Method and device for detecting dynamic properties of a trailer or semi-trailer of a commercial vehicle combination

Abstract

The invention relates to a method and a device for detecting dynamic properties of a trailer or semi-trailer (1) of a commercial vehicle combination (10), wherein images of the trailer or semi-trailer (1) are captured by means of a sensor system, wherein at least one side surface (2) of the trailer or semi-trailer (1) is captured by means of the sensor system designed as a spatial phase imaging sensor system, wherein a flat side surface (2) is detected at at least approximately every point of the side surface (2) on the basis of the same or at least a normal vector that is very similar within certain limits, and wherein an uneven or deviating side surface (2) is detected on the basis of different normal vectors at different points of the side surface (2).

Description

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

[0002] During the operation of a vehicle combination consisting of a tractor and a trailer or semi-trailer, it is desirable to record the dynamic properties of the trailer or semi-trailer.

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

[0004] DE 10 2019 206 985 A1 describes a method for determining an operating angle between a tractor and a trailer of the tractor, comprising the steps: d) sequential acquisition of camera images by means of at least one rearward-facing camera arranged on the tractor; e) detecting trailer structures in the camera images; and a) Determine the operating angle by evaluating the structures detected in the camera images.

[0005] DE 10 2021 208 819 A1 describes a method for determining a bending angle between a towing vehicle and a trailer movably coupled to the towing vehicle, wherein at least one outer side wall of the trailer has a plurality of optical patterns, which method includes the following steps: Providing an optical image of at least one outer side wall of the trailer from a perspective of the towing vehicle by means of a camera system that is mechanically coupled to the towing vehicle; Identifying at least one of the plurality of optical patterns of the outer sidewall of the trailer in the optical image; Determining a position of the at least one optical pattern of the outer side wall of the trailer in the optical image; and Identifying the position of the at least one optical pattern of the outer side wall of the trailer in the optical image in a look-up table, wherein the look-up table indicates an assignment of the position of the at least one optical pattern to a bending angle; and reading the bending angle assigned to the position of the at least one optical pattern in the look-up table in order to determine the bending angle.

[0006] The invention is based on the object of providing a novel method and a novel device for detecting dynamic properties of a trailer or semi-trailer of a commercial vehicle combination.

[0007] The object is achieved according to the invention by a method for detecting dynamic properties of a trailer or semi-trailer of a commercial vehicle combination having the features of claim 1 and by a device for detecting dynamic properties of a trailer or semi-trailer of a commercial vehicle combination having the features of claim 7.

[0008] Advantageous embodiments of the invention are the subject of the subclaims.

[0009] A method for detecting dynamic properties of a trailer or semi-trailer of a commercial vehicle combination is proposed, wherein images of the trailer or semi-trailer are captured using a sensor system. According to the invention, at least one side surface of the trailer or semi-trailer is detected using the sensor system designed as a spatial phase imaging sensor system. A flat side surface is detected using the same or at least a very similar normal vector at at least approximately every point on the side surface, while an uneven or deviating side surface is detected using different normal vectors at different points on the side surface.

[0010] In one embodiment, an articulation angle between the tractor and the semi-trailer or trailer is determined based on the information about the side surface acquired by the spatial phase imaging sensor system.

[0011] In one embodiment, an inclination of the semi-trailer or trailer about a longitudinal axis of the commercial vehicle combination is determined based on the information about the side surface acquired by the spatial phase imaging sensor system.

[0012] In one embodiment, if a predetermined limit value of the inclination is exceeded, countermeasures are taken to stabilize the commercial vehicle combination by adapting an operating strategy of a drive train and / or chassis settings of the vehicle and / or by braking.

[0013] In one embodiment, machine learning is used to estimate a direction and strength of a crosswind acting on the semitrailer or trailer based on the side surface information acquired by the spatial phase imaging sensor, since semitrailers or trailers are often covered with tarpaulins that ripple or otherwise change in crosswinds.

[0014] In one embodiment, the information about the side surface acquired by the spatial phase imaging sensor system is used to detect critically slipped loads when an uneven or deviating side surface is detected, which are only held laterally by a tarpaulin of the semitrailer or trailer.

[0015] According to one aspect of the present invention, a device for detecting dynamic properties of a trailer or semi-trailer of a commercial vehicle combination, comprising a tractor unit and a semi-trailer or trailer, is proposed, wherein the device has a sensor system for capturing images of the trailer or semi-trailer. According to the invention, the sensor system is designed as a spatial phase imaging sensor system for detecting at least one side surface of the trailer or semi-trailer, wherein the device is configured to detect a flat side surface using the same or at least a very similar normal vector within certain limits at at least approximately every point on the side surface, and to detect an uneven side surface using different normal vectors at different points on the side surface. In particular, the device can be configured to carry out the method described above.

[0016] In one embodiment, the spatial phase imaging sensor system comprises at least one camera with spatial phase imaging functionality, which is arranged on the tractor and is aligned to detect one of the side walls of the semi-trailer or trailer.

[0017] In one embodiment, a camera with spatial phase imaging functionality is arranged on each side of the tractor unit to capture the respective side wall of the semi-trailer or trailer.

[0018] In one embodiment, the camera is arranged at the position of a mirror replacement camera or is designed as a mirror replacement camera.

[0019] The solution according to the invention can achieve an increase in safety.

[0020] Embodiments of the invention are explained in more detail below with reference to drawings.

[0021] Showing: Fig. 1 a schematic view of a semi-trailer and Fig. 2 a schematic view of a commercial vehicle combination comprising the semitrailer and a tractor.

[0022] Corresponding parts are provided with the same reference numerals in all figures.

[0023] Fig. 1 is a schematic view of a semi-trailer 1 or trailer which may be part of a commercial vehicle combination 10.

[0024] The present invention is based on spatial phase imaging, hereinafter abbreviated to SPI. Spatial phase imaging is a technique that records the phase information of light waves to gain insights into the properties of objects or systems under investigation. This phase information describes how the light waves are positioned in relation to each other in time and space and can reveal important properties such as the thickness, refractive index, and topological structure of objects.

[0025] One of the most common methods of spatial phase imaging is interferometry, in which the light from an object is compared with a reference wave to determine the phase shift. There are different types of interferometry, such as Mach-Zehnder interferometry, Michelson interferometry, Twyman-Green interferometry, Fourier transform interferometry, and half-draw-back interferometry.

[0026] Another method of spatial phase imaging is digital holography, in which the phase information of light is captured by generating and analyzing holograms. Here, the light from the object is crossed with a reference wave to create an interference pattern, which is then recorded with a camera. This interference pattern contains the phase information of the light and can be processed to create a digital image of the object.

[0027] There are other methods of spatial phase imaging that may be suitable depending on the application, such as modulation of the diffraction index (holographic optical tweezers, ptychography), which enables phase recording directly in one measurement (but without interference).

[0028] In summary, spatial phase imaging is a technique that allows the capture of the phase information of light waves, which is derived from various types of interferometry and digital holography. Spatial phase imaging is a tool in applications such as microscopy, wavefront sensing, and optical measurements, as it can reveal important properties of objects that are difficult to access using other methods.

[0029] Using an SPI-capable camera 4, it is possible to monitor the side surfaces 2 of the trailer 1. In Fig. Figure 1 clearly shows how a flat surface is captured by an SPI camera 4. In this example, the side surface 2 of the trailer 1 appears in a uniform color, for example, since this surface forms the same or at least a very similar normal vector at every point.

[0030] Fig. 2 is a schematic view of a commercial vehicle combination 10 comprising the semitrailer 1 or trailer and a tractor 3. At least one camera 4 with SPI functionality is arranged on the tractor 3 and is aligned to capture 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 tractor 3 to capture the respective side wall of the semitrailer 1 or trailer. For example, the camera 4 can be arranged at the position of a mirror replacement camera or be designed as a mirror replacement camera.

[0031] Based on the information about the side surface 2 captured by the SPI-capable camera 4, various dynamic properties of the semitrailer 1 or trailer can be derived. Among other things, such information can provide information about the articulation angle between the tractor unit 3 and the semitrailer 1 or trailer. Furthermore, this information can be used to determine an inclination of the semitrailer 1 or trailer about a longitudinal axis of the commercial vehicle combination 10. Situations may arise in which the semitrailer 1 or trailer can tip outward due to extreme lateral acceleration. This method can detect this early, and appropriate countermeasures can be taken.

[0032] Through machine learning, a direction and strength of a crosswind acting on the semi-trailer 1 or trailer can be estimated from the data obtained with the SPI-enabled camera 4, since semi-trailers 1 or trailers are often covered with tarpaulins that ripple or otherwise change in crosswinds.

[0033] Using conventional algorithms, critically shifted loads can be detected from the data obtained with the SPI-capable camera 4, which are only held in place laterally by the tarpaulin of the semi-trailer 1 or trailer. This is precisely the case when the tarpaulin no longer forms a flat surface but exhibits irregularities. List of reference symbols 1 trailer 2 side surfaces 3 tractor 4 Camera 10 commercial vehicle combinations

Claims

[1] Method for detecting dynamic properties of a trailer or semi-trailer (1) of a commercial vehicle combination (10), wherein images of the trailer or semi-trailer (1) are recorded by means of a sensor system, characterized by that at least one side surface (2) of the trailer or semi-trailer (1) is detected by means of the sensor system designed as a spatial phase imaging sensor system, wherein a flat side surface (2) is detected on the basis of the same or at least a normal vector that is very similar within certain limits at at least approximately every point on the side surface (2), wherein an uneven or deviating side surface (2) is detected on the basis of different normal vectors at different points on the side surface (2). [2] Method according to claim 1, characterized by that an articulation angle between the tractor (3) and the semi-trailer (1) or trailer is determined based on the information about the side surface (2) recorded by the spatial phase imaging sensor system. [3] Method according to claim 1 or 2, characterized by that an inclination of the semi-trailer (1) or trailer about a longitudinal axis of the commercial vehicle combination (10) is determined on the basis of the information about the side surface (2) recorded by the spatial phase imaging sensor system. [4] Method according to claim 3, characterized by that if a predetermined limit value of the inclination is exceeded, countermeasures are taken by adapting an operating strategy of a drive train and / or chassis settings of the vehicle (1). [5] Method according to one of the preceding claims, characterized by that a direction and a strength of a cross wind acting on the semi-trailer (1) or trailer is estimated by machine learning on the basis of the information about the side surface (2) recorded by the spatial phase imaging sensor system. [6] Method according to one of the preceding claims, characterized bythat, based on the information about the side surface (2) recorded by the spatial phase imaging sensor system, when an uneven or deviating side surface (2) is detected, critically slipped load is detected which is only held laterally by a tarpaulin of the semitrailer (1) or trailer. [7] Device for detecting dynamic properties of a trailer or semi-trailer (1) of a commercial vehicle combination (10), comprising a tractor (3) and a semi-trailer (1) or trailer, wherein the device has a sensor system for detecting images of the trailer or semi-trailer (1), characterized byin that the sensor system is designed as a spatial phase imaging sensor system for detecting at least one side surface (2) of the trailer or semi-trailer (1), wherein the device is configured to detect a flat side surface (2) on the basis of the same or at least a very similar normal vector within certain limits at at least approximately every point on the side surface (2), and to detect an uneven side surface (2) on the basis of different normal vectors at different points on the side surface (2). [8] Device according to claim 7, characterized by that the spatial phase imaging sensor system has at least one camera (4) with spatial phase imaging functionality, which is arranged on the tractor (3) and is aligned to detect one of the side walls (2) of the semi-trailer (1) or trailer. [9] Device according to claim 8, characterized bythat a camera (4) with spatial phase imaging functionality is arranged on each side of the tractor (3) to capture the respective side wall of the semi-trailer (1) or trailer. [10] Device according to claim 8 or 9, characterized by that the camera (4) is arranged at the position of a mirror replacement camera or is designed as a mirror replacement camera.

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