Operation of environmental sensors arranged on a vehicle combination comprising a motor vehicle and at least one trailer

Abstract

The invention relates to a method for operating environmental sensors (4 to 11) arranged on a vehicle combination (1) comprising a motor vehicle (2) and at least one trailer (3), wherein each environmental sensor has a respective detection range (16 to 23) and provides a respective sensor signal depending on the object (12, 28) of the environment (13) detected in the respective detection range, which is transmitted to an evaluation unit (14) of the motor vehicle (2), wherein the evaluation unit evaluates the sensor signals and, depending on the motor vehicle-side sensor signals, at least partially determines the object in the environment of the vehicle combination.The evaluation unit performs a calibration process at least for the trailer-side environmental sensors (8, 9, 10, 11), in which at least one area (24, 25) of the environment of the vehicle combination is taken into account, in which the object is at least partially located and which is at least partially detected by at least one of the vehicle-side environmental sensors (4, 7) as well as by at least one of the trailer-side environmental sensors (8, 9).

Description

[0001] The invention relates to a method for operating environmental sensors arranged on a vehicle combination comprising a motor vehicle and at least one trailer, which are used to detect objects in the environment of the vehicle combination, wherein the at least one trailer is coupled to the motor vehicle, wherein the environment of the motor vehicle is detected by means of motor vehicle-side environmental sensors and the environment of the trailer is detected by means of trailer-side environmental sensors, wherein a respective environmental sensor has a respective detection range and, depending on the object of the environment detected in the respective detection range, provides a respective sensor signal which is transmitted to an evaluation unit of the motor vehicle, wherein the evaluation unit evaluates the sensor signals and, depending on the motor vehicle-side sensor signals, at least partially determines the object in the environment of the vehicle combination.The invention further relates to an evaluation unit for operating environmental sensors arranged on a vehicle combination comprising a motor vehicle and at least one trailer, which serve to detect objects in an environment of the vehicle combination, wherein the at least one trailer is coupled to the motor vehicle, wherein motor vehicle-side environmental sensors detect the environment of the motor vehicle and trailer-side environmental sensors detect the environment of the at least one trailer, wherein the evaluation unit is designed to receive a respective sensor signal of a respective environmental sensor, which the respective environmental sensor provides depending on the object of the environment detected in a respective detection area, to evaluate the sensor signals and to at least partially determine the object in the environment of the vehicle combination depending on the motor vehicle-side sensor signals.Furthermore, the invention also relates to a computer program product with program code means and a computer-readable data carrier with program code instructions.

[0002] Generic methods and evaluation units, as well as computer program products and computer-readable data carriers, are known in the prior art, for example from DE 10 2019 130 688 A1. This teaching deals with the operation of environmental sensors, which can be used, for example, to detect obstacles in the surroundings of the motor vehicle. DE 10 2019 130 688 A1 further addresses the question of expanding a detection system of the motor vehicle with sensor units of a trailer that is coupled to the motor vehicle. For this purpose, this teaching proposes the configuration of a trailer detection system, wherein the trailer detection system of the trailer is connected to a processing unit of the motor vehicle via a trailer coupling.The teaching of DE 10 2019 130 688 A1 is based on the fact that the motor vehicle's computing unit can determine that the trailer is connected to the motor vehicle via the trailer coupling for data transmission, information about at least one attribute of the trailer is transmitted to the motor vehicle's computing unit, configuration data of the trailer detection system is determined by the motor vehicle's computing unit based on the information, the configuration data is transmitted from the computing unit to a computing system of the trailer, and the trailer detection system is configured based on the configuration data. Even though this teaching has proven successful, disadvantages remain. Among other things, it proves to be disadvantageous that configuration data must be provided based on the information relating to the trailer.These must be available in a database that either makes this data available for retrieval by the vehicle or is even integrated into the vehicle itself. This requires that this data has previously been collected and made available in some way. It is therefore necessary to regularly update the database so that appropriate configuration data can be provided for all possible trailers that can be connected to the vehicle. This is complex and difficult to implement, especially if the configuration data is to be stored on the vehicle side.

[0003] The invention is based on the object of improving the use of trailer-side environmental sensors by the evaluation unit of the motor vehicle.

[0004] As a solution, the invention proposes a method, an evaluation unit, a computer program product and a computer-readable data carrier according to the independent claims.

[0005] Advantageous further training results from features of the dependent claims.

[0006] With regard to a generic method, the invention proposes in particular that the evaluation unit carries out a calibration process at least for the trailer-side environment sensors, in which at least one area of ​​the environment of the vehicle combination is taken into account, in which area the object is at least partially arranged and which is at least partially detected by both at least one of the motor vehicle-side environment sensors and at least one of the trailer-side environment sensors.

[0007] With regard to a generic evaluation unit, the invention proposes in particular that the evaluation unit is designed to carry out a calibration process at least for the trailer-side environment sensors, in which at least one area of ​​the environment of the vehicle combination can be taken into account, in which area the object is at least partially arranged and which can be detected at least partially by both at least one of the motor vehicle-side environment sensors and at least one of the trailer-side environment sensors.

[0008] With regard to a generic computer program product, it is proposed that the computer program product has program code means which are stored in particular in a computer-readable medium in order to at least partially carry out the method according to the invention for operating environmental sensors arranged on a vehicle combination comprising a motor vehicle and at least one trailer when the computer program product is processed on a computer unit of an evaluation unit.

[0009] With regard to a generic computer-readable data carrier, it is proposed that the computer-readable data carrier has program code instructions which, when executed by a computer unit, cause the computer unit to at least partially carry out the method according to the invention for operating environmental sensors arranged on a vehicle combination comprising a motor vehicle and at least one trailer.

[0010] The invention is based, among other things, on the idea that at least a part or a section of the surrounding object detected by the vehicle-mounted surrounding sensors can be used to calibrate trailer-mounted surrounding sensors. This is because it is possible to process the sensor signals determined based on the overlap of detection areas in such a way that setting parameters for the trailer-mounted surrounding sensors can be determined. These can then be used to further evaluate the sensor signals of the trailer-mounted surrounding sensors and / or to suitably adjust at least some of the operating parameters of the trailer-mounted surrounding sensors. Contrary to the prior art, it is therefore no longer necessary to have configuration data available from a database to ensure the reliable function of the evaluation unit with respect to the vehicle combination.Rather, the evaluation unit and process control according to the invention make it possible to carry out a corresponding configuration for virtually any trailer in a substantially automated manner, thus ensuring reliable, intended function of the evaluation unit. This not only improves handling but also improves its intended operation.

[0011] The availability of the detected object in the motor vehicle, in particular in the vehicle combination, can make it possible to improve the driving of the vehicle combination or the motor vehicle. The invention proves to be particularly advantageous when the motor vehicle or the vehicle combination is to be driven at least partially autonomously. In this case, knowledge of the object in the environment, in particular its geometry and / or its position, at least in the area of ​​a trajectory in which the vehicle combination is driven, is particularly important. However, the invention also proves to be advantageous when the vehicle combination is shunted, in particular when a database for configuration data is not available in the motor vehicle or in the trailer or a communication connection to such a database cannot be established.

[0012] The object can be a geographical structure of the surroundings, for example a terrain formation such as a slope, a mountain, a mountain range, a steep wall or the like. However, it can also be an obstacle, for example another road user, in particular a cyclist, a pedestrian, another motor vehicle and / or the like. However, the obstacle can also be a road boundary, in particular a road marking, a curb, a stone, a traffic sign, a boundary object and / or the like. Of course, the object can also comprise combinations of one or more of the aforementioned possibilities. Especially when driving the vehicle convoy at least partially autonomously, having as up-to-date knowledge as possible of the geometric structure of the surroundings, in particular in the area of ​​the trajectory, proves to be particularly advantageous for driving the vehicle convoy.

[0013] In principle, it is provided that the trailer is coupled to the motor vehicle. The invention can of course also be used in particular when coupling the at least one trailer. The coupling can preferably be carried out using a trailer coupling. A trailer within the meaning of the present disclosure is preferably a transport object which generally has a suitable structure such as a loading area or the like for transporting goods, persons or the like, but does not have its own drive functionality with regard to driving operation. In this sense, the term trailer in the present case encompasses not only trailer vehicles which have their own chassis with which they are in contact with a roadway on which the vehicle combination is driven, but also trailer structures which can be arranged or carried on the motor vehicle, in particular in the region of the rear of the motor vehicle, for example on the trailer coupling.Such devices can be, for example, a bicycle rack, a luggage rack, or the like. In terms of communication technology, the trailer's devices, in particular the environmental sensors, can be coupled to the evaluation unit of the motor vehicle via a wired communication connection. Furthermore, the communication technology coupling can of course also be implemented at least partially via radio or the like. In addition to the motor vehicle, the vehicle combination comprises at least one trailer. However, it can alternatively or additionally also comprise two or more trailers. If multiple trailers are provided, the trailers can be coupled together like a chain and connected to the evaluation unit via communication technology.

[0014] The environmental sensors are generally designed to detect at least a section or part of the object in the surroundings. Such an environmental sensor can be, for example, a radar sensor, a LIDAR sensor, an ultrasonic sensor and / or an optical sensor such as a camera or the like. Of course, combinations of different sensor types can also be provided together on the motor vehicle and / or the trailer. For the intended operation of trailer-mounted environmental sensors, it can be provided that they are supplied with electrical energy from a trailer-mounted power supply. Alternatively or additionally, a power supply can also be provided by the motor vehicle. At least one environmental sensor is provided on the trailer side.

[0015] If the at least one trailer does not have any environmental sensors, it can be provided that a vehicle control system detects this and transmits a corresponding signal to the evaluation unit. The evaluation unit can be configured to only consider the vehicle-mounted environmental sensors during the evaluation. In particular, it can be provided that, when evaluating sensor signals from rear vehicle-mounted environmental sensors, these environmental sensors can be influenced by the at least one trailer.

[0016] The evaluation unit is preferably formed by an electronic unit, which may have at least one corresponding electronic hardware circuit or a computer unit. It can also be provided that the trailer-side environmental sensors are connected to a trailer-side evaluation unit, which communicates with the motor vehicle-side evaluation unit. The evaluation unit can also be at least partially comprised by a vehicle control system of the motor vehicle. The evaluation unit receives the sensor signals from the environmental sensors, specifically both the sensor signals from the trailer-side environmental sensors and the sensor signals from the motor vehicle-side environmental sensors. These sensor signals are evaluated by the evaluation unit, and at least part of the object in the environment is determined.The object in the environment that is at least partially identified in this way can then be made available in the vehicle control system for further control tasks.

[0017] The sensor signals are preferably electronic signals. However, they can also be light-based signals, particularly based on infrared light or the like. The sensor signals can, of course, be analog signals. However, they are particularly advantageously implemented as digital, particularly binary, signals.

[0018] The invention thus makes it possible to couple a previously unknown trailer to a motor vehicle in order to form a vehicle combination and at the same time achieve reliable environmental detection, specifically by utilizing the trailer-side environmental sensors. The evaluation unit can thus determine the number and preferably also a position of the trailer-side environmental sensors in order to carry out the calibration process for the trailer's environmental sensors based on this. If several trailers are coupled to the motor vehicle to form the vehicle combination, the calibration process can be carried out separately for each of the coupled trailers. For example, the calibration processes for the trailers can be carried out sequentially one after the other. Furthermore, however, it can be provided that the calibration processes are carried out at least partially simultaneously.

[0019] The evaluation unit is further configured to detect the type of environmental sensor. Preferably, the sensor signals can be used to determine whether it is, for example, a radar sensor, a LIDAR sensor, an ultrasonic sensor, a camera, or the like. This eliminates the need to make specific settings for different environmental sensors to ensure reliable operation of the trailer-side environmental sensors.

[0020] The evaluation unit can further be designed to determine an inclination of the trailer-side environmental sensors relative to a travel path on which the vehicle combination is located. This can be used to more precisely adjust the respective setting parameter of the respective trailer-side environmental sensor. The calibration process relates in particular to determining and / or adjusting one or more setting parameters with regard to the respective environmental sensor of the trailer and / or with regard to the evaluation of the respective sensor signal of this trailer-side environmental sensor. The environment of the motor vehicle determined by means of the vehicle-side environmental sensors is used at least in part for the calibration process. The calibration process can preferably be carried out separately for each trailer-side environmental sensor.If there are multiple trailer-side environmental sensors, the calibration process can be performed sequentially for each of the trailer-side environmental sensors. However, it can also be provided that the calibration processes for the trailer-side environmental sensors overlap at least partially. In particular, it can be provided that the calibration processes for the trailer-side environmental sensors are performed essentially simultaneously.

[0021] It can further be provided that the evaluation unit evaluates the sensor signals of the motor vehicle-side environmental sensors for the calibration process in order to at least partially determine the object in the environment of the motor vehicle. It can then be provided that the evaluation unit separately evaluates the sensor signals of the trailer-side environmental sensors in order to at least partially determine another trailer-side object in the environment of the trailer based on these sensor signals. In this case, it can be provided that one or more transition areas of the objects determined in this way are compared, in which the determined objects at least partially overlap. This can be used to determine the setting parameters for the trailer-side environmental sensors for the calibration process.This makes it possible to configure the trailer-side environmental sensors in such a way that the intended function of essentially all environmental sensors, i.e., both the trailer-side and the vehicle-side environmental sensors, can be achieved for the entire vehicle combination. This eliminates the need for databases with configuration data.

[0022] According to an advantageous development, it is proposed that during the calibration process, at least one sensor signal from a motor vehicle-mounted environmental sensor is compared with at least one sensor signal from a trailer-mounted environmental sensor. This development proves particularly advantageous when the motor vehicle-mounted environmental sensor and the trailer-mounted environmental sensor are of the same type. By directly comparing the sensor signals that detect the overlapping area, a calibration process can thus be implemented in a comparatively simple manner. The setting parameters can be determined based on the comparison. For this purpose, for example, one or more signal values ​​can be compared with corresponding signal values ​​from the trailer-mounted environmental sensor.

[0023] According to a further development, it is proposed that during the calibration process for the trailer-side environment sensors, respective comparison values ​​are determined which are taken into account during normal operation to determine the environment of the vehicle combination. The comparison values ​​can be used, for example, to determine from when a respective sensor signal is taken into account for evaluation by the evaluation unit. It can be provided that a respective sensor signal is only taken into account for evaluation by the evaluation unit if a value of the sensor signal is greater than the respective comparison value. Depending on the design, it can also be provided that the sensor signal is only taken into account for evaluation by the evaluation unit if its value is smaller than the respective comparison value.This ensures that the function of the trailer-side environmental sensors is limited to signals relevant for the intended operation of the evaluation unit.

[0024] It is further proposed that calibration data be determined during the calibration process and stored for each trailer individually. This simplifies the calibration process when the same trailer is used repeatedly in a vehicle combination. For this purpose, the evaluation unit can determine the trailer's identification when the trailer is coupled and retrieve the corresponding stored calibration data to make the necessary settings. This allows the calibration process to be carried out particularly quickly and easily when this trailer is used repeatedly.

[0025] According to a further development, it is proposed that the coupling of at least one trailer to the motor vehicle is detected by a motor vehicle control system, wherein the motor vehicle control system transmits a coupling signal to the evaluation unit. The evaluation unit thus receives the information that a trailer or another trailer has been coupled to the motor vehicle or to an existing vehicle combination. This allows the method of the invention to be at least partially automated with regard to the functionality of the trailer and the trailer-side environmental sensors.

[0026] In particular, it is proposed that the coupling signal trigger the calibration process by the evaluation unit. This allows the calibration process to be initiated essentially automatically as soon as the trailer is coupled to the towing vehicle or an existing vehicle combination. Therefore, no further measures are required to calibrate the trailer's environmental sensors.

[0027] Furthermore, it is proposed that a trailer-specific identification be determined and whether trailer-specific calibration data is available. This can simplify the calibration process, provided that trailer-specific calibration data is available. Thus, no sensor signals need to be evaluated by the evaluation unit to perform the calibration. Instead, it is possible to access previously stored calibration data that has been individually stored for each trailer. This prior storage of trailer-specific calibration data can, for example, have occurred during previous use of the same trailer.In general, the identification may, for example, be an identification of the trailer, for example a chassis number, a machine-readable code that can be read by means of the reading unit of the motor vehicle, an individual trailer identification in the form of a data code that can be read from a trailer-side storage unit when coupling the trailer, and / or the like.

[0028] Preferably, the calibration process only involves applying the calibration data. No sensor signals need to be evaluated to perform the calibration process. Rather, the evaluation need only involve applying the calibration data.

[0029] According to a further embodiment, it is proposed that the calibration process be repeated upon a predetermined event and / or after a predetermined period of time has elapsed. This makes it possible to determine a change in the environmental sensors and to adjust the setting parameters accordingly. The reliable function of the evaluation unit can thereby be further improved. The predetermined event can be triggered, for example, by the starting of the motor vehicle of the vehicle combination, by a pause in normal driving operation that is longer than the predetermined period and during which the vehicle combination is not in normal driving operation, and / or the like. The predetermined period of time can, for example, comprise one or more hours, one or more days, or the like.

[0030] Preferably, the calibration process is repeated without calibration data. This means that existing calibration data does not need to be used when repeating the calibration process. Instead, the sensor signals can be evaluated by the sensor unit to perform the calibration process based on them. This has the advantage that changes in the environmental sensors or the like can be detected and adjusted accordingly, which would otherwise not be detected based on a calibration process using the calibration data. This can further improve reliability during intended operation.

[0031] With regard to the evaluation unit, it is further proposed that the evaluation unit be designed to operate, in particular, ultrasonic sensors as environmental sensors. The use of ultrasonic sensors as environmental sensors has proven particularly advantageous and is now widespread in both motor vehicles and trailers. The invention is particularly well-suited for application in this context.

[0032] Furthermore, it is proposed that the evaluation unit be configured to determine at least one position or orientation of a respective trailer-side environmental sensor. This can be done based on the sensor signals of the respective trailer-side environmental sensors compared to the sensor signals of the vehicle-side environmental sensors. Knowledge of the position or orientation of the respective trailer-side environmental sensor can also be relevant for the setting parameters. This also allows the intended operation of the evaluation unit and, in particular, of the method based thereon to be further improved.

[0033] The advantages and effects stated for the methods according to the invention naturally also apply to the same extent to the evaluation unit according to the invention, where applicable, the sensor device according to the invention, where applicable, as well as the computer program product according to the invention and the computer-readable data carrier, and vice versa. In particular, method features can therefore also be formulated as device features, and vice versa.

[0034] Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the respective combination specified, but also in other combinations without departing from the scope of the invention. Thus, embodiments are to be regarded as encompassed and disclosed by the invention that are not explicitly shown and explained in the figures, but which emerge and can be produced by separate combinations of features from the explained embodiments. Embodiments and combinations of features are also to be regarded as disclosed that therefore do not have all the features of an originally formulated independent claim.Furthermore, embodiments and combinations of features are to be regarded as disclosed, in particular by the embodiments set out above, which go beyond or deviate from the combinations of features set out in the reliances of the claims.

[0035] For use cases or application situations that may arise during the method and which are not explicitly described here, it may be provided that, in accordance with the method, an error message and / or a request to enter user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0036] Showing: Fig. 1 is a schematic side view of a vehicle combination comprising a towing vehicle and a trailer coupled to the towing vehicle, Fig. 2 in a schematic plan view the vehicle train according to Fig. 1, wherein ultrasonic sensors are arranged as environmental sensors on the towing vehicle and the trailer, and Fig. 3 a schematic flow diagram for a method of ultrasonic sensors.

[0037] Fig. 1 shows a vehicle combination 1, which in this case is formed from a motor vehicle 2 and a single trailer 3 that is coupled to the towing vehicle 2. In the present case, the motor vehicle 2 is a motor vehicle 2 driven by a drive unit (not shown), which may, for example, have an internal combustion engine, an electric motor, and / or the like as a drive unit. The trailer 3 is designed as a caravan in the present case. However, the invention is not limited to this design of the vehicle combination 1. One or more additional trailers can also be coupled to the trailer 3 to form the vehicle combination 1. Furthermore, the trailer 3 can also be formed by a luggage rack, in particular a bicycle rack, which can, for example, be placed on a trailer coupling 30 or mounted on the rear of the motor vehicle 2.The use of the invention is equally possible here, as can be seen from the following illustrations.

[0038] As from Fig. 1, ultrasonic sensors 4 to 7 are arranged laterally on the motor vehicle 2 as environment sensors, which serve to detect objects 12, 28 in the environment of the motor vehicle 2. Likewise, the trailer 3 has laterally arranged ultrasonic sensors 8 to 11 as environment sensors, which serve to detect objects 12, 28 in the environment of the trailer 3. With regard to the vehicle combination 1, the ultrasonic sensors 4 to 11 thus serve to detect objects 12, 28 in the environment 13 of the vehicle combination 1 as a whole.

[0039] In the present embodiment, the ultrasonic sensors 4 to 11 are used to detect objects 12, 28 that may be particularly relevant for the intended operation of the vehicle combination 1. In this case, these are, in particular, obstacles, for example, curbs, traffic signs, other road users, in particular pedestrians, cyclists, other motor vehicles, and / or the like. Thus, the ultrasonic sensors 4 to 11 can detect not only a single object 12, 28, but preferably multiple objects 12, 28.

[0040] Fig. Figure 2 shows the vehicle combination 1 in a schematic plan view. It can be seen that the motor vehicle 2 has a vehicle control system 15, which serves to ensure the intended operation of the motor vehicle 2. The vehicle control system 15 has a driver assistance functionality with which a driver of the motor vehicle 2 can be supported in driving the motor vehicle 2, in particular the vehicle combination 1.

[0041] As from Fig. As can also be seen in Figure 2, the ultrasonic sensors 4 to 7 are in communication with an evaluation unit 14, which is arranged in the motor vehicle 2 and receives sensor signals from the ultrasonic sensors 4 to 7 corresponding to the detected environment or object 12, 28. The evaluation unit 14 is in communication with the vehicle control system 15.

[0042] The evaluation unit 14 also makes it possible to transmit setting parameters to a respective one of the ultrasonic sensors 4 to 7 in order to set the corresponding ultrasonic sensor 4 to 7 in a predetermined manner. This allows, for example, an inclination or the like to be taken into account during normal operation of the vehicle combination 1. The evaluation unit 14 serves to operate the ultrasonic sensors 4 to 7 so that the objects 12, 28 in the surroundings of the motor vehicle 2 can be detected and identified. In this regard, the evaluation unit 14 receives a respective sensor signal from the respective vehicle-mounted ultrasonic sensor 4 to 7, which the respective ultrasonic sensor 4 to 7 provides depending on the object 12, 28 of the surroundings detected in a respective detection range 16 to 19.The sensor signals are evaluated by the evaluation unit 14, and depending on the motor vehicle sensor signals, the object 12, 28 in the environment 13 of the motor vehicle 1 is at least partially determined.

[0043] The detection ranges 16 to 19 are individual for each of the ultrasonic sensors 4 to 7. They specify a range that can be detected by the respective ultrasonic sensor 4 to 7. It can be provided that the respective detection range 16 to 19 can be set in a predetermined manner using a corresponding setting signal from the evaluation unit 14. This can potentially improve the evaluation of the sensor signals. It can also be provided that the setting parameters are at least partially taken into account during the evaluation by the evaluation unit 14 in order to improve the evaluation by the evaluation unit 14.

[0044] From the Fig. 1 and Fig. 2 shows that the trailer 3 has a trailer coupling element 29 on the front, which is mechanically connected to the motor vehicle coupling part 30. This couples the trailer 3 to the motor vehicle 2. Furthermore, the trailer 3 is also electrically and communicatively connected to the motor vehicle 2. For this purpose, a wired connection 31 is provided between the trailer 3 and the motor vehicle 2, which is designed to be detachable.

[0045] The trailer 3 has a trailer control unit 32, to which the trailer-side ultrasonic sensors 8 to 11 are connected for communication or signaling purposes. Just like the ultrasonic sensors 4 to 7 of the motor vehicle 2, the trailer-side ultrasonic sensors 8 to 11 of the trailer 3 also provide corresponding sensor signals, which are transmitted to the trailer control unit 32. The trailer control unit 32 is also connected to the evaluation unit 14 via the electrical connection 31. The trailer control unit 32 transmits the sensor signals supplied by the trailer-side ultrasonic sensors 8 to 11 to the evaluation unit 14, which can then evaluate these sensor signals in the same way.

[0046] Just like the vehicle-mounted ultrasonic sensors 4 to 7, the trailer-mounted ultrasonic sensors 8 to 11 also have respective detection ranges 20 to 23. In the present case, it is provided that the ultrasonic sensors 8 to 11 are similar to the ultrasonic sensors 4 to 7 in terms of their structure and function. However, this is not a prerequisite for the use of the invention. It can therefore be provided that, instead of the ultrasonic sensors 8 to 11, a different sensor type can be provided, for example, radar sensors, LIDAR sensors, or the like. The trailer control unit 32 can transmit corresponding data to the evaluation unit 14, which takes this data into account accordingly when evaluating the trailer-mounted sensor signals.

[0047] The trailer control unit 32 further comprises a digital storage unit 27 in which a trailer identification (not shown in detail) is stored in the form of identification data. When the trailer 3 is coupled to the motor vehicle 2, this identification data can be read from the storage unit 27 and transmitted to the vehicle control unit 15 via line 31. As soon as the vehicle control unit 15 of the motor vehicle 2 detects the coupling of the trailer 3, a corresponding query signal can be transmitted via line 31 to the trailer 3, and in particular to the trailer control unit 32. If the trailer control unit 32 contains the corresponding storage unit 27, the corresponding identification data can be transmitted to the vehicle control unit 15.The vehicle control system 15 can then transmit a coupling signal to the evaluation unit 14 not only that a trailer 3 has been coupled to the motor vehicle 2, but the identification data relating to the identification of the trailer 3 can also be transmitted to the evaluation unit 14 at the same time. This can be taken into account when evaluating the sensor signals of the trailer-side ultrasonic sensors 8 to 11, as will be explained further below.

[0048] If the trailer 3 is uncoupled from the motor vehicle 2, the vehicle control system can also detect this and transmit a corresponding uncoupler signal to the evaluation unit 14. The evaluation unit 14 can then limit the evaluation of the sensor signals to the sensor signals from the motor vehicle. This can, among other things, prevent interference.

[0049] Because the evaluation unit 14 receives the sensor signals from the ultrasonic sensors 8 to 11 from the trailer control unit 32, the evaluation unit knows that the trailer 3 in this case has four ultrasonic sensors, specifically the ultrasonic sensors 8 to 11, and can take these into account to determine the objects 12, 28 in the surrounding area 13 of the vehicle combination 1 formed in this way. However, the invention is not limited to the use of four ultrasonic sensors. The number of surrounding area sensors can also vary depending on the requirements and design of the trailer 3.

[0050] When coupling the trailer 3 to the motor vehicle 2, the evaluation unit 14 initially does not yet know the ultrasonic sensors 8 to 11 with regard to their intended operation. In particular, the ultrasonic sensors 8 to 11 must first be calibrated so that the evaluation unit 14, with the cooperation of the ultrasonic sensors 8 to 11 of the trailer 3, can provide improved environmental detection for the environment 13 of the entire vehicle combination 1.

[0051] For this purpose, it is provided that the evaluation unit 14 carries out a calibration process at least for the trailer-side environment sensors 8 to 11, in which at least one area 24, 25 of the environment 13 of the vehicle combination 1 is taken into account, in which area the object 28 is located and which is at least partially detected by both one of the vehicle-side ultrasonic sensors 4, 7 and at least one of the trailer-side ultrasonic sensors 8, 9. In the present case, this relates to the ultrasonic sensors 7 and 9, which in this embodiment detect the object 28, which may be a large stone or the like. The invention is of course not limited to such objects or obstacles. It can also be provided that the object 28 can be a section of a building, a geographical structure, a hill that can be detected by the ultrasonic sensors, another road user and / or the like.Because the object 28 is already known to the motor vehicle 2 or the evaluation unit 14, depending on the evaluation of the motor vehicle-side sensor signals, a corresponding calibration can be achieved by evaluating the trailer-side sensor signals, in particular that of the ultrasonic sensor 9, by comparing the sensor signals. For this purpose, the evaluation unit 14 can determine setting parameters, in particular for the ultrasonic sensor 9 of the trailer 3, which are then transmitted by the evaluation unit 14 to the trailer control 32 and subsequently to the ultrasonic sensor 9. This allows the calibration of the ultrasonic sensor 9 to be achieved. The setting parameters determined in this way can subsequently also be used for the ultrasonic sensors 8, 10, and 11.

[0052] In an alternative embodiment, a corresponding calibration can also be performed separately for the additional ultrasonic sensors 8, 10, and 11. For this purpose, objects can be used that are detected, for example, by both the ultrasonic sensor 4 of the motor vehicle 2 and the ultrasonic sensor 8 of the trailer 3. A corresponding calibration can be performed in the same way.

[0053] Should it be necessary to provide a separate calibration for the ultrasonic sensors 10 and 11, this can be achieved, for example, by using an object that can be detected jointly by the ultrasonic sensors 9 and 10 or the ultrasonic sensors 8 and 11. The calibration process can then be performed in the same way for the ultrasonic sensors 10 and 11. Overall, it is thus possible to achieve a calibration for the ultrasonic sensors 8 to 11 of the trailer 3, even if these ultrasonic sensors are initially unknown in the evaluation unit 14 when the trailer 3 is coupled.Without requiring any further measures, it is thus possible to provide appropriate settings for the ultrasonic sensors 8 to 11 of the trailer 3, so that they can be calibrated and, during normal operation of the vehicle combination 1, almost complete detection of the surroundings 13 with regard to the objects 12, 28 can be achieved. This is advantageous for driving the vehicle combination 1, especially when the driver assistance function is used.

[0054] In order to reduce the effort required for the calibration process during subsequent uses of the trailer 3, the setting parameters determined in the manner explained above can be stored in a memory unit 26 of the evaluation unit 14 in conjunction with the trailer identification provided from the memory unit 27. If the trailer 3 is coupled again to the motor vehicle 2 at a later time to form the vehicle combination 1, the evaluation unit 14 can check, based on the trailer identification, which is then read out and made available to the evaluation unit 14, whether trailer-specific identification data is stored in the memory unit 26, which can then be retrieved in order to be able to use the sensor signals of the trailer-side ultrasonic sensors 8 to 11 directly using the setting parameters thus obtained.This simplifies the calibration process for subsequent uses of the same trailer.

[0055] It proves particularly advantageous if the vehicle control system 15 detects the coupling of the trailer 3 to the motor vehicle 2 and transmits a corresponding coupling signal to the evaluation unit. This coupling signal can then be used directly to trigger the calibration process. Therefore, no further activities or measures are required to ensure the intended function of the trailer-side ultrasonic sensors 8 to 11 through calibration.

[0056] According to a further development, the calibration process can be repeated after a prescribed break has been carried out during normal operation of the vehicle combination 1. It is advantageous if the calibration process is repeated without calibration data. This means that the calibration is carried out in a form in which stored identification data is not used on the evaluation unit side. Rather, the calibration process is carried out as if the trailer 3 were unknown and had just been coupled to the motor vehicle 2. This has the advantage of creating the possibility of checking the calibration process. The setting parameters determined when repeating the calibration process can thus be compared with any setting parameters that may already exist. In this way, it is possible to monitor the function of the ultrasonic sensors 8 to 11 or, if necessary, to readjust them.

[0057] As part of the calibration process, it can also be provided that the evaluation unit 14 determines the position or orientation of a respective trailer-side ultrasonic sensor 8 to 11. This can be achieved by evaluating, in particular by qualified comparison, the sensor signals.

[0058] Overall, the invention enables the automated determination of whether a trailer 3 coupled to a motor vehicle 2 has environmental sensors and, if it has any, the automated use of these sensors. In particular, the invention does not require a separate database in which trailer-side design data, particularly with regard to the environmental sensors, is stored. Rather, the invention can achieve virtually automated operation even of environmental sensors that are not yet known on the towing vehicle side. This can significantly improve the operation of a vehicle combination 1 during its intended use.

[0059] Fig.3 shows a schematic flow diagram of a method sequence for operating the ultrasonic sensors 4 to 11. In a first step 33, the coupling of the trailer 3 to the motor vehicle 2 is determined. In a further step 34, the evaluation unit 14 receives the sensor signals from the environment sensors 4 to 11. In a step 35, the evaluation unit 14 evaluates the sensor signals, whereby the object 12, 28 in the environment 13 of the motor vehicle is determined depending on the motor vehicle-side sensor signals.

[0060] The evaluation unit 14 then performs a calibration process for the trailer-side ultrasonic sensors 8 to 11. For this purpose, in a step 36, an area 24, 25 of the surroundings 13 of the vehicle combination 1 is taken into account, in which the object 12, 28 is located and which is at least partially detected by both the motor vehicle-side surroundings sensors 4, 7 and the trailer-side ultrasonic sensors 8, 9. In a further step 37, during the calibration process, a sensor signal from a motor vehicle-side ultrasonic sensor 4, 7 is compared with a sensor signal from a trailer-side ultrasonic sensor 8, 9. Based on this, in a step 38, corresponding setting parameters for the respective trailer-side ultrasonic sensors 8 to 11 are determined and transmitted to the respective trailer-side ultrasonic sensors 8 to 11.

[0061] The embodiments serve solely to explain the invention and are not intended to limit it. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2019 130 688 A1

[0002]

Claims

[1] Method for operating environmental sensors (4 to 11) arranged on a vehicle combination (1) comprising a motor vehicle (2) and at least one trailer (3), said sensors serving to detect objects (12, 28) in an environment (13) of the vehicle combination (1), wherein the at least one trailer (3) is coupled to the motor vehicle (2), wherein the environment of the motor vehicle (2) is detected by means of motor vehicle-side environmental sensors (4, 5, 6, 7) and the environment of the trailer (3) is detected by means of trailer-side environmental sensors (8, 9, 10, 11), wherein a respective environmental sensor (4 to 11) has a respective detection range (16 to 23) and, depending on the object (12, 28) of the environment (13) detected in the respective detection range (16 to 23), provides a respective sensor signal which is transmitted to an evaluation unit (14) of the motor vehicle (2), wherein the evaluation unit (14) evaluates the sensor signals and, depending on the motor vehicle sensor signals, the object (12,28) in the vicinity of the vehicle train (1) is at least partially determined, characterized by that the evaluation unit (14) carries out a calibration process at least for the trailer-side environment sensors (8, 9, 10, 11), in which at least one area (24, 25) of the environment (13) of the vehicle train (1) is taken into account, in which area the object (12, 28) is at least partially arranged and which is at least partially detected by both at least one of the motor vehicle-side environment sensors (4, 7) and at least one of the trailer-side environment sensors (8, 9). [2] Method according to claim 1, characterized by that during the calibration process at least one sensor signal of a motor vehicle-side environment sensor (4, 7) is compared with at least one sensor signal of a trailer-side environment sensor (8, 9). [3] Method according to one of the preceding claims, characterized bythat during the calibration process for the trailer-side environment sensors (8, 9, 10, 11) respective comparison values are determined, which are taken into account during normal operation for determining the environment (13) of the vehicle train (1). [4] Method according to one of the preceding claims, characterized by that calibration data is determined during the calibration process and stored individually for each trailer. [5] Method according to one of the preceding claims, characterized by that a coupling of at least one trailer (3) to the motor vehicle (2) is detected by means of a motor vehicle control (15) of the motor vehicle (2), wherein the motor vehicle control (15) transmits a coupling signal to the evaluation unit (14). [6] Method according to claim 5, characterized by that the coupling signal triggers the calibration process by the evaluation unit (14). [7] Method according to one of claims 5 or 6, characterized bythat a trailer-specific identification is determined and whether trailer-specific calibration data is available. [8] Method according to claim 7, characterized by that the calibration process only involves applying the calibration data. [9] Method according to one of the preceding claims, characterized by that the calibration process is repeated at a specified event and / or after a specified period of time. [10] Method according to claim 9, characterized by that repeating the calibration process is done without calibration data. [11] Computer program product with program code means, which are stored in particular in a computer-readable medium, in order to at least partially carry out the method for operating environmental sensors (4 to 11) arranged on a vehicle train (1) comprising a motor vehicle (2) and at least one trailer (3) according to one of the preceding claims, when the computer program product is processed on a computer unit of an evaluation unit (14). [12] Computer-readable data carrier with program code instructions which, when executed by a computer unit, cause the computer unit to at least partially carry out the method for operating environmental sensors (4 to 11) arranged on a vehicle train (1) comprising a motor vehicle (2) and at least one trailer (3) according to one of the preceding claims 1 to 10. [13] Evaluation unit (14) for operating environmental sensors (4 to 11) arranged on a vehicle combination (1) comprising a motor vehicle (2) and at least one trailer (3), which serve to detect objects (12, 28) in an environment (13) of the vehicle combination (1), wherein the at least one trailer (3) is coupled to the motor vehicle (2), wherein motor vehicle-side environmental sensors (4, 5, 6, 7) detect the environment of the motor vehicle (2) and trailer-side environmental sensors (8, 9, 10, 11) detect the environment of the at least one trailer (3), wherein the evaluation unit (14) is designed to receive a respective sensor signal of a respective environmental sensor (4 to 11), which the respective environmental sensor (4 to 11) provides depending on the object (12, 28) of the environment (13) detected in a respective detection range (16 to 23), the to evaluate sensor signals and, depending on the vehicle-side sensor signals, to detect the object (12,28) in the environment (13) of the vehicle train (1) to be determined at least partially, characterized by in that the evaluation unit (14) is designed to carry out a calibration process at least for the trailer-side environment sensors (8, 9, 10, 11), in which at least one area (24, 25) of the environment (13) of the vehicle train (1) can be taken into account, in which area the object (12, 28) is at least partially arranged and which can be detected at least partially both by at least one of the motor vehicle-side environment sensors (4, 7) and by at least one of the trailer-side environment sensors (8, 9). [14] Evaluation unit according to claim 13, characterized by that the evaluation unit (14) is designed to operate ultrasonic sensors as environmental sensors (4 to 11). [15] Evaluation unit according to claim 13 or 14, characterized bythat the evaluation unit (14) is designed to determine at least one position or one orientation of a respective trailer-side environment sensor (8, 9, 10, 11).

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