).

[0039] Furthermore, the motor vehicle 10 comprises a safety device 5, which is designed to receive sensor data from the first and at least one second sensor device 2a, 2b. In the present case, this can be done via the data lines shown in dashed lines between the safety device 5 and the two sensor devices 2a, 2b1. Furthermore, the safety device 5 is designed to determine, based on the received sensor data, whether an emergency stop of the tail lift 1 should be initiated. For example, an emergency stop can be initiated if an object 7 is detected in the movement area 4 of the tail lift 1. In addition or alternatively, an emergency stop can also be initiated if a movement of an object 7 in the second detection area 3b1 towards the movement area 4 of the tail lift 1 is detected and / or if a distance of an object 7 in the second detection area 3b1 from the movement area 4 of the tail lift 1 falls below a certain threshold value.The advantage of the invention, however, lies precisely in the fact that by monitoring an area outside the immediate movement area 4 of the tail lift 1 by means of the at least one second sensor device 2b1, an impending, i.e. a developing or not yet acute, dangerous situation can be detected as early as possible, whereby risk situations that require an emergency stop can be reliably detected and / or early initiation of countermeasures to avoid an above-mentioned emergency stop situation is made possible.

[0040] In the following, the Fig. 2 and Fig. 3 the detection areas 3a, 3b1, 3b2, 3b3 of the individual sensor devices 2a, 2b1, 2b2, 2b3 are illustrated in more detail. Fig. 2 shows a schematic representation of a motor vehicle 10 in plan view according to a second embodiment of the invention. In the present case, this is also a semi-trailer truck. This comprises - in addition to a tail lift 1 arranged at the rear, which is not visible when closed - a first sensor device 2a, for example in the form of a rear-mounted camera, having a first, e.g., conical, detection area 3a. Alternatively, the first detection area 3a, i.e., the spatial segment that can be sensed by sensors from the current location of the first sensor device 2a, can also be a different type of spatial segment (e.g., pyramid-shaped, prismatic, linear, planar, etc.).Furthermore, the first sensor device 2a is designed to at least partially detect a movement range 4 of the tail lift 1 with the first detection range 3a, wherein the first detection range 3a of the first sensor device 2a can be smaller or - as in the present case - larger than the movement range 4 of the tail lift 1.

[0041] Furthermore, the motor vehicle 10 also has a second sensor device 2b1, 2b2, 2b3, which in this case comprises two camera devices 2b1 and 2b2 arranged on the left and right sides of the semi-trailer, as well as a front view camera 2b3. The second sensor device 2b1, 2b2, 2b3 further has a second detection area 3b1, 3b2, 3b3 and is designed to detect the left and right side areas (3b1 and 3b2) and a front area (3b3) of the motor vehicle 10, i.e., an area outside the movement area 4 of the tail lift 1, with the second detection area 3b1, 3b2, 3b3. Here, both the camera devices of the second sensor device 2b1, 2b2, 2b3 and those of the first sensor device 2a are designed as wide-angle cameras, each of which is part of a bird's eye view system of the motor vehicle 10. I.e.In addition to monitoring the tail lift, the camera data from the first and second sensor devices 2a, 2b1, 2b2, 2b3 can also be linked to create a bird's-eye view of the motor vehicle 10, which can be displayed to the driver, for example, in the cab to provide additional support during maneuvering. This dual use of the sensor devices 2a, 2b1, 2b2, 2b3 of the motor vehicle 10 advantageously allows a large spatial area around the motor vehicle 10 to be captured, allowing potential dangerous situations, e.g., the approach of an object 7 to the movement area 4 of the tail lift 1, to be detected as early as possible. For this purpose, the motor vehicle, as already mentioned above, comprises a central security device 5, which receives the sensor data from the first and second sensor devices 2a, 2b1, 2b2, 2b3.In the present case, the central security device 5 has a fusion device 6 which is designed to fuse the sensor data of the first and second sensor devices 2a, 2b1, 2b2, 2b3 into a common environment model of the motor vehicle 10 and to provide this environment model to the security device 5 for detecting impending dangerous situations.

[0042] Fig. 3 shows a schematic representation of a motor vehicle 10 in plan view according to a third embodiment of the invention. In contrast to the Fig. In the embodiment shown in Figure 2, however, the camera devices of the second sensor device 2b1, 2b2 are not camera devices of a bird's-eye view system, but rather camera devices of a mirror replacement system. In other words, the camera devices are designed to capture an area of ​​the surroundings of the motor vehicle 10 that is conventionally presented to the driver by a mirror, here by the left or right side exterior mirror. Thus, in this embodiment, an economical dual use of the existing driver assistance systems is advantageously achieved.

[0043] Fig.4 shows a flowchart of a method for safety monitoring a tail lift movement for a motor vehicle 10 according to a first embodiment of the invention. The method comprises step S1, in which the sensor data from the first sensor device 2a and the at least one second sensor device 2b1, 2b2 are merged to form a common environment model of the motor vehicle 10. Methods known in the prior art, such as grid-based and / or object-based methods for environment modeling, can be used here. In step S2, an impending dangerous situation is then detected based on the environment model of the motor vehicle 10. For example, in this context, an impending dangerous situation can be detected based on the movement of an object 7, e.g., a person, in the second detection area 3b1, 3b2 toward the movement area 4 of the tail lift 1.Additionally or alternatively, an impending hazardous situation can also be detected based on an object 7 in the second detection zone 3b1, 3b2 falling below a safety distance from the movement zone 4 of the tail lift 1. If an impending hazardous situation has been detected, a message about an impending hazardous situation is subsequently output in step S3. This can be done, for example, in the form of a visual and / or acoustic warning message.

[0044] The present disclosure further includes the following aspects: Aspect 1: Motor vehicle (10), preferably commercial vehicle, comprising: (a) a remote-controlled loading platform (1); b) a first sensor device (2a) having a first detection area (3a), wherein the first sensor device (2a) is designed to at least partially detect a movement area (4) of the tail lift (1) with the first detection area (3a); c) at least one second sensor device (2b1, 2b2) having a second detection area (3b1, 3b2), wherein the at least second sensor device (2b1, 2b2) is designed to detect, with the second detection area (3b1, 3b2), an area outside the movement area (4) of the tail lift (1), preferably a side and / or front area of ​​the motor vehicle; and d) a safety device (5) which is designed to receive sensor data from the first and at least one second sensor device (2a, 2b1, 2b2) and to determine on the basis of the received sensor data whether an emergency stop of the tail lift (1) is to be initiated. Aspect 2: Motor vehicle (10) according to aspect 1, characterized in that the first and / or at least one second sensor device (2a, 2b1, 2b2) a) comprises a camera device of a birdview system; and / or b) are / is part of a camera network comprising at least four cameras, wherein image data of the at least four cameras of the camera network can be linked to one another in order to obtain a bird's-eye view of the motor vehicle (10); and / or c) a wide-angle camera, preferably with a field of view of at least 130°, particularly preferably with a field of view of at least 180°. Aspect 3: Motor vehicle (10) according to one of the preceding aspects, characterized in a) that the at least one second sensor device (2b1, 2b2) comprises a camera device of a mirror replacement system; and / or b) that the area detected by the at least one second sensor device (2b1, 2b2) corresponds to an environment of the motor vehicle (10) which is conventionally represented by a mirror, preferably an exterior mirror; and / or c) that a legally prescribed field of vision of the motor vehicle (10) can be displayed from image data of the at least one second sensor device (2b1, 2b2). Aspect 4: Motor vehicle (10) according to one of the preceding aspects, characterized in that the at least one second sensor device (2b1, 2b2) comprises a front view camera, preferably a front view camera of an emergency braking assistance and / or an adaptive cruise control system. Aspect 5: Motor vehicle (10) according to one of the preceding aspects, characterized in that the first and / or at least one second sensor device (2a, 2b1, 2b2) is / are designed as a pure image capture device, without any evaluation of image data for object recognition taking place on the sensor side. Aspect 6: Motor vehicle (10) according to one of the preceding aspects, characterized by a central fusion device (6), which is preferably a part of the security device (5), wherein the central fusion device (6) is designed to fuse the sensor data of the first and at least one second sensor device (2a, 2b1, 2b2) to form a common environment model of the motor vehicle (10) and to provide the environment model to the security device (5) for detecting impending dangerous situations. Aspect 7: Motor vehicle (10) according to one of the preceding aspects, characterized in that the safety device (5) issues a message about an impending dangerous situation if a) a movement of an object (7) in the second detection area (3b1, 3b2) towards the movement area (4) of the tail lift (1) is detected; and / or b) a distance of an object (7) in the second detection area (3b1, 3b2) to the movement area (4) of the tail lift (1) falls below a certain threshold value and / or c) a predicted trajectory of an object (7) in the second detection area (3b) intersects the movement area (4) of the tail lift (1). Aspect 8: Motor vehicle (10) according to one of the preceding aspects, characterized in that the at least one second sensor device (2b1, 2b2) is designed with the second detection area (3b1, 3b2) a) a side and / or front area of ​​the motor vehicle; and / or b) to cover only an area outside the movement area (4) of the tail lift (1). Aspect 9: Motor vehicle (10) according to one of the preceding aspects, characterized in that the first and second detection areas (3a, 3b1, 3b2) do not overlap. Aspect 10: Motor vehicle (10) according to one of the preceding aspects, characterized in that the safety device (5) only evaluates the sensor data of the first and at least one second sensor device (2a, 2b1, 2b2) if the motor vehicle is at a standstill and / or a reverse gear of the motor vehicle (10) is engaged and / or a shunting operation of the motor vehicle (10) is taking place. Aspect 11: Motor vehicle (10) according to one of the preceding aspects, characterized in that a movement of the tail lift (1) can be controlled from the interior of the motor vehicle (10). Aspect 12: Motor vehicle (10) according to one of the preceding aspects, characterized in that the first and / or at least one second sensor device (2a, 2b1, 2b2) comprises a radar sensor, preferably a side radar sensor of a turning assistance system and / or a front radar sensor of an emergency braking assistance and / or an adaptive cruise control system. Aspect 13: Method for safety monitoring of a tail lift movement for a motor vehicle (10) according to one of the preceding aspects, comprising the steps: - merging the sensor data of the first and at least one second sensor device (2a, 2b1, 2b2) to form a common environment model of the motor vehicle (10); - detection of an impending dangerous situation based on the model of the motor vehicle’s environment (10); and - Issuing a message of an impending dangerous situation. Aspect 14: Method according to the thirteenth aspect, characterized in that the impending dangerous situation a) a movement of an object (7) in the second detection area (3b1, 3b2) towards the movement area (4) of the tail lift (1); and / or b) an object (7) in the second detection area (3b1, 3b2) falling below a safety distance from the movement area (4) of the tail lift (1); and / or c) an intersection of a predicted trajectory of an object (7) in the second detection area (3b1, 3b2) with the movement area (4) of the tail lift (1).

[0045] Although the invention has been described with reference to specific embodiments, it will be apparent to one skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention. Consequently, the invention is not intended to be limited to the disclosed embodiments, but is intended to include all embodiments falling within the scope of the appended claims. In particular, the invention also claims protection for the subject matter and features of the dependent claims, independent of the referenced claims. List of reference symbols 1 tail lift 2a First sensor device 2b1, 2b2, 2b3 Second sensor device 3a First detection area 3b1, 3b2, 3b3 Second detection area 4 Range of motion 5 Safety device 6 Fusion facility 7 Object 10 motor vehicle

Claims

[1] Motor vehicle (10), preferably commercial vehicle, comprising: (a) a remote-controlled loading platform (1); b) a first sensor device (2a) having a first detection area (3a), wherein the first sensor device (2a) is designed to at least partially detect a movement area (4) of the tail lift (1) with the first detection area (3a); c) at least one second sensor device (2b1, 2b2) having a second detection area (3b1, 3b2), wherein the at least second sensor device (2b1, 2b2) is designed to detect, with the second detection area (3b1, 3b2), an area outside the movement area (4) of the tail lift (1), preferably a side and / or front area of ​​the motor vehicle; and d) a safety device (5) which is designed to receive sensor data from the first and at least one second sensor device (2a, 2b1, 2b2) and to determine, on the basis of the received sensor data, whether an emergency stop of the tail lift (1) is to be initiated; wherein: e) the at least one second sensor device (2b1, 2b2) comprises a camera device of a mirror replacement system. [2] Motor vehicle (10) according to claim 1, characterized by that the first and / or at least one second sensor device (2a, 2b1, 2b2) a) comprises a camera device of a birdview system; and / or b) are / is part of a camera network comprising at least four cameras, wherein image data of the at least four cameras of the camera network can be linked to one another in order to obtain a bird's-eye view of the motor vehicle (10); and / or c) a wide-angle camera, preferably with a field of view of at least 130°, particularly preferably with a field of view of at least 180°. [3] Motor vehicle (10) according to one of the preceding claims, characterized by , a) that the area detected by the at least one second sensor device (2b1, 2b2) corresponds to an environment of the motor vehicle (10) which is conventionally represented by a mirror, preferably an exterior mirror; and / or b) that a legally prescribed field of vision of the motor vehicle (10) can be represented from image data of the at least one second sensor device (2b1, 2b2). [4] Motor vehicle (10) according to one of the preceding claims, characterized by that the at least one second sensor device (2b1, 2b2) comprises a front view camera, preferably a front view camera of an emergency braking assistance and / or an adaptive cruise control system. [5] Motor vehicle (10) according to one of the preceding claims, characterized by that the first and / or at least one second sensor device (2a, 2b1, 2b2) is / are designed as a pure image capture device, without any evaluation of image data for object recognition taking place on the sensor side. [6] Motor vehicle (10) according to one of the preceding claims, characterized by a central fusion device (6), which is preferably part of the security device (5), wherein the central fusion device (6) is designed to fuse the sensor data of the first and at least one second sensor device (2a, 2b1, 2b2) to form a common environment model of the motor vehicle (10) and to provide the environment model to the security device (5) for detecting impending dangerous situations. [7] Motor vehicle (10) according to one of the preceding claims, characterized by that the safety device (5) issues a message about an impending dangerous situation if a) a movement of an object (7) in the second detection area (3b1, 3b2) towards the movement area (4) of the tail lift (1) is detected; and / or b) a distance of an object (7) in the second detection area (3b1, 3b2) to the movement area (4) of the tail lift (1) falls below a certain threshold value and / or c) a predicted trajectory of an object (7) in the second detection area (3b) intersects the movement area (4) of the tail lift (1). [8] Motor vehicle (10) according to one of the preceding claims, characterized by that the at least one second sensor device (2b1, 2b2) is designed to be connected to the second detection area (3b1, 3b2) a) a side and / or front area of ​​the motor vehicle; and / or b) to cover only an area outside the movement area (4) of the tail lift (1). [9] Motor vehicle (10) according to one of the preceding claims, characterized by that the first and second detection areas (3a, 3b1, 3b2) do not overlap. [10] Motor vehicle (10) according to one of the preceding claims, characterized by that the safety device (5) only evaluates the sensor data of the first and at least one second sensor device (2a, 2b1, 2b2) if the motor vehicle is at a standstill and / or a reverse gear of the motor vehicle (10) is engaged and / or a shunting operation of the motor vehicle (10) is taking place. [11] Motor vehicle (10) according to one of the preceding claims, characterized by that a movement of the tail lift (1) can be controlled from the interior of the motor vehicle (10). [12] Motor vehicle (10) according to one of the preceding claims, characterized bythat the first and / or at least one second sensor device (2a, 2b1, 2b2) comprises a radar sensor, preferably a side radar sensor of a turning assistance system and / or a front radar sensor of an emergency braking assistance and / or an adaptive cruise control system. [13] Method for safety monitoring of a tail lift movement for a motor vehicle (10) according to one of the preceding claims, comprising the steps: - merging the sensor data of the first and at least one second sensor device (2a, 2b1, 2b2) to form a common environment model of the motor vehicle (10); - detection of an impending dangerous situation based on the model of the motor vehicle’s environment (10); and - Issuing a message of an impending dangerous situation. [14] Method according to claim 13, characterized by that the impending dangerous situation a) a movement of an object (7) in the second detection area (3b1, 3b2) towards the movement area (4) of the tail lift (1); and / or b) an object (7) in the second detection area (3b1, 3b2) falling below a safety distance from the movement area (4) of the tail lift (1); and / or c) an intersection of a predicted trajectory of an object (7) in the second detection area (3b1, 3b2) with the movement area (4) of the tail lift (1).

Images