Method for identifying a number of bicycles connected to an ego vehicle in a rear and / or roof bicycle carrier

Abstract

Method for identifying one or more bicycles (20) connected to the ego vehicle (10) in a bicycle carrier (40, 50), in which a sensor system is first used to determine that a bicycle carrier (40, 50) is connected to the ego vehicle (10) and then a number of the bicycles (20) accommodated in the bicycle carrier (40, 50) is detected by the sensor system.

Description

The invention relates to a method for identifying one or more bicycles / bicycles connected to the ego vehicle in a bicycle carrier, in which a sensor system of the ego vehicle first establishes that a bicycle carrier is connected to the ego vehicle and then a number of bicycles accommodated in the at least one bicycle carrier is recognized by the sensor system.Many modern vehicles today have one or more backup cameras. With the reversing camera, obstacles can be recognized when engaging the reverse gear and when reversing. In more modern assistance systems, as provided for automatic or partially automatic driving, for example, the following traffic is also monitored by sensors in order to detect hazardous situations. As a quasi-product, the sensors directed against the direction of travel can also detect whether a rear bicycle carrier is connected to the vehicle.WO 2020 / 173 772 A1 discloses a method for operating a driver information system with which a graphical representation of the road lying in front of the vehicle and of other road users travelling in front of the vehicle is possible on an optical output device in the cockpit. At a first point in time, first surroundings data in the surroundings of the vehicle are recorded by a sensor system. On the basis of this first environmental data, at least one further road user is identified. A driver information display is generated from the acquired data and output at the optical output device as a first graphical representation. At a second, later point in time, second environmental data in the environment of the vehicle are acquired, and the further road user is identified again on the basis of this data. A second graphical representation is then generated, which replaces the first graphical representation of the further road user. The second graphical representation has a higher specificity than the first graphical representation of the further vehicle. WO 2022 / 002 143 A1 relates to a method for operating a driver assistance system, in which a sensor system detects the traffic situation in front of the vehicle and images the detected traffic situation on an optical output system, which is located in the field of vision of the driver. In particular, a specific feature of a vehicle driving ahead can be recognized with the method and displayed to the driver. The feature may be a vehicle roof rack, a roof rack box, a wheel carrier, truck superstructures, in particular a forklift, a trailer of the detected vehicle, an object arranged detachably on the detected vehicle and the like.A method for automatic route planning and a motor vehicle set up for this purpose is known from DE 10 2021 107 425 A1. In the method, a navigation destination is detected by a navigation device of a main motor vehicle set up for route planning. Further, according to the preamble of claim 1, it is automatically detected whether the host vehicle carries a small vehicle. If this is the case, a multimodal route to the navigation destination is automatically planned by the navigation device.A method for monitoring a transport item arranged on a motor vehicle by means of a transport item carrying device is known from DE 10 2018 201 395 A1, wherein the transport item carrying device has a holding means for fastening the transport item. A control device of the theft warning device performs: checking whether a monitoring signal is present from a detection device coupled to the control device, depending on the presence of the monitoring signal and the information described by the monitoring signal: checking whether a transport goods securing condition, which describes an existing storage of the transport goods in the transport position, is fulfilled if the transport goods securing condition is not fulfilled: generating a theft warning signal.A method for operating a motor vehicle is known from DE 10 2012 016 776 A1, wherein at least one transport device is rigidly connectable to the motor vehicle in an outer region of the motor vehicle, wherein at least one object is attachable to the at least one transport device and wherein the motor vehicle has at least one sensor, wherein the at least one transport device is arranged at least partially within a detection range of the at least one sensor in a state connected to the motor vehicle.From DE 10 2019 202 580 A1 a method for operating a driver information system in an ego vehicle is known, wherein a driver information display is generated and output. The driver information display includes a graphical ego object that represents the ego vehicle. In a further development, an operating state of a hitch device is also detected and the driver information display comprises a graphical trailer object which is formed as a function of the detected operating state of the hitch device. In particular, the trailer graphical object represents a device that is actually attached to the hitch of the ego vehicle. This can be, for example, a trailer or a bicycle carrier.That is, there are numerous driver assistance systems in the prior art that can capture, process and display the environment of an ego vehicle as an image or graphic on an optical output device in the cockpit of the ego vehicle. In this case, vehicles traveling ahead and their features can be identified in order to sensitize the driver of the ego vehicle to possible hazardous situations by the vehicle traveling ahead. It could be advantageous for the driver of the ego vehicle if comparable information for the ego vehicle is displayed to him in the ego vehicle.It is an object of the invention to provide the driver of an ego vehicle with more information about additional equipment of the ego vehicle than is possible by currently known assistance systems.This object is achieved by the method having the features of claim 1. Claims dependent on claim 1 advantageously further develop the method.One aspect relates to a method for identifying one or more bicycles / bicycles connected to the ego vehicle in a bicycle carrier, in which a sensor system of the ego vehicle first establishes that a bicycle carrier is connected to the ego vehicle and then a number of bicycles accommodated in the at least one bicycle carrier is recognized by the sensor system.The fact that a bicycle is connected to the ego vehicle in a bicycle carrier can mean, in particular, that the ego vehicle comprises a rear bicycle carrier and / or a roof bicycle carrier. The presence of the rear bicycle carrier can be automatically detected and displayed in the cockpit if, for example, the rear bicycle carrier is connected to a trailer coupling of the ego vehicle. If the rear bicycle carrier is not supported on the trailer coupling or the ego vehicle does not have a trailer coupling, the rear bicycle carrier can be detected, for example, by a rear view camera of the ego vehicle.The number of bicycles accommodated in the bicycle carrier can be determined, for example, by a camera included in the sensor system, or by the closed securing devices for securing the bicycles in the bicycle carrier, or by a pressure or weight sensor that indicates the presence of a bicycle. The latter sensors can transmit their signals via the bicycle carrier-trailer coupling connection to a control device of the ego vehicle, for example.Sensors other than the sensors mentioned are included in the sensor system and can be used for direct or indirect identification of the bicycle carrier and the bicycles. That is, the term "sensor system" as used in this application denotes various types of sensors suitable for identifying the bicycle carrier and bicycles.If the bicycle carrier is a roof bicycle carrier, it cannot usually be automatically detected and preferably displayed in an optical output device in the field of vision of the rider. The driver may optionally indicate manually in a sub-menu of a driver assistance system of the ego vehicle that a roof rack is connected to the ego vehicle. This manual input can easily be forgotten in the stress of preparing a vacation trip.The roof rack is preferably a roof bicycle rack. The roof carrier may be configured to receive the bicycle standing and secure the bicycle standing in the roof carrier. In the context of the application, "standing" is understood to mean that the bicycle is standing on the wheels in the roof bicycle carrier. It is also considered "standing" when the bicycle is standing in the roof bicycle carrier on the front fork and the rear fork, in the latter case the wheels can be transported separately to the chassis. Finally, "standing" can mean that the bicycle rests with the saddle and the handlebar on the bicycle carrier, wherein the wheels of the bicycle can be mounted or transported separately to the bicycle frame.The bicycle may comprise a communication device that emits a signal that can be detected by a sensor of the sensor system. The communication device can be integrated into the bicycle or can be connected to the bicycle subsequently. Such a communication device may be advantageous for traffic safety by sending signals which may be received from other vehicles, such as cars, light trucks, motor cycles or trucks and converted into warning signals which alert the rider of the bicycle moving in the environment in the vehicle. The communication device may receive a GPS signal and transmit its location to, for example, a central server, such as a cloud. The respective location of the bicycle can then be determined by the owner, for example, if the owner has forgeted where he has parked the bicycle or has stolen the bicycle. In order not to confusion the other road users, the communication device of the bicycle can be active only if the bicycle is moved actively or by being carried in a bicycle carrier. It can be advantageous if the communication device comprises at least two adjustable modes: a first mode for actively participating in traffic with a first range of the signal, and a second mode for the bicycle in the roof carrier with a second range of the signal. The first range may be greater than the second range in order not to trigger a bicycle alarm in vehicles running next to the ego vehicle.The communication device can also be comprised by the roof bicycle carrier. The communication device is preferably surrounded by the bicycle. In the following, therefore, only this embodiment is discussed, without the embodiment in which the roof bicycle carrier comprises the communication device being generally excluded as a result.The sensor system can comprise at least one vision sensor, such as a camera. This sensor, which can also be used, for example, as a rear view camera, can be directed at the rear of the ego vehicle, so that it can be optically detected by means of the vision sensor whether one or more bicycles are arranged in the rear bicycle carrier. The rider can then recognize, at least when engaging the reverse gear and when reversing the vehicle, by the rear camera that at least one bicycle is arranged in the rear bicycle carrier. That is, in order to determine whether bicycles are disposed in the rear bicycle carrier, the bicycles need not be equipped with the communication device.In a preferred embodiment, the sensor system comprises a plurality of vision sensors which record an environment of the ego vehicle in front of, behind and on both sides next to the ego vehicle in a 360° radius. That is, the vision sensors constantly sense all mobile and immobile objects around the ego vehicle at the level of the ego vehicle. The sensor system may further include a plurality of radar sensors, which measure distances to the objects and may generate warning signals via a control unit if a distance between the ego vehicle and the object is below a predefined limit value. Inside the ego vehicle, the warning signals can be output as warning tones and / or by visual warning indicators in order to warn the driver. The distance measurement can also be carried out at least partially by means of the vision sensors.As well as the indication that a roof bicycle carrier is connected to the ego vehicle, it can also be manually input that one or more bicycles are present in the roof bicycle carrier. The named onboard means (sensor system of the ego vehicle and / or communication device of the bicycle) can be used to automatically detect, at least indirectly, the presence of a bicycle in the roof bicycle carrier.A bicycle being accommodated in the roof bicycle carrier may be the case if the sensor system preferably permanently receives a communication signal from a bicycle and, if the ego vehicle has a trailer coupling, at the same time no connection to the trailer coupling of the ego vehicle is indicated and / or no bicycle connected to the ego vehicle in a rear bicycle carrier is detected by a vision sensor at the rear of the ego vehicle oriented counter to the direction of travel. If further bicycles with a communication device are located in the immediate environment of the ego vehicle, signals transmitted by their communication unit will generally be detected by the sensor system of the ego vehicle only over a short period of time. The immediate vicinity here refers to the area around the ego vehicle in which communication signals of a bicycle can be detected by the sensor system of the ego vehicle.A bicycle being accommodated in the roof bicycle carrier may be the case when a communication signal is received from a bicycle by the sensor system at regular intervals or permanently and the ego vehicle moves at a speed that is above a predefined limit value. In this case, it can be assumed that a bicycle which is not connected to the ego vehicle cannot move, or at least cannot move, for a longer time at the limit speed or above in the immediate vicinity of the ego vehicle.The fact that a bicycle is accommodated in the roof bicycle carrier can be the case if the sensor system detects an equal speed for a bicycle and the ego vehicle that is below a predefined limit value, and at the same time no bicycle traveling in front of, behind, or next to the ego vehicle is detected by the vision sensors. The predefined speed limit value can be 70 km / h or above, for example; in one embodiment, the speed limit value can be adapted to a current height profile of the route section being traveled on, that is to say, in the case of an increase of less than 70 km / h and in the case of a longer, steeply decreasing route, it can be more than 70 km / h.A bicycle being accommodated in the roof bicycle carrier may be the case when a GPS position of the ego vehicle and a GPS position of the bicycle are identical and no bicycle is detected by the sensor system in front of, behind or next to the ego vehicle. The GPS position refers to any position that determines the position of the ego vehicle and bicycle on the surface of the earth according to length and width coordinates.In one embodiment, a warning can be automatically issued to the rider if the at least one bicycle is secured in the roof bicycle carrier and an obstacle is located on the route being traveled. The obstacle may be, for example, a bridge with a low passage height, a tunnel with height control, an old tree hall or a passage through a tower of an old city wall. Warnings can also be given, for example, to poor road conditions on the tour, to long bridges, and / or weather forecasts with strong storms.Upon determining that one or more bicycles are placed in a rooftop bicycle carrier, a range calculation of the ego vehicle, whether the combustor or the e-vehicle, may be adjusted. This is in particular due to a flow resistance coefficient or cwvalue of the ego vehicle deteriorated by the bicycles in the roof bicycle carrier. If the ego vehicle is a hybrid vehicle, an operating strategy can be adapted.The planned route with the ego vehicle may be automatically modified or adjusted to bypass the obstacle with the low ride height and / or avoid the bridges under predicted weather conditions with strong winds.A number of bicycles in the rear bicycle carrier detected by the sensors and / or bicycles in the roof bicycle carrier detected by the sensors can be displayed on an optical output device in the field of vision of the driver of the ego vehicle, for example as a graphic. The display can be, for example, a bicycle symbol with the number of detected bicycles adjacent to it, a plurality of bicycle symbols representing the number of detected bicycles. An assignment of the detected bicycles to the rear bicycle carrier and / or the roof bicycle carrier can likewise be effected by corresponding symbols. In one embodiment, the sensor system can recognize the type of each individual bicycle and assign a corresponding symbol that can be displayed on the optical output device. Different types of bicycle are, for example, race bicycles, mountain bikes, recreational bicycles, children's bicycles or cargo bicycles. The graphic can also be a graphic representation of the ego vehicle with the bicycle carrier or carriers and the detected bicycles and, in one embodiment, also the respective type of each detected bicycle.The method serves primarily to assist the driver, who usually knows before starting the trip that his ego vehicle is equipped with a bicycle carrier at the rear and / or roof. The number of bicycles carried along is generally also aware of the rider. The method can determine if, for example, the driver has forgeted to carry one or more bicycles along when he breaks open, or one or more bicycles have been used, for example, during a survey on the route and this was not initially determined during the further travel. The method alerts the driver of hazards and critical weather situations.A second aspect relates to a combination of an ego vehicle having a roof bicycle carrier and a bicycle held in the roof bicycle carrier, wherein the ego vehicle and the bicycle are configured to be able to carry out the method according to the first aspect. The ego vehicle may additionally include a rear bicycle carrier.For this purpose, the ego vehicle is equipped with a technical system that includes a control unit and a sensor system, multiple vision sensors for 360° all-round observation of the ego vehicle, multiple radar sensors, additional sensors, and an optical output device in the field of vision of the driver. The bicycle is secured in the roof bicycle carrier in a stationary manner in particular and comprises a communication system for transmitting and / or receiving signals. At least one of the further sensors of the sensor system of the technical system can receive the signal of the communication device.The control unit of the technical system can receive, weight and process signals from sensors of the sensor system. Depending on a result of the processing, the control unit may generate a display on the optical output device. The display can display the total number of bicycles connected to the vehicle, their arrangement in the respective bicycle carrier and / or the type of each individual bicycle.All technical features described in the first aspect in connection with the methods also apply to the combination according to the second aspect and vice versa.An exemplary embodiment of the invention is explained in more detail below with reference to figures. The figures show in detail: FIG. 1 : a method in a flow chart; FIG. 2 : a combination of vehicle and bicycle in a roof bicycle carrier.FIG. 1 shows a flow diagram of a method for identifying at least one bicycle carrier 40, 50 connected to the ego vehicle 10. All reference numerals used to describe the method, which do not appear in FIG. 1, are taken from FIG. 2.In a first method step I, it is established by means of the sensor system that at least one bicycle carrier 40, 50 is connected to the ego vehicle 10. The bicycle carrier 40, 50 may be a roof bicycle carrier 50 or a rear bicycle carrier 40. In this case, the rear bicycle carrier 40 can be directly identified by means of the sensor system, such as a rear view camera. Direct identification of the roof carrier 50 is only possible when the ego vehicle 10 includes a sensor, such as a vision sensor, that can capture an image of the roof of the ego vehicle 10. In a new car, the sensor can be integrated into a diversity antenna, for example. As a rule, however, a sensor for detecting the vehicle roof is not provided in the sensor system.In a second method step II, the sensor system directly or indirectly determines the total number of bicycles 20 accommodated in the bicycle carrier / s 40, 50. Optionally, the total number of bicycles 20 determined can be displayed on an optical output device 60 within the driver's field of vision. The optical output device 60 can be, for example, a head-up display or a screen. Alternatively, a pop-up symbol can light up in the cockpit, which symbol indicates the number of bicycles 20 detected.The fact that bicycles 20 are detected directly or directly by the sensor system can mean that the rear view camera recognizes, for example, not only the rear bicycle carrier 40 connected to the ego vehicle 10 with bicycles 20 held therein, but also the number of bicycles 20 held in the rear bicycle carrier 40.Indirect or indirect detection is mentioned if the detection of a roof bicycle carrier 50 connected to the ego vehicle 10 cannot be directly provided by a sensor, such as a vision sensor. Here, for example, the bicycle 20 held in the roof bicycle carrier 50 can comprise a communication unit 70 that emits a signal that can be detected by a sensor of the sensor system. If the signal is detected, the sensor system recognizes that a bicycle 20 is located in the immediate vicinity of the ego vehicle 10. If the signal is detected over a longer period of time, even though the ego vehicle 10 is moving at a high speed, for example ≥70 km / h, for example, or no bicycle 20 is deployed in the vicinity of the ego vehicle 10 at a low speed of the ego vehicle 10 by the all-round vision sensors S 1, S 2, S 3, S 4, the sensor system recognizes that the bicycle 20 is very likely to be arranged in the roof bicycle carrier 50 of the ego vehicle 10. If the bicycle 20 has a GPS location (which is not uncommon especially in the case of expensive e-bikes), the sensor system can likewise draw conclusions about a roof bicycle carrier 50 if the GPS data of the moving ego vehicle 10 and the bicycle 20 match for a longer time and optionally no immediate detection of a bicycle in the vicinity of the ego vehicle 10.In a third method step III, the captured bicycles 20 can be assigned to the respective bicycle carrier 40, 50. If the total number of bicycles 20 connected to the ego vehicle 10 is known, the number of bicycles 20 arranged in the rear bicycle carrier 40 can be identified in a fourth method step IV. If the total number of bicycles 20 detected is greater than the bicycles identified in the rear bicycle carrier 40, that is, the rest of the bicycles 20 are disposed in the roof bicycle carrier 50. The number of bicycles 20 in the rear bicycle carrier 40 and the number of bicycles 20 in the roof bicycle carrier 50 can be displayed, for example, on the optical display device 60 or can light up in the cockpit as a pop-up.In a fifth method step V, currently applicable consumption and / or range data can be adapted to the new ego vehicle configuration. In particular, the entrainment of bicycles 20 in the roof bicycle carrier 50 influences a flow resistance coefficient of the ego vehicle 10 such that the change can affect the consumption and thus the range of the ego vehicle 10. Furthermore, the transit height of the ego vehicle 10 increases in this case, so that the planned travel route can be checked, for example, by a navigation assistance system of the ego vehicle 10 whether there are obstacles on the route with a low transit height. In addition, a function can be activated in the navigation assistance system, which warns the driver of the ego vehicle 10 of strong crosswinds, in particular in conjunction with a bridge drive.FIG. 2 shows a schematic diagram of a combination 100 of an ego vehicle 10 and a bicycle 20, wherein the bicycle 20 is secured in a stationary manner in a roof bicycle carrier 50.The ego vehicle 10 comprises a sensor system having a plurality of sensors S 1, S 2, S 3, S 4 for monitoring the environment of the ego vehicle 10 all around. The vision sensors can be used, for example, to detect vehicles traveling in front of, next to, and behind the ego vehicle 10. In addition, the vision sensors can detect a distance of the vehicles from the ego vehicle 10 and generate a warning signal or trigger automatic braking of the ego vehicle 10, for example, if the approach to a vehicle driving ahead takes place too quickly or a predefined minimum distance is undershot. The technical systems for monitoring the distance and for automatically reacting the ego vehicle 10 to predefined limit values can be driver assistance systems which assist the driver and enable at least partially automatic driving of the ego vehicle 10. The ego vehicle 10 comprises further sensors S 5.The bicycle 20 comprises a communication device 70 that emits signals that can be detected by one of the further sensors S 5. Such communication devices 70 may also have bicycles, not shown, which are not connected to the ego vehicle 10 and move in the vicinity of the ego vehicle 10, whether they are travelling on the road or are arranged in a bicycle carrier which is connected to another vehicle, not shown.By means of the vision sensors S 1, S 2, S 3, S 4, it is possible, for example, to identify a bicycle which is travelling or transported in front of, behind or next to the ego vehicle 10. It is likewise possible for the vision sensors S 1, S 2, S 3, S 4 to detect that no bicycle is located in the environment of the ego vehicle 10. Bicycles which are transported by other vehicles in the environment of the ego vehicle 10 can be detected at least mostly by the vision sensors S 1, S 2, S 3, S 4 of the ego vehicle 10. If the other vehicle with the bicycle is in a roof bicycle carrier, for example, at a traffic light directly next to the ego vehicle 10, the vision sensors S 1, S 2, S 3, S 4 of the ego vehicle 10 may not detect this bicycle.That is, even if the bicycle 20 connected to the ego vehicle 10 includes a communication device 70, the presence of the bicycle 20 in the roof bicycle carrier 50 of the ego vehicle 10 cannot be unambiguously determined in every situation.The data recorded by the sensor system can be sent to a control unit 80 of a technical system of the ego vehicle 10. The control unit 80 can evaluate and weight the received signals and calculate a graphic of the ego vehicle 10 with the bicycle carrier or carriers 40, 50 and the bicycles 20 arranged in the bicycle carriers 40, 50 from the data by means of a program running on a computer of the control unit 80. The graphics may then be displayed on the optical output device 60 within the field of view of the driver of the ego vehicle 10.With the method described in FIG. 1, it is possible to combine the data acquired by the sensor system, here specifically the data about the traffic situation around the ego vehicle 10 and the data of the communication device 70 of the bicycle 20 and to obtain or draw, from the result of the combination, findings and / or conclusions about the equipment of the ego vehicle 10 with a rear bicycle carrier 40 and / or a roof bicycle carrier 50, the total number of bicycles 20 accommodated in the bicycle carrier or carriers 40, 50, their distribution to the rear bicycle carrier 40 and the roof bicycle carrier 50, and about the type of each individual bicycle 20.List of reference charactersI method step II method step III method step IV method step V method step 10 ego vehicle 20 bicycle 40 rear bicycle carrier 50 roof bicycle carrier 60 optical output device 70 communication device 80 control unit 100 combination S 1 sensor S 2 sensor S 3 sensor S 4 sensor S 5 sensor

Claims

Method for identifying one or more bicycles / bicycles (20) connected to the ego vehicle (10) in a bicycle carrier (40, 50), in which a sensor system first establishes that a bicycle carrier (40, 50) is connected to the ego vehicle (10) and then a number of bicycles (20) accommodated in the bicycle carrier (40, 50) is recognized by the sensor system, wherein the bicycle carrier (40, 50) comprises a roof bicycle carrier (50) in which a bicycle (20) is secured in a stationary manner, wherein the bicycle (20) comprises a communication device (70) which emits a signal which is detected by a sensor (S5) of the sensor system, characterized in that a bicycle (20) is accepted in the roof bicycle carrier (50), when a communication signal of the communication device (70) of the bicycle (20) is received by the sensor (S 5) and the ego vehicle (10) is moved at a speed that is above a predetermined threshold value, and / or when a position of the ego vehicle (10) and of the bicycle (20) is identical over a period of time and no bicycle is detected by the sensor system in front of, behind or next to the ego vehicle (10).The method of claim 1, wherein the bicycle carrier (40, 50) further comprises a rear bicycle carrier (40).Method according to Claim 2, wherein the ego vehicle (10) comprises a vision sensor (S2) at the rear and a bicycle (20) arranged with the ego vehicle (10) in the rear bicycle carrier (40) is detected by the vision sensor (S2).Method according to one of the preceding claims, wherein the sensor system comprises a plurality of vision sensors (S1, S2, S3, S4) which record an environment of the ego vehicle (10) in front of, behind and on both sides next to the ego vehicle (10) in a 360° radius.Method according to claim 3, wherein a bicycle (20) in the roof bicycle carrier (50) is accepted if a signal of the communication device (70) is received by the sensor system from the bicycle (20) and at the same time no bicycle (20) arranged with the ego vehicle (10) in the rear bicycle carrier (40) is detected by the vision sensor (S2).Method according to Claim 3 or 5, wherein an arrangement of the bicycle (20) in the roof bicycle carrier (50) is assumed if the sensor system detects an equal speed for the bicycle (20) and the ego vehicle (10) which is below a predefined limit value, and at the same time no bicycle is detected by the vision sensors (S1, S2, S3, S4) in front of, behind or next to the ego vehicle (10).Method according to any one of the preceding claims, wherein a warning is automatically issued to the rider of the ego vehicle (10) when the bicycle (20) is secured in the roof bicycle carrier (50) and an obstacle with a low passage height is located on the route being traveled and / or heavy wind on the route is predicted.Method according to one of the preceding claims, wherein a range calculation of the ego vehicle (10) is adapted when a bicycle is detected in the rear bicycle carrier (40) and / or the roof bicycle carrier (50).Method according to one of the preceding claims, wherein an operating strategy of an ego vehicle (10) with hybrid drive is adapted when a bicycle (20) is detected in the roof bicycle carrier (50).Method according to one of the preceding claims, wherein the ego vehicle (10) with the bicycle carrier (40, 50) in the cockpit of the ego vehicle is output as a graphic at an optical output device (60).Combination of an ego vehicle (10) with a roof bicycle carrier (50) and a bicycle (20), wherein the ego vehicle (10) and the bicycle (20) are configured to carry out the method according to one of claims 1 to 10, wherein the ego vehicle (10) comprises a technical system with a plurality of vision sensors (S1, S2, S3, S4) for 360° all-round observation of the ego vehicle (10), a plurality of radar sensors and further sensors (S5), and an optical output device (60) in the field of vision of the driver, the bicycle (20) is arranged in a stationary manner in the roof bicycle carrier (50), the bicycle (20) comprises a communication device (70), wherein one of the further sensors (S5) receives signals of the communication device (70) of the bicycle (20).

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