Method for determining a state of a bicycle carrier attached to a motor vehicle and motor vehicle

Abstract

The invention relates to a method for determining a state of a bicycle carrier (2) attached to a motor vehicle (1), in which method a first measured value is determined at an initial time by means of a detection device (3), which first measured value characterizes a height of a predetermined reference point (6) of the bicycle carrier (2) or of a bicycle (4) held by means of the bicycle carrier (2) at the initial time (V1), at a later time compared to the initial time by means of the detection device (3) a second measured value is determined, which second measured value characterizes the height of the predetermined reference point (6) at the later time (V2), and the first measured value and the second measured value are analyzed, and depending on a result of the analysis it is determined whether the position of the bicycle carrier (2) relative to the motor vehicle (1) has been changed between the initial time and the later time (V3).

Description

The present invention relates to a method for determining a state of a bicycle carrier fastened to a motor vehicle and to a motor vehicle.DE 10 2019 200 241 A1 discloses a method for measuring the distance of a motor vehicle, in which a vehicle environment is detected using at least one camera. Furthermore, the vehicle environment is detected with at least one distance sensor, wherein the distance sensor has at least one first response wave. In the method, a load and / or an attachment part are also detected with the camera, which charge or attachment part project at least partially beyond the motor vehicle. Furthermore, an adapted response threshold is generated.Furthermore, DE 10 2009 048 380 A1 discloses a parking aid system for use in motor vehicles having distance sensors provided on the rear bumper and a trailer coupling or a drawer bicycle carrier. In addition to an existing data connection between a vehicle-side sensor control module and the distance sensors, a connection to a plug-in connection device of the trailer coupling to the drawer bicycle carrier is provided and can be controlled in such a way that when the trailer is coupled or the drawer bicycle carrier is extended, a switchover from the vehicle-side distance sensors to the connectable distance sensors of the trailer or of the drawer bicycle carrier takes place.Furthermore, DE 10 2013 217 648 A1 discloses a method for camera-based detection of a carrier system mountable on a vehicle, in which a region of the vehicle is detected, on which a carrier system such as a rear wheel carrier can be mounted, with at least one camera. Furthermore, the method involves analyzing the images of the captured region generated by the at least one camera with regard to characteristic features of a carrier system. Moreover, a carrier system mounted in the detected region is recognized as a function of the analysis.The object of the present invention is to provide a solution by means of which a change in position of a bicycle carrier on a motor vehicle can be determined particularly easily and reliably.This object is achieved according to the invention by the subject matter of the independent claims. Further possible embodiments of the invention are disclosed in the dependent claims, the description and the figures. Features, advantages and possible configurations which are set forth in the context of the description for one of the subject matters of the independent claims are to be regarded at least analogously as features, advantages and possible configurations of the respective subject matter of the other independent claims and of each possible combination of the subject matters of the independent claims, optionally in conjunction with one or more of the dependent claims.The invention relates to a method for determining a state of a bicycle carrier fastened to a motor vehicle. The motor vehicle is in particular a motor vehicle, in particular a passenger car. In particular, the bicycle carrier can be configured to be supported on a trailer coupling of the motor vehicle. This means that the trailer coupling of the motor vehicle carries the weight of the bicycle carrier at least to a large extent. The bicycle carrier is configured to accommodate at least one bicycle, in particular a plurality of bicycles, whereby these bicycles can be fastened to the motor vehicle by means of the bicycle carrier. The bicycle carrier is configured to be held on the outside of the motor vehicle, whereby the at least one bicycle can be fastened on the outside of the motor vehicle by means of the bicycle carrier. In the method, it is provided that a first measured value is determined by means of a detection device at an initial time, which first measured value characterizes a height of a predefined reference point of the bicycle carrier or of a bicycle held by means of the bicycle carrier at the initial time. In other words, at least one reference point is defined on the bicycle carrier or on a bicycle held by means of the bicycle carrier and the height of this reference point is determined by means of the detection device in the form of the first measured value. In this case, this first measured value is recorded at the predefined starting time.In the method, it is furthermore provided that at a later point in time compared to the starting point in time, a second measured value is determined by means of the detection device, which second measured value characterizes the height of the predefined reference point at the later point in time. In other words, the height of the selected reference point at the later point in time compared to the starting point in time is once again determined by acquiring the second measured value. In the method, it is furthermore provided that the first measured value and the second measured value are analyzed and it is determined as a function of a result of the analysis whether the bicycle carrier has been changed in its position relative to the motor vehicle between the starting time and the later time. By observing the height of the selected reference point over time, it can thus be established within the scope of the method whether the bicycle carrier has changed its position between the starting time and the time at which the second measured value has been recorded. Depending on a result of the analysis and thus depending on whether it has been determined that the position of the bicycle carrier has changed or has not changed, an action of the motor vehicle can be triggered. The method enables it to be established in a particularly simple manner by observing the height of the selected reference point over time whether the bicycle carrier has changed its position. It can happen that a screw connection and / or a clamping connection between the bicycle carrier and the motor vehicle is not strong enough or loosens during a trip of the motor vehicle. The rider of the motor vehicle can be informed by means of the described method, since such loosening of the described connection can be detected particularly easily and reliably within the scope of the method if the bicycle carrier changes its position relative to the motor vehicle as a result of the loosening.In a possible development of the invention, it is provided that the first measured value is recorded after it has been determined that the bicycle carrier is fastened to the motor vehicle. In other words, it is determined within the scope of the method whether the bicycle carrier is fastened to the motor vehicle. As soon as it has been determined that the bicycle carrier is fastened to the motor vehicle, the first measured value can be recorded by means of the recording device. In particular, the first measured value can be recorded directly after the determination that the bicycle carrier is located on the motor vehicle. It is provided that it is determined that the bicycle carrier is fastened to the motor vehicle if it is determined by means of a weight sensor that a weight is applied to a trailer coupling of the motor vehicle that lies within a predefined weight range, in particular a weight of 20 kilograms to 150 kilograms is applied to the trailer coupling. If it is established, for example, that a weight is present on the trailer coupling of the motor vehicle which is above 150 kilograms-for example, 500 kilograms-then it is established that no bicycle carrier is held on the trailer coupling. Instead, a trailer could be attached to the tow hitch as appropriate. On the basis of the weight bearing on the trailer coupling of the motor vehicle, it is thus possible to determine, in a particularly simple manner and with particularly great reliability, whether a bicycle carrier is fastened to the motor vehicle. Alternatively or additionally, it can be determined that the bicycle carrier is fastened to the motor vehicle if it has been determined by means of a sensor that a trailer connecting cable is connected at both ends to a respective component. This trailer connecting cable can be arranged in particular in the region of the trailer coupling of the motor vehicle. If it is determined that the trailer connecting cable is connected by its first end to a first component, for example a motor vehicle component, then it can be determined that the trailer connecting cable is correctly fastened to the motor vehicle. If it is determined that the trailer connecting cable is fastened to a second component with its end opposite the first end, then it is assumed that the trailer connecting cable connects this second component to the motor vehicle. As a result, it is concluded that the second component is fastened to the motor vehicle. It is assumed here that the second component is the bicycle carrier. Alternatively or additionally, it is provided that it is determined that the bicycle carrier is fastened to the motor vehicle if a bicycle carrier is detected by means of an electronic computing device in an image captured by a camera device of the motor vehicle. In other words, the environment of the motor vehicle is detected by means of the camera device, in particular the nearby environment. In this case, the camera device can be oriented with its detection range into the environment of the motor vehicle, in particular into an area behind the motor vehicle. By means of the camera device, it is thus possible to check particularly well whether further components are arranged behind the motor vehicle, in particular the bicycle carrier or whether further components are arranged on the motor vehicle on the rear side of the motor vehicle, in particular the bicycle carrier. In particular, on the basis of images determined by means of the camera device, objects in the images can be recognized by means of an image recognition device, in particular the bicycle carrier. In particular, it can be determined with particularly great certainty by means of image recognition in respective images recorded by means of the camera device whether the bicycle carrier is present on the motor vehicle or is not present on the motor vehicle. The more of the described conditions are met, the greater the probability that a bicycle carrier is actually fastened to the motor vehicle. A probability of an error for incorrectly ascertaining a presence of the bicycle carrier on the motor vehicle can thus be particularly well avoided.In a further possible embodiment of the invention, it is provided that a plurality of second measured values are recorded at different times later than the starting time and the position of the bicycle carrier is continuously monitored by analysis of a plurality of measured values. In other words, at the starting time, the first measured value is determined, which serves as a reference for all further measured values determined by means of the detection device and characterizing the height of the reference point. It is possible for the plurality of second measurement values to be acquired at regular intervals after the starting time. By recording the plurality of second measured values, it is possible to check particularly reliably during a particularly long period of time, in particular during an entire journey of the motor vehicle, whether the bicycle carrier has changed its position. Furthermore, by recording the plurality of second measured values, it is possible to establish particularly timely if the position of the bicycle carrier has changed.In a further possible embodiment of the invention, it is provided that it is determined during the analysis that the bicycle carrier has been changed in its position if a deviation between the first measured value and at least one of the second measured values is greater than a predefined deviation limit value, which is in particular five centimeters, and / or if the integral of a function of the measured values over time exceeds a predefined integral limit value and / or if a derivative of a function of the measured values over time exceeds a predefined derivative limit value. In other words, the absolute deviation between the first measured value and the at least one second measured value used for the analysis can be checked. Alternatively or additionally, the integral of a curve connecting the measured values to one another can be checked within the scope of the analysis. In this case, the measured values can be plotted over time and the plotted measured values can be connected to one another by means of a line. The area under this line is summed in the form of the integral and compared with at least one predetermined integral limit value. It can be established here that the bicycle carrier has been changed in its position if the integral exceeds a predefined first integral limit value or falls below a predefined second integral limit value. An integral is a mathematical assignment, the result of which can be interpreted as the area between the graph of a function and an axis, in the present case the time axis. The derivation of a function at a location indicates the slope of the graph of the function at that location. If the derivative thus has a high value, then it can be concluded that the position of the bicycle carrier has changed rapidly. This rapid change of the position of the bicycle carrier can serve as an indication for rapid folding over of the bicycle carrier. In the context of the analysis, it is thus possible to determine with particularly great reliability on the basis of the deviation determined and / or on the basis of the integral determined and / or on the basis of the derivative determined whether the bicycle carrier has been changed into its position or has not been changed.In this context, it may be provided in particular that the respective limit values are predefined as a function of a route property of a route on which the motor vehicle is moving. This means that the deviation limit value and / or the integral limit value and / or the derivative limit value is predefined and adapted as a function of at least one ascertained route property of the travel route on which the motor vehicle is moving. The route property of the travel route can characterize how much the motor vehicle is shaken when driving on the travel route and as a result a loosening of the bicycle carrier or a folding over of the bicycle carrier could occur. For example, the route property of the travel route can be determined by means of damping sensors and / or on the basis of map data and / or on the basis of swarm data. By including the route property of the travel route for the specification of the respective limit values, the route property of the travel route is evaluated as a function of the route property of the travel route when it is determined whether the bicycle carrier has actually been changed in its position or is oscillating only as a result of the motor vehicle being shaken.In a further possible embodiment of the invention, it is provided that the respective limit value is lowered starting from an initial value for the limit value when it is determined that the motor vehicle has traveled over a headstone patch and / or a braking threshold. However, the limit value is lowered here only for the analysis of second measured values which have been detected after the motor vehicle has already passed the braking threshold or has already left the headstone patch again. In the context of the analysis, it is thus checked, after leaving the headstone patch or after passing over the braking threshold, in sensitized form, whether the bicycle carrier has changed in its position relative to the motor vehicle on account of the driving on the headstone patch or the passing over the braking threshold. The fact that the motor vehicle has traveled over a headstone pavement or has traveled over a braking threshold can be ascertained, for example, on the basis of measured accelerations in the motor vehicle and / or on the basis of sounds recorded in the motor vehicle and / or by means of a camera device and / or on the basis of recognized traffic signs. The lowering of the respective limit values gives a previous warning or warning in the case of minor changes in the position of the bicycle carrier. Thus, upon leaving the headstone patch or after passing over the braking threshold, the method becomes at least temporarily more sensitive with respect to the determination of the change in the position of the bicycle carrier.In a further possible embodiment of the invention, it is provided that the respective limit value is predefined as a function of a determined damping of the motor vehicle. The ascertained damping of the motor vehicle is to be understood in particular as a chassis damping of the motor vehicle. The less severely the motor vehicle is damped, the more the motor vehicle and components fastened to the motor vehicle vibrate during driving of the motor vehicle over unevennesses. These oscillations of components fastened to the motor vehicle, in particular of the bicycle carrier, can in turn have effects on the analysis, depending on the time at which the respective second measured value is determined. If a plurality of second measured values are determined, then their variance is the greater the less severely the motor vehicle is damped. In other words, it is less sensitive within the scope of the analysis and therefore only determined when high limit values are exceeded that the bicycle carrier has been changed in its position when the motor vehicle is only slightly damped. The more the motor vehicle is damped, the smaller the respective limit values can be selected, when they are exceeded it is determined that the bicycle carrier has been changed in its position.In a further possible embodiment of the invention, it is provided that, within the scope of the analysis, only measured values are compared with one another, between the ascertainment of which no terminal 15 change has been established. This means that, within the scope of the analysis, only measured values and thus first measured values and second measured values are compared with one another, which have been determined during a single journey of a motor vehicle. It can thus be checked during this travel whether the bicycle carrier has loosened its connection to the motor vehicle during travel and has consequently been changed in its position relative to the motor vehicle. By merely comparing measured values during the analysis, which have been recorded during the same journey of the motor vehicle, a risk of error for incorrectly determining that the position of the bicycle carrier has been changed can be kept particularly low.In a further possible embodiment of the invention, it is provided that, if it has been determined that the bicycle carrier has been changed in its position, the output of a change information signal, which characterizes the determined change in the position, is triggered in an interior of the motor vehicle and / or it is triggered that a recommendation for a lane change to a shoulder or for an emergency stop or for a safe location for a stop of the motor vehicle is output by means of an output device in the interior of the motor vehicle. In other words, as soon as it has been determined that the bicycle carrier has been changed in its position, an information or a recommendation in the interior of the motor vehicle is output as an action, whereby, on the one hand, the rider can be informed about the determined changed position of the bicycle carrier and, moreover, it can be achieved by means of the recommendation that the rider follows the recommendation and thus a risk of risk for road traffic can be kept particularly low. As a result of the rider being informed that the bicycle carrier has changed its position or has been changed in its position, the rider can bring the motor vehicle to a standstill and adapt an orientation or a position of the bicycle carrier again or fasten the bicycle carrier again sufficiently to the motor vehicle. By directly issuing a recommendation to the rider as to how to react to the changed position of the bicycle carrier, the rider can be made to perform a preferred action characterized by the recommendation. By changing lanes to the shoulder or by emergency stopping or by outputting a safe location for stopping the motor vehicle, it can be achieved that the motor vehicle can stop, wherein further traffic is particularly little endangered by stopping the motor vehicle.The invention further relates to a motor vehicle having a detection device which is configured to determine a measured value which characterizes a height of a predefined reference point of a bicycle carrier or of a bicycle held by means of the bicycle carrier. In particular, the detection device is configured to record a plurality of measured values, in particular a first measured value at an initial time and at least one second measured value at a later time compared to the initial time. Furthermore, the motor vehicle comprises an electronic computing device which is configured to analyze the measured values recorded by the recording device and to determine, as a function of a result of the analysis, whether the bicycle carrier has been changed in its position relative to the motor vehicle between the starting time and the later time.Further features of the invention can be derived from the following description of the figures and from the drawing. The features and combinations of features mentioned above in the description and the features and combinations of features shown below in the description of the figures and / or in the figures alone can be used not only in the respectively specified combination but also in other combinations or alone without departing from the scope of the invention.The drawing shows in: FIG. 1 shows a method diagram for a method for checking a position of a bicycle carrier; and FIG. 2 is a schematic rear view of a motor vehicle to which a bicycle carrier is fastened.Future motor vehicles will use more and more sensors, which allow a better or more accurate detection of objects in the rear region of the motor vehicle 1. The sensors themselves will be installed in the motor vehicle 1 primarily for future driver assistance systems and also for autonomous systems such as level 3 or level 4 systems. Heretofore, it is difficult to distinguish a bicycle carrier 2 from a trailer. For example, the motor vehicle 1 can only identify whether a cable has been inserted between the motor vehicle 1 and the trailer or the bicycle carrier 2. Using a sensor system of the motor vehicle 1, in particular at least one detection device 3 of the motor vehicle 1, the bicycle carrier 2 can be recognized. In the present case, the detection device 3 is schematically marked with a box in FIG. 2. It can happen that, as can be seen in FIG. 2, a screw or clamping connection between the bicycle carrier 2 and the motor vehicle 1 is not strong enough or is loosened when the motor vehicle 1 is travelling. As a result, the bicycle carrier 2 can fold over, as can be recognized in FIG. 2, and can therefore no longer be properly mounted on the motor vehicle 1. This can lead to damage to the motor vehicle 1 and / or the bicycle carrier 2 and / or to a bicycle 4 and / or other road users held by means of the bicycle carrier 2. It is therefore important to be able to detect a change in position, in particular tilting of the bicycle carrier 2, particularly quickly and reliably in order to be able to contain the risk emanating from this bicycle carrier 2.The detection device 3 can in particular comprise a radar or at least one camera device. In particular, the detection device 3 is configured to determine a height of a predetermined reference point 6 on the bicycle carrier 2 or on at least one bicycle 4 held by means of the bicycle carrier 2 and to provide it for an electronic computing device 5, which is likewise schematically marked with a box in FIG. 2. The electronic computing device 5 is configured to analyze the measured values recorded by the recording device 3 and to determine, depending on a result of the analysis, whether the bicycle carrier 2 has been changed in its position relative to the motor vehicle 1 between an initial time and a later time than the initial time. The motor vehicle 1 is thus configured to carry out a method for ascertaining a state of the bicycle carrier 2 fastened to the motor vehicle 1. The process scheme for this process is shown in Figure 1.The method for determining the state of the bicycle carrier 2 comprises four method steps V 1 to V 4 which are carried out successively in the stated sequence. In the first method step V 1 of the method, it is provided that a first measured value is determined by means of the detection device 3 at the starting time, which first measured value characterizes a height of the predefined reference point 6 of the bicycle carrier 2 or, in the present case, of the bicycle 4 held by means of the bicycle carrier 2 at the starting time. In other words, in the present case the reference point 6 is fixed on the bicycle 4 held by means of the bicycle carrier 2. At the starting time, the height of this reference point 6 is determined by means of the detection device 3, in particular the height of the reference point 6 in relation to the detection device 3. In other words, the starting point lies after the detection that the bicycle carrier 2 is held on the motor vehicle 1, in particular immediately after the detection that the bicycle carrier 2 is arranged on the motor vehicle 1. In particular, by determining that the bicycle carrier 2 is fastened to the motor vehicle 1, it can be triggered that the first measured value is detected by means of the detection device 3. In particular, it is determined that the bicycle carrier 2 is fastened to the motor vehicle 1 if it is determined by means of a weight sensor that a weight is applied to a trailer coupling 7 of the motor vehicle 1 which lies within a predefined weight range. In the present case, the weight range extends from 20 kilograms to 150 kilograms of weight acting on the trailer coupling 7. Alternatively or additionally, it can be determined that the bicycle carrier 2 is fastened to the motor vehicle 1 if it has been determined by means of a sensor that a trailer connecting cable 8 is connected at both ends to a respective component. If it is thus determined that the trailer connecting cable 8 is connected at both ends to a respective component, it is then assumed that the trailer connecting cable 8 is plugged at one end to the motor vehicle 1 and is plugged at the other end to the bicycle carrier 2. Alternatively or additionally, it can be established that the bicycle carrier 2 is fastened to the motor vehicle 1 if the bicycle carrier 2 has been recognized by means of image recognition in an image captured by the camera device of the capturing device 3 of the motor vehicle 1 by means of the electronic computing device 5. In this case, the bicycle carrier 2 can be recognized in particular by means of an artificial intelligence on the image recorded by means of the camera device.In the second method step V 2, it is provided that at a later point in time compared to the starting point in time, at least one second measured value is determined by means of the detection device 3, which second measured value characterizes the height of the predefined reference point 6 at the later point in time. In particular, a plurality of second measured values can be recorded at different times later than the starting time and the position of the bicycle carrier 2 can be monitored permanently by analysis of a plurality of measured values. This analysis of the measured values takes place in the third method step V 3. In the third method step V 3, the first measured value and the second measured value are analyzed and, depending on a result of the analysis, it is determined whether the bicycle carrier 2 has been changed in its position relative to the motor vehicle 1 between the starting time and the later time. In this case, it is provided in particular that, within the scope of the analysis, only measured values are compared with one another, between the ascertainment of which no terminal 15 change and thus no restart of an ignition of the motor vehicle 1 has been carried out. In other words, within the scope of the analysis, only measured values of a single trip of the motor vehicle 1 are compared with one another.It is provided that during the analysis it is determined that the bicycle carrier 2 has been changed in its position if a deviation between the first measured value and the at least one second measured value used for the analysis is greater than a predefined deviation limit value. In particular, it is established that the bicycle carrier 2 has been changed in its position if the determined deviation between the first measured value and the second measured value used for the analysis is greater than five centimeters. Alternatively or additionally, it is determined that the bicycle carrier 2 has been changed in its position if the integral of a function of the measured values over time exceeds a predefined integral limit value and / or if the integral of the function of the measured values over time falls below a predefined further integral limit value. Alternatively or additionally, it is determined during the analysis that the bicycle carrier 2 has been changed in its position if a derivative of a function of the measured values over time exceeds a predetermined derivative limit value. In this case, it is possible for the respective limit values to be predefined as a function of a route property of a travel route on which the motor vehicle 1 is moving. In this context, the respective limit value can be lowered starting from an initial value for this limit value if it is determined that the motor vehicle 1 has traveled over a headstone pavement and / or a braking threshold. There may be situations in which a pure deviation of, for example, five centimeters of changes in the position of the bicycle carrier 2 is too sensitive or is not sufficiently sensitive. Therefore, route preview or route history may be used in selecting the respective thresholds. If, for example, it is determined that a headstone patch is located in front of the motor vehicle 1 or a headstone patch has been traveled over by the motor vehicle 1 in the last 500 meters or a braking threshold has been traveled over by the motor vehicle 1 in the last 500 meters, then the probability of the bicycle carrier 2 loosening or loosening increases. As a result, within the scope of the method, the position of the bicycle carrier 2 is monitored more sensitively by lowering the respective limit value used for the analysis starting from its initial value. The analysis can thus include respective actual positions of the bicycle carrier 2 in the form of the respective second measured values, respective reference positions of the bicycle carrier 2 in the form of the first measured value, a route preview or route history and / or a damping of the motor vehicle 1. This is to be understood as meaning that the respective limit value is predefined or adapted as a function of a determined damping of the motor vehicle 1. In the context of the analysis, it is possible to evaluate how strongly the position of the reference point 6 has changed in the past during a journey of the motor vehicle 1. If, for example, a heavy e-bike is loaded as bicycle 4, the bicycle carrier 2 fluctuates more strongly than if a light children's wheel is loaded as bicycle 4.The actual position of the reference point 6 can thus be stored at a clamp 15 start by determining the first measured value and, depending on what is loaded for a bicycle 4 on the bicycle carrier 2 and / or, depending on the determined damping of the motor vehicle 1, determining the variance for the height of the reference point 6 which the reference point 6 can assume when the bicycle carrier 2 is fastened as intended without tilting the bicycle carrier 2. the respective limit value, which is relevant to triggering an action of the motor vehicle 1, can be determined depending on the determined variance and the first measured value determined for the starting time.In the fourth method step V 4 of the method, it is provided that an action of the motor vehicle 1 is triggered if it has been determined that the bicycle carrier 2 has been changed in its position. As an action of the motor vehicle 1, a change information signal, which characterizes the ascertained change in the position of the bicycle carrier 2, can be triggered in an interior of the motor vehicle 1: this means that a warning is output to the driver of the motor vehicle 1 in the form of the change information signal. Alternatively or additionally, a recommendation for a lane change to a shoulder or for an emergency stop or for a safe location for stopping the motor vehicle 1 can be issued by means of an output device in the interior of the motor vehicle 1. It is possible that as an alternative or in addition, a braking of the motor vehicle 1 is initiated as an action of the motor vehicle 1. If it is determined on the basis of the ascertained derivation that the position of the bicycle carrier 2 has changed rapidly, this is an indication for rapid folding over of the bicycle carrier 2.Overall, the invention shows how a method for monitoring the position of a wheel luggage carrier, in the present case the bicycle carrier 2, can be carried out during a journey of the motor vehicle 1.List of reference charactersV 1 to V 4 respective method steps 1 motor vehicle 2 bicycle carrier 3 detection device 4 bicycle 5 electronic computing device 6 reference point 7 trailer coupling 8 trailer connecting cableReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedDE 10 2019 200 241 A1

[0002] DE 10 2009 048 380 A1

[0003] DE 10 2013 217 648 A1

[0004]

Claims

Method for determining a state of a bicycle carrier (2) fastened to a motor vehicle (1), in which - a first measured value is determined by means of a detection device (3) at an initial time, which characterizes (V1) a height of a predetermined reference point (6) of the bicycle carrier (2) or of a bicycle (4) held by means of the bicycle carrier (2), - a second measured value is determined by means of the detection device (3) at a later time than the initial time, which characterizes (V2) the height of the predetermined reference point (6) at the later time, - the first measured value and the second measured value are analyzed and it is determined as a function of a result of the analysis whether the bicycle carrier (2) has been changed in its position relative to the motor vehicle (1) between the initial time and the later time (V3).Method according to claim 1, wherein the first measurement value is recorded after it has been determined that the bicycle carrier (2) is fastened to the motor vehicle (1), wherein it is determined that the bicycle carrier (2) is fastened to the motor vehicle (1) if at least one of the following conditions is fulfilled: - a weight sensor is used to determine that a weight is present on a trailer coupling (7) of the motor vehicle (1), which weight is within a predefined weight range, in particular a weight of 20 kilograms to 150 kilograms, - a sensor is used to determine that a trailer connecting cable (8) is connected at both ends to a respective component, - a bicycle carrier (2) is detected in an image recorded by a camera device of the motor vehicle (1) by means of an electronic computing device (5).Method according to claim 1 or 2, wherein a plurality of second measured values are recorded at different times which are later than the starting time and the position of the bicycle carrier (2) is continuously monitored by analysis of a plurality of measured values.Method according to one of the preceding claims, wherein it is determined during the analysis that the bicycle carrier (2) has been changed in its position if a deviation between the first measured value and at least one of the second measured values is greater than a predefined deviation limit value, which is in particular 5 centimeters, and / or if the integral of a function of the measured values over time exceeds a predefined integral limit value and / or if a derivative of a function of the measured values over time exceeds a predefined derivative limit value.Method according to Claim 4, wherein the respective limit values are predefined as a function of a route property of a route on which the motor vehicle (1) is moving.Method according to Claim 4 or 5, wherein the respective limit value is lowered starting from an initial value for the limit value if it is determined that the motor vehicle (1) has traveled over a headstone plaster and / or a braking threshold.Method according to one of Claims 4 to 6, wherein the respective limit value is predefined as a function of a determined damping of the motor vehicle (1).Method according to one of the preceding claims, wherein, within the scope of the analysis, only measured values are compared with one another, between the ascertainment of which no terminal 15 change has been established.Method according to one of the preceding claims, wherein, if it has been determined that the bicycle carrier (2) has been changed in its position, the output of a change information signal, which characterizes the determined change in the position, is triggered in an interior of the motor vehicle (1) and / or it is triggered that a recommendation for a lane change to a shoulder or for an emergency stop or for a safe location for a stop of the motor vehicle (1) is output (V4) by means of an output device in the interior of the motor vehicle (1).Motor vehicle (1) having - a detection device (3) which is configured to determine a measured value which characterizes a height of a predetermined reference point (6) of a bicycle carrier (2) or of a bicycle (4) held by means of the bicycle carrier (2), and - an electronic computing device (5) which is configured to analyze the measured values detected by the detection device (3) and to determine, as a function of a result of the analysis, whether the bicycle carrier (2) has been changed in its position relative to the motor vehicle (1) between an initial time and a later time than the initial time.

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