System and method for warning of an impending collision between towing vehicle and trailer when reversing a towing vehicle with a trailer

Abstract

The invention relates to a system for warning of an impending collision between a towing vehicle (2) and a trailer (3) when reversing a towing vehicle (2) with a trailer (3), with a monitoring device (5) for continuously monitoring an angle between a longitudinal axis of the towing vehicle (2) and a longitudinal axis of the trailer (3) when reversing the towing vehicle (2) in order to detect whether a collision between the towing vehicle (2) and the trailer (3) is imminent and to generate a warning signal if a collision between the towing vehicle (2) and the trailer (3) is imminent.

Description

[0001] The invention relates to a system and a method for warning of an impending collision between a towing vehicle and a trailer when reversing a towing vehicle with a trailer, which are designed to emit a warning signal if a collision between the towing vehicle and the trailer is imminent.

[0002] Reversing with a trailer, for example, one that's connected to a towing vehicle via a trailer hitch, usually requires some practice, as the trailer tends to swerve or bend sharply, which can cause damage to the rear of the towing vehicle. One problem with this is that the trailer's steering response isn't always immediately apparent when the towing vehicle's steering angle changes.

[0003] This problem is further exacerbated by the fact that, due to the increasing traffic density, the existing traffic routes and parking spaces are being used more and more intensively, particularly in urban centers, so that the available maneuvering or shunting space when reversing a towing vehicle with a trailer is becoming increasingly smaller.

[0004] In addition, this problem is further aggravated in the dark or in generally poor visibility conditions, as the trailer cannot be observed properly.

[0005] From the publication DE 100 65 230 A1, a system and a method for facilitating the maneuvering and / or reversing of a towing vehicle with a trailer are known. The towing vehicle has a steering angle measuring device that detects the steering angle of the steerable axle of the towing vehicle and an environmental device, in particular a parking aid device, that detects at least the immediate surrounding area of the towing vehicle facing the trailer. Furthermore, an evaluation unit is provided that evaluates the detected values and issues instructions for turning a steering wheel of the towing vehicle.

[0006] DE 101 54 612 A1 describes a device for steering a towing vehicle with a trailer when reversing. Articulation angle detection is implemented using distance sensors mounted on the towing vehicle or trailer. In the event of critical articulation angles, a warning is issued to the driver.

[0007] From DE 10 2012 006 206 A1 it is known to detect an impending collision between a towing vehicle and its trailer using distance sensors, an articulation angle sensor or a camera.

[0008] DE 103 05 761 B3 discloses a system for transmitting a signal from a trailer to a tractor of a motor vehicle combination. The system comprises a light source attached to the trailer. A light beam is emitted via the light source to a rearview mirror of the tractor to transmit information from the trailer to the tractor. The information transmitted relates to the tire pressure of the trailer's tires.

[0009] The object of the present invention is to provide a system and a method for warning of an impending collision between towing vehicle and trailer when reversing a towing vehicle with a trailer, which system and method are simply designed and with which a driver of the motor vehicle can be reliably warned of an impending collision between towing vehicle and trailer when reversing a towing vehicle with a trailer.

[0010] This object is achieved according to the invention by a system having the features of claim 1 and by a method having the features of claim 8. Advantageous further developments emerge from the subclaims.

[0011] The basic idea is therefore to provide a monitoring device which, when a towing vehicle with a trailer is reversing, monitors an angle between a longitudinal axis of the towing vehicle and a longitudinal axis of the trailer and which is also designed to generate a warning signal if, when monitoring the angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer, it is detected that a collision between the towing vehicle and the trailer is imminent.

[0012] Such a system has the advantage that it provides a system for warning of an impending collision between the towing vehicle and the trailer when reversing a towing vehicle with a trailer, which system is simply designed and with which a driver of the towing vehicle can be reliably warned of an impending collision between the towing vehicle and the trailer when reversing a towing vehicle with a trailer.Thus, because the system has a monitoring device which is designed to continuously detect an angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer during reversing and to generate a warning signal if it is detected that a collision between the towing vehicle and the trailer is imminent, a driver of the motor vehicle can be warned in good time of the impending collision so that he can initiate appropriate safety-related actions to avoid the collision, in particular by initiating appropriate driving maneuvers.Compared to systems designed to facilitate reversing of a towing vehicle with a trailer, which issue instructions for the required rotation of the towing vehicle's steering wheel in the event of an impending collision between the towing vehicle and the trailer, this system has the further advantage that no additional sensors are required to generate the warning signal, in particular no steering angle sensors for detecting the current rotation of the towing vehicle's steering wheel, nor any evaluation units for further processing the data acquired by the steering angle sensor, and consequently no costly and complex modifications to the towing vehicle and / or trailer are required. Such a system can also be retrofitted easily and without great effort to conventional motor vehicles and / or trailers.

[0013] According to one embodiment, the monitoring device has at least two environmental sensors arranged at a rear of the towing vehicle and / or at a front side of the trailer facing the towing vehicle for continuously detecting distance values between the towing vehicle and the trailer, an evaluation unit for determining the angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer on the basis of the distance values detected by the environmental sensors, a comparator for comparing the determined angle with a limit value for the angle in order to detect whether a collision between the towing vehicle and the trailer is imminent, and a warning signal generator for emitting a warning signal if a collision between the towing vehicle and trailer is imminent.The environmental sensor and the evaluation unit can detect whether the front of the trailer facing the towing vehicle is at a uniform distance from the towing vehicle, for example to certain measuring points, or whether one area of the trailer is at a shorter distance from the towing vehicle than, for example, another area of the trailer. If it is detected that the trailer is at a uniform distance from the towing vehicle, the longitudinal axis of the trailer continues into the longitudinal axis of the towing vehicle, so that there is an angle of 0° between these longitudinal axes. If, on the other hand, it is detected that the trailer is at an uneven distance from the towing vehicle, there is an angle other than 0° between the longitudinal axes of the trailer and the towing vehicle.If this angle exceeds a threshold that indicates that the trailer is about to swerve, the warning signal transmitter can provide the driver with appropriate feedback, allowing them to react accordingly, i.e., initiate safety-related actions to avoid the collision, in particular, initiate appropriate driving maneuvers. The environmental sensors can be part of a parking assistance system on the towing vehicle and, in particular, be designed to detect the distance values between the towing vehicle and the trailer as soon as reverse gear is engaged.

[0014] The warning signal device can have an acoustic warning signal. Acoustic signal devices are known in conventional motor vehicles and are used to alert road users to the criticality of a situation by generating an acoustic signal, which can prompt them to defuse the critical situation accordingly. The acoustic warning signal is preferably a tone or a sequence of tones designed to give the driver of the motor vehicle a discreet indication that a collision between the towing vehicle and the trailer is imminent, without this indication being perceived as unpleasant or disruptive by the driver and / or those around them. The unimpaired warning function can advantageously increase the feeling of comfort, particularly in situations in which the driver wants or needs to avoid conspicuous acoustic warnings.

[0015] The warning signal device can also include a visual warning signal. Visual warning signals have the advantage that they can be perceived even in loud background noise, such as traffic noise, and can alert the driver to an impending collision between the towing vehicle and trailer.

[0016] Furthermore, the warning signal device can also be designed to generate additional warning signals, such as haptic warning signals. It is also conceivable that, upon detection of an impending collision between the towing vehicle and trailer, the warning signal device could automatically intervene in the control of the towing vehicle, i.e., initiate appropriate driving maneuvers, for example, automatically stopping the vehicle.

[0017] The warning signal device can be mounted on the trailer. This has the advantage that no additional components and / or functions are required on the towing vehicle itself or have to be integrated into it. The warning signal device can, for example, be a battery-operated warning signal device that can be temporarily mounted on the trailer as needed. Furthermore, the warning signal device can also be a battery-operated device or a stationary warning signal device that is permanently attached to the trailer, connected to the towing vehicle's electronics via the trailer coupling.

[0018] Furthermore, the warning signal device can also be integrated into the motor vehicle. For example, warning signal devices integrated into a conventional motor vehicle are known; these can be easily and inexpensively retrofitted to warn of an impending collision between the towing vehicle and trailer, without the need for complex and costly modifications or additional components. The warning signal device can function via a voice-controlled on-board computer, for example. Furthermore, the warning signal device can also function via lights arranged on the dashboard of the towing vehicle and / or a visual warning message displayed on a display unit of the motor vehicle, for example a display unit of the motor vehicle's infotainment system.The display unit can also show the current distance between the towing vehicle and the trailer or the towing vehicle and trailer from a bird's eye view.

[0019] In a first variant according to the invention, the monitoring device has at least two reflectors arranged on the front side of the trailer facing the towing vehicle, wherein the at least two reflectors are arranged on the trailer in such a way that, in the event of an imminent collision between the towing vehicle and the trailer, they reflect light emitted by at least one signal source of the towing vehicle into at least one interior and / or exterior mirror of the towing vehicle. Since the angle at which the light is reflected by the reflectors depends on the current angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer, the reflectors can in particular be arranged on the front side of the trailer in such a way that the light is reflected into an exterior mirror of the motor vehicle as soon as a collision between the towing vehicle and the trailer is imminent.The light reflected in the exterior mirror signals the driver of the vehicle that a collision between the towing vehicle and the trailer is imminent, thus warning them of an impending collision. They can then initiate appropriate safety-related actions to avoid the collision, particularly by initiating appropriate driving maneuvers. This can also be achieved easily and inexpensively using reflectors mounted on the trailer, without the need for costly and complex modifications to the towing vehicle and / or trailer. Furthermore, a conventional trailer can be retrofitted with such reflectors easily and without great effort.

[0020] The at least one signal source of the towing vehicle can be a reversing light of the towing vehicle. Conventional motor vehicles are equipped with such reversing lights, so the function of the at least one signal source can be implemented using components known and commonly used in conventional motor vehicles, without the need for complex and costly modifications.

[0021] In a second variant according to the invention, the monitoring device alternatively or additionally also has a signal light arranged on the front side of the trailer facing the towing vehicle, wherein the signal light is arranged on the trailer in such a way that warning light signals emitted by the signal light strike an exterior mirror of the towing vehicle and are visible therein as soon as a collision between the towing vehicle and the trailer is imminent. The signal light can be designed to emit light in a specific angular range, wherein the signal light is attached to the trailer in such a way that the warning light signals emitted by the signal light are visible in an exterior mirror of the towing vehicle as soon as a collision between the towing vehicle and the trailer is imminent.This allows the driver of the towing vehicle to be warned of the impending collision and to initiate appropriate safety-related actions to avoid the collision, in particular to initiate appropriate driving maneuvers. The signal light can also have a lamp which is designed to emit light of different colors at different angular ranges, so that the light emitted by the light source has light ranges of different colors, wherein the signal light is arranged on the trailer in such a way that, if there is no imminent collision between the towing vehicle and the trailer, light from a first light range, for example a green light range, and, if there is an imminent collision between the towing vehicle and the trailer, light from a second light range, for example a red light range, hits the exterior mirror and is visible therein.Furthermore, conventional trailers can be easily and inexpensively retrofitted with such a signal light without the need for costly and complex modifications to the trailer. The activation or supply of electrical power to the signal light can also be controlled, for example, via the reversing light on the trailer socket. This has the advantage that the signal light is only activated or supplied with electrical power when the towing vehicle is actually reversing, so that the driver and / or other road users are not disturbed by the light emitted by the signal light during normal driving, thus further increasing comfort.

[0022] A further embodiment of the invention also provides a method for warning of an impending collision between a towing vehicle and a trailer when reversing a towing vehicle with a trailer. The method comprises the following steps: while the towing vehicle is reversing, an angle between a longitudinal axis of the towing vehicle and a longitudinal axis of the trailer is continuously monitored, and whether a collision between the towing vehicle and the trailer is imminent is detected. If it is detected that a collision between the towing vehicle and the trailer is imminent, a warning signal is generated.

[0023] Such a method has the advantage that it provides a method for warning of an impending collision between a towing vehicle and a trailer when reversing with a trailer. This method is simple in design and can be used to reliably warn a driver of a motor vehicle of an impending collision between a towing vehicle and a trailer when reversing with a towing vehicle and a trailer. Thus, by continuously detecting an angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer while reversing and generating a warning signal if it is detected that a collision between the towing vehicle and the trailer is imminent, the driver of the towing vehicle can be warned of the impending collision in good time, allowing them to initiate appropriate safety-related actions to avoid the collision, in particular by initiating appropriate driving maneuvers.Compared to methods for facilitating the reversing of a towing vehicle with a trailer, in which instructions for the necessary rotation of the towing vehicle's steering wheel are issued in the event of an impending collision between the towing vehicle and the trailer, the method has the further advantage that no data from additional sensors is required and incorporated into the method. In particular, no data from a steering angle sensor is required to detect the current rotation of a towing vehicle's steering wheel. Consequently, no costly and complex modifications to the towing vehicle and / or trailer are necessary to realize or implement the method. Furthermore, a system for carrying out such a method can be retrofitted easily and without great effort into conventional motor vehicles and / or trailers.

[0024] According to one embodiment, the steps of continuously monitoring an angle between a longitudinal axis of the towing vehicle and a longitudinal axis of the trailer while the towing vehicle is reversing and of detecting whether a collision between the towing vehicle and the trailer is imminent can comprise the following steps: at least two distance values between the towing vehicle and the trailer are continuously recorded by means of at least two environmental sensors arranged at a rear of the towing vehicle and / or at a front side of the trailer facing the towing vehicle, and the angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer is determined on the basis of the recorded distance values. The determined angle is further compared with a threshold value for the angle in order to detect whether a collision between the towing vehicle and the trailer is imminent.By recording the distance values and determining the angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer, it can be determined whether the front of the trailer facing the towing vehicle is at a uniform distance from the towing vehicle, for example to certain measuring points, or whether one area of the trailer is at a shorter distance from the towing vehicle than another area of the trailer, for example. If it is detected that the trailer is at a uniform distance from the towing vehicle, the longitudinal axis of the trailer continues into the longitudinal axis of the towing vehicle, so that an angle of 0° exists between these longitudinal axes. If, on the other hand, it is detected that the trailer is at an uneven distance from the towing vehicle, there is an angle other than 0° between the longitudinal axes of the trailer and the towing vehicle.If it is further detected that this angle exceeds a limit value which signals that the trailer is in danger of swerving, the driver can be given appropriate feedback by issuing the warning signal so that he or she can react accordingly, i.e. initiate safety-related actions to avoid the collision, in particular initiate appropriate driving maneuvers.

[0025] The warning signal can be an acoustic warning signal. Acoustic signal devices for generating acoustic warning signals are known in conventional motor vehicles. They alert road users to the critical nature of a situation by generating an acoustic signal, which can prompt them to defuse the critical situation accordingly. The acoustic warning signal is preferably a tone or a sequence of tones designed to give the driver of the motor vehicle a discreet indication that a collision between the towing vehicle and the trailer is imminent, without this indication being perceived as unpleasant or disruptive by the driver and / or those around them.The unimpaired warning function can advantageously increase the feeling of comfort, especially in situations where the driver wants or needs to avoid conspicuous acoustic signals.

[0026] The warning signal can also be a visual warning signal. Visual warning signals have the advantage that they can be perceived even in a loud background noise, such as traffic noise, and can give the driver an indication of an impending collision between the towing vehicle and trailer.

[0027] Furthermore, the warning signal can also be any other warning signal suitable for alerting the driver of the towing vehicle to an impending collision between the towing vehicle and the trailer, for example, a haptic warning signal. It is also conceivable that, upon detection of an impending collision between the towing vehicle and the trailer, automatic intervention in the control of the vehicle occurs, i.e., appropriate driving maneuvers are initiated, for example, the vehicle is automatically stopped.

[0028] In a first variant of the method according to the invention, the steps of continuously monitoring an angle between a longitudinal axis of the towing vehicle and a longitudinal axis of the trailer while the towing vehicle is reversing and of detecting whether a collision between the towing vehicle and the trailer is imminent comprise the following steps: at least two reflectors are provided on the front side of the trailer facing the towing vehicle, wherein the at least two reflectors are arranged on the trailer in such a way that, in the event of an imminent collision between the towing vehicle and the trailer, they reflect light emitted by at least one signal source of the towing vehicle into at least one interior and / or exterior mirror of the towing vehicle.While reversing, light signals are emitted by the at least one signal source of the towing vehicle, and it is detected whether the emitted light signals are reflected in the at least one interior and / or exterior mirror of the towing vehicle in order to detect whether a collision between the towing vehicle and the trailer is imminent. Since the angle at which the light is reflected by the reflectors depends on the current angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer, the reflectors can be arranged, in particular, on the front of the trailer in such a way that the light is reflected in an exterior mirror of the motor vehicle as soon as a collision between the towing vehicle and the trailer is imminent.The light reflected in the exterior mirror can thus signal to the driver of the motor vehicle that a collision between the towing vehicle and the trailer is imminent, allowing them to be warned of the impending collision and initiate appropriate safety-related actions to avoid the collision, in particular by initiating appropriate driving maneuvers. The at least one signal source of the towing vehicle can, for example, be a reversing light on the towing vehicle. Conventional motor vehicles are equipped with such reversing lights, so that the function of the at least one signal source can be implemented using components commonly used in conventional motor vehicles, without the need for complex and costly modifications.

[0029] In a second variant of the method according to the invention, the steps of continuously monitoring an angle between a longitudinal axis of the towing vehicle and a longitudinal axis of the trailer while the towing vehicle is reversing and of detecting whether a collision between the towing vehicle and the trailer is imminent additionally or alternatively also comprise the following steps: a signal light is provided on the front side of the trailer facing the towing vehicle, wherein the signal light is arranged on the trailer in such a way that warning light signals emitted by the signal light strike an exterior mirror of the towing vehicle and are visible therein as soon as a collision between the towing vehicle and the trailer is imminent. Light signals are emitted by the signal light during reversing, wherein the emitted light signals comprise at least the warning light signals.It is further detected whether the emitted warning light signals hit at least one exterior mirror of the motor vehicle and are visible therein, in order to detect whether a collision between the towing vehicle and the trailer is imminent. Because the signal light, which can be designed to emit light in a specific angular range, is attached to the trailer and thus provided in such a way that the warning light signals emitted by the signal light are visible in an exterior mirror of the towing vehicle as soon as a collision between the towing vehicle and the trailer is imminent, the driver of the towing vehicle can in turn be warned of the impending collision and initiate appropriate safety-related actions to avoid the collision, in particular by initiating appropriate driving maneuvers.The signal light can also have, for example, a light source which is designed to emit light of different colors at different angular ranges, so that the light emitted by the light source has light ranges of different colors, wherein the signal light is arranged and provided on the trailer in such a way that, if there is no imminent collision between the towing vehicle and the trailer, light from a first light range, for example a green light range, and, if there is an imminent collision between the towing vehicle and the trailer, light from a second light range, for example a red light range, strikes the exterior mirror and is visible therein. The switching on or supplying the signal light with electrical energy can also be controlled, for example, via the reversing light on the trailer socket.This has the advantage that the signal light is only switched on or supplied with electrical energy when the towing vehicle is actually reversing, so that the driver and / or other road users are not affected by the light emitted by the signal light during normal driving, which can further increase comfort.

[0030] In summary, it can be stated that the present invention provides a system and a method for warning of an impending collision between towing vehicle and trailer when reversing a towing vehicle with a trailer, which system and method are simply designed and with which a driver of the motor vehicle can be reliably warned of an impending collision between towing vehicle and trailer when reversing a towing vehicle with a trailer.

[0031] By continuously recording an angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer while reversing and generating a warning signal if it is detected that a collision between the towing vehicle and the trailer is imminent, the driver of the towing vehicle can be warned in good time of the impending collision so that he can initiate appropriate safety-related actions to avoid the collision, in particular by initiating appropriate driving maneuvers.

[0032] Furthermore, compared to systems and / or methods for facilitating the reversing of a towing vehicle with a trailer, in which instructions for the necessary rotation of the towing vehicle's steering wheel are issued in the event of an impending collision between the towing vehicle and the trailer, no additional sensors are required, in particular no steering angle sensors for detecting the current rotation of a towing vehicle's steering wheel, nor any evaluation units for further processing the data detected by the steering angle sensor, and consequently no costly and complex modifications to the towing vehicle and / or trailer are required. Furthermore, the system can be retrofitted easily and without great effort into conventional motor vehicles and / or trailers.

[0033] The invention will now be explained in more detail with reference to the attached figures. Fig. 1 shows a schematic block diagram of a system for warning of an impending collision between towing vehicle and trailer when reversing a towing vehicle with a trailer according to an embodiment of the invention not according to the invention; Fig. 2 shows a schematic block diagram of a system for warning of an impending collision between towing vehicle and trailer when reversing a towing vehicle with trailer according to a first embodiment of the invention; Fig. 3 shows a schematic block diagram of a system for warning of an impending collision between a towing vehicle and a trailer when reversing a towing vehicle with a trailer according to a second embodiment of the invention; Fig. 4 shows a flowchart of a method for warning of an impending collision between towing vehicle and trailer when reversing a towing vehicle with a trailer;

[0034] Fig. 1 shows a schematic block diagram of a system 1 for warning of an impending collision between towing vehicle 2 and trailer 3 when reversing a towing vehicle 2 with trailer 3.

[0035] Fig. 1 shows a towing vehicle 2 and a trailer 3 connected to the towing vehicle 2, which is moved by the towing vehicle 2 via a trailer coupling 4.

[0036] Reversing a combination of this kind, consisting of a towing vehicle and a trailer connected to it, usually requires some practice, especially since the trailer has a tendency to swerve. One problem here, for example, is that the trailer's steering response is not immediately clear when the steering angle of the towing vehicle changes. This problem is further exacerbated by the fact that, due to increasing traffic density, existing roads and parking spaces are being used more and more intensively, particularly in urban centers, so that the available maneuvering or shunting space when reversing a towing vehicle with a trailer is becoming increasingly smaller. This problem is further exacerbated in the dark or in generally poor visibility conditions because the trailer is therefore difficult to observe.

[0037] According to the embodiment of the Fig. 1, the system 1 has a monitoring device 5 which is designed to continuously monitor an angle between a longitudinal axis of the towing vehicle 2 and a longitudinal axis of the trailer 3 while the towing vehicle 2 is reversing, in order to detect whether a collision between the towing vehicle 2 and the trailer 3 is imminent and to generate a warning signal if it is detected that a collision between the towing vehicle 2 and the trailer 3 is imminent. The longitudinal axis of the towing vehicle 2 is symbolized by the arrow provided with reference number 6 and the longitudinal axis of the trailer 3 by the arrow provided with reference number 7.

[0038] Such a system 1 has the advantage that it provides a system 1 for warning of an impending collision between towing vehicle 2 and trailer 3 when reversing a towing vehicle 2 with trailer 3, which system is simply designed and with which a driver of the motor vehicle can be reliably warned of an impending collision between towing vehicle 2 and trailer 3 when reversing a towing vehicle 2 with trailer 3. Thus, by means of the monitoring device 5, a driver of the towing vehicle 2 can be warned in good time of the impending collision, so that they can initiate appropriate safety-related actions to avoid the collision, in particular initiate appropriate driving maneuvers.Compared to systems for facilitating the reversing of a towing vehicle 2 with a trailer 3, in which instructions for the required rotation of the steering wheel of the towing vehicle 2 are issued in the event of an impending collision between the towing vehicle 2 and the trailer 3, the system 1 has the advantage that no additional sensors, in particular no steering angle sensors for detecting a current rotation of a steering wheel of the towing vehicle 2, and consequently no costly and complex modifications of the towing vehicle 2 and / or the trailer 3 are required. Furthermore, such a system 1 can be retrofitted easily and without great effort into conventional motor vehicles and / or trailers 3.

[0039] According to the embodiment of the Fig. 1, the monitoring device 5 comprises two environmental sensors 8 for continuously recording distance values between the towing vehicle 2 and the trailer 3, an evaluation unit 9 for determining the angle between the longitudinal axis of the towing vehicle 2 and the longitudinal axis of the trailer 3 based on the distance values recorded by the environmental sensors 8, a comparator 10 for comparing the determined angle with a threshold value for the angle to detect whether a collision between the towing vehicle 2 and the trailer 3 is imminent, and a warning signal generator 11 for emitting a warning signal if a collision between the towing vehicle 2 and the trailer 3 is imminent. The threshold value for the angle is an angle value that signals that the trailer is threatening to swerve.

[0040] According to the embodiment of the Fig. 1, the at least two environmental sensors 8 are arranged at a rear 12 of the towing vehicle 2. Furthermore, at least one of the environmental sensors can also be arranged on a front side of the trailer facing the towing vehicle.

[0041] The warning signal 11 of the Fig. 1 has an optical warning signal generator 13.

[0042] The warning signal device 10 of the Fig. 1 also has an acoustic warning signal 14.

[0043] Furthermore, the warning signal device can also be designed to generate additional warning signals, such as haptic warning signals. It is also conceivable that, upon detection of an impending collision between the towing vehicle and trailer, the warning signal device could automatically intervene in the control of the towing vehicle, i.e., initiate appropriate driving maneuvers, for example, automatically stopping the vehicle.

[0044] According to the embodiment of the Fig. 1, the warning signal device 11 is also arranged on the trailer 3. The warning signal device can be, for example, a battery-operated warning signal device that can be temporarily mounted on the trailer as needed. Furthermore, the warning signal device can also be a battery-operated warning signal device or a stationary warning signal device that is permanently attached to the trailer and connected to the electronics of the towing vehicle via the trailer coupling. Furthermore, the warning signal device can also be integrated into the motor vehicle.

[0045] Fig. Figure 2 shows a schematic block diagram of a system 20 for warning of an impending collision between towing vehicle 2 and trailer 3 when reversing a towing vehicle 2 with trailer 3 according to a first embodiment of the invention. Components and parts with the same construction or function as in Fig. 1 have the same reference numerals and are not discussed separately.

[0046] According to the embodiment of the Fig. 2, the monitoring device 5 has at least two reflectors 22 arranged on the front side 21 of the trailer 3 facing the towing vehicle 2. The at least two reflectors 22 are arranged on the trailer 3 in such a way that, in the event of an impending collision between the towing vehicle 2 and the trailer 3, they reflect light emitted by at least one signal source 23 of the towing vehicle 2 into at least one interior and / or exterior mirror 24 of the towing vehicle 2. According to the embodiment of the Fig. 2, the reflectors 22 are arranged on the front side 21 of the trailer 3 in such a way that the light emitted by the at least one signal source 23 of the towing vehicle 2 is reflected in an exterior mirror 24 of the towing vehicle 2 as soon as a collision between the towing vehicle 2 and the trailer 3 is imminent. The light reflected in the exterior mirror 24 thus signals to the driver of the towing vehicle 2 that a collision between the towing vehicle 2 and the trailer 3 is imminent, thus warning the driver of the towing vehicle 2 of an impending collision, so that the driver can initiate appropriate safety-related actions to avoid the collision, in particular initiate appropriate driving maneuvers.

[0047] According to the embodiment of the Fig. 2, the at least one signal source 23 of the towing vehicle 2 is a reversing light 25 of the towing vehicle 2.

[0048] Fig. Figure 3 shows a schematic block diagram of a system 30 for warning of an impending collision between towing vehicle 2 and trailer 3 when reversing a towing vehicle 2 with trailer 3 according to a second embodiment of the invention. Components and parts with the same construction or function as in Fig. 1 or Fig. 2 have the same reference numerals and are not discussed separately.

[0049] According to the embodiment of the Fig. 3, the monitoring device 5 has a signal light 31 arranged on the front side 21 of the trailer 3 facing the towing vehicle 2. The signal light 31 is arranged on the trailer 3 in such a way that, in the event of an impending collision between the towing vehicle 2 and the trailer 3, warning light signals emitted by the signal light 31 strike an exterior mirror 24 of the towing vehicle 2 and are visible therein.

[0050] According to the embodiment of the Fig. 3, the signal light 31 has a light source 32 which is designed to emit light of different colors at different angular ranges, so that the light emitted by the light source 32 has light ranges of different colors, wherein the signal light 31 is arranged on the trailer in such a way that, if there is no threat of a collision between the towing vehicle and the trailer, light of a first light range, for example a green light range, and, if there is a threat of a collision between the towing vehicle and the trailer, light of a second light range, for example a red light range, strikes the exterior mirror and is perceptible in the latter.Furthermore, the signal light can also be designed to emit light within a specific angular range, wherein the signal light is attached to the trailer in such a way that the light emitted by the signal light strikes an exterior mirror of the towing vehicle and is visible therein as soon as a collision between the towing vehicle and the trailer is imminent. According to the embodiment of the . Fig. 3, the switching on or supplying of the signal light 31 with electrical energy is controlled via a reversing light 33 on a trailer socket. This has the advantage that the signal light 31 is only switched on or supplied with electrical energy when the towing vehicle 2 is actually reversing, so that the driver and / or other road users are not affected by the light emitted by the signal light 31 during normal driving.

[0051] Fig. 4 shows a flowchart of a method 40 for warning of an impending collision between towing vehicle and trailer when reversing a towing vehicle with trailer according to embodiments of the invention.

[0052] How Fig. As shown in Figure 4, the method 40 comprises the following steps: while the towing vehicle is reversing, an angle between a longitudinal axis of the towing vehicle and a longitudinal axis of the trailer is continuously monitored in a step 41. During the monitoring, a step 42 detects whether a collision between the towing vehicle and the trailer is imminent. If it is detected that a collision between the towing vehicle and the trailer is imminent, a warning signal is generated in a step 43.

[0053] How Fig.As shown in Figure 4, step 41 is executed repeatedly if step 42 detects that there is no imminent collision between the towing vehicle and the trailer. However, if step 42 detects that there is an imminent collision between the towing vehicle and the trailer, the method continues with step 43. List of reference symbols 1 system 2 towing vehicle 3 trailers 4 trailer hitch 5 Monitoring device 6 Longitudinal axle of towing vehicle 7 Longitudinal axle trailer 8 environmental sensors 9 Evaluation unit 10 comparators 11 warning signal devices 12 Rear 13 optical warning signal device 14 acoustic warning signal 20 systems 21 Front 22 reflectors 23 Signal source 24 exterior mirrors 25 reversing light 30 systems 31 Signal light 32 bulbs 33 Reversing light 40 procedures 41 Process step 42 process steps 43 Process step

Claims

[1] System for warning of an impending collision between towing vehicle (2) and trailer (3) when reversing a towing vehicle (2) with trailer (3), with a monitoring device (5) for continuously monitoring an angle between a longitudinal axis of the towing vehicle (2) and a longitudinal axis of the trailer (3) when reversing the towing vehicle (2) in order to detect whether a collision between towing vehicle (2) and trailer (3) is imminent and for generating a warning signal if a collision between the towing vehicle (2) and the trailer (3) is imminent, characterized by , - that the monitoring device (5) has at least two reflectors (22) arranged on the front side (21) of the trailer (3) facing the towing vehicle (2), wherein the at least two reflectors (22) are arranged on the trailer (3) in such a way that, in the event of an impending collision between the towing vehicle (2) and the trailer (3), they reflect light emitted by at least one signal source (23) of the towing vehicle (2) into at least one interior and / or exterior mirror (24) of the towing vehicle (2), and / or - that the monitoring device (5) has a signal light (31) arranged on the front side (21) of the trailer (3) facing the towing vehicle (2), wherein the signal light (31) is arranged on the trailer (3) in such a way that warning light signals emitted by the signal light (31) hit an outside mirror (24) of the towing vehicle (2) as soon as a collision between the towing vehicle (2) and the trailer (3) is imminent. [2] System according to claim 1, wherein the monitoring device (5) has at least two environmental sensors (8) arranged on a rear (12) of the towing vehicle (2) and / or on a front side (21) of the trailer (3) facing the towing vehicle for continuously detecting distance values between the towing vehicle (2) and the trailer (3), an evaluation unit (9) for determining the angle between the longitudinal axis of the towing vehicle (2) and the longitudinal axis of the trailer (3) on the basis of the distance values detected by the environmental sensors (8), a comparator (11) for comparing the determined angle with a limit value for the angle in order to detect whether a collision between the towing vehicle (2) and the trailer (3) is imminent, and a warning signal generator (11) for emitting a warning signal if a collision between the towing vehicle (2) and the trailer (3) is imminent. [3] System according to claim 2, wherein the warning signal generator (10) comprises an acoustic warning signal generator (13). [4] System according to claim 2 or 3, wherein the warning signal generator (11) comprises an optical warning signal generator (14). [5] System according to one of claims 2 to 4, wherein the warning signal generator (11) is arranged on the trailer (3). [6] System according to one of claims 2 to 4, wherein the warning signal generator is integrated into the towing vehicle (2). [7] System according to one of the preceding claims, wherein the at least one signal source (23) of the towing vehicle (2) is a reversing light (25) of the towing vehicle (2). [8] Method for warning of an impending collision between a towing vehicle (2) and a trailer (3) when reversing a towing vehicle (2) with a trailer (3), the method (40) comprising the following steps: - Continuously monitoring an angle between a longitudinal axis of the towing vehicle (2) and a longitudinal axis of the trailer (3) while the towing vehicle (2) is reversing; - Detecting whether a collision between the towing vehicle (2) and the trailer (3) is imminent; - generating a warning signal if a collision between the towing vehicle (2) and the trailer (3) is imminent (43), wherein the steps of continuously monitoring an angle between a longitudinal axis of the towing vehicle (2) and a longitudinal axis of the trailer (3) while the towing vehicle (2) is reversing and detecting whether a collision between the towing vehicle (2) and the trailer (3) is imminent comprise the following steps: - Providing at least two reflectors (22) on the front side (21) of the trailer (3) facing the towing vehicle (2), wherein the at least two reflectors (22) are arranged on the trailer (3) in such a way that, in the event of an impending collision between the towing vehicle (2) and the trailer (3), they reflect light emitted by at least one signal source (23) of the towing vehicle (2) into at least one interior and / or exterior mirror (24) of the towing vehicle (2); - While reversing the towing vehicle (2), - Emission of light signals by the at least one signal source (23); - Detecting whether the emitted light signals are reflected in the at least one interior and / or exterior mirror (24) of the towing vehicle (2) in order to detect whether a collision between the towing vehicle (2) and the trailer (3) is imminent, and / or wherein the steps of continuously monitoring an angle between a longitudinal axis of the towing vehicle (2) and a longitudinal axis of the trailer (3) while the towing vehicle (2) is reversing and detecting whether a collision between the towing vehicle (2) and the trailer (3) is imminent comprise the following steps: - Providing a signal light (31) on the front side (21) of the trailer (3) facing the towing vehicle (2), wherein the signal light (31) is arranged on the trailer (3) in such a way that warning light signals emitted by the signal light (31) hit an exterior mirror of the towing vehicle (2) as soon as a collision between the towing vehicle (2) and the trailer (3) is imminent; - During reversing, emitting light signals by the signal light (31), the emitted light signals comprising at least the warning light signals; - Detecting whether the emitted warning light signals hit at least one exterior mirror (24) of the towing vehicle (2) in order to detect whether a collision between the towing vehicle (2) and the trailer (3) is imminent. [9] Method according to claim 8, wherein the steps of continuously monitoring an angle between a longitudinal axis of the towing vehicle (2) and a longitudinal axis of the trailer (3) during reversing of the towing vehicle (2) and detecting whether a collision between the towing vehicle (2) and the trailer (3) is imminent comprise the following steps: - Continuous detection of at least two distance values between the towing vehicle (2) and the trailer (3) by means of at least two environmental sensors (8) arranged at a rear of the towing vehicle (2) and / or at a front side (21) of the trailer (3) facing the towing vehicle (2); - Determining the angle between the longitudinal axis of the towing vehicle (2) and the longitudinal axis of the trailer (3) on the basis of the recorded distance values; - Comparing the determined angle with a limit value for the angle to detect whether a collision between the towing vehicle (2) and the trailer (3) is imminent. [10] The method of claim 9, wherein the warning signal is an acoustic warning signal. [11] The method of claim 9, wherein the warning signal is an optical warning signal.

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