METHOD FOR MONITORING THE ENVIRONMENT OF A COMBINATION CONSISTING OF A TOWING VEHICLE AND A TRAILER TOWED BY THE TOWING VEHICLE, AS WELL AS CONTROL DEVICE FOR THE TOWING VEHICLE AND TOWING VEHICLE WITH THE CONTROL DEVICE

Description

[0001] The invention relates to a method for monitoring the surroundings of a vehicle combination. Such a vehicle combination consists of a towing vehicle and at least one trailer, wherein the at least one trailer is pulled by the towing vehicle. An example of such a vehicle combination is a semitrailer truck, in which the towing vehicle is formed by a so-called tractor unit and the trailer by a so-called semitrailer. In a vehicle combination, the trailer can be rotated or bent with respect to the towing vehicle, so that an articulation angle forms between the towing vehicle and the trailer when cornering, which can make monitoring the surroundings of the vehicle combination using a sensor device difficult. The invention also includes a control device for a towing vehicle of a vehicle combination and a towing vehicle with the control device.

[0002] Monitoring the lateral surroundings of a trailer is known, for example, from WO 2011 / 090417 A1. This document describes how a sensor device with a radar can be arranged on the side of the towing vehicle. The detection range or field of view (FOV) of the radar sensor is directed toward a lateral area of ​​the surroundings that extends alongside the trailer. If another motor vehicle is traveling alongside the trailer, it can be detected by the sensor device, and the driver of the trailer can be alerted to this vehicle next to him, so that the other vehicle is not forced off the road, for example, by changing lanes. In the prior art system, metal sheets must be used to prevent the radar sensor from radiating too far to the rear. Otherwise, this could result in the undesired detection of a vehicle traveling far behind the trailer.According to the state of the art, the alignment of the metal sheets is only adapted for straight-ahead travel.

[0003] The boundaries of the detection zone are therefore determined based on the vehicle's straight-line travel. However, cornering creates the aforementioned bend angle between the towing vehicle and trailer, which may require a different detection zone orientation.

[0004] DE 103 51 655 A1 describes a method for displaying the travel path of an axle of a towed vehicle part, which is towed by a towing vehicle part of a vehicle, when the vehicle is cornering. The method involves tracking the viewing angle of an image capture device and displaying a captured image to a driver. The position and / or the towing curve of the towed axle is determined, from which the necessary adjustment of the viewing angle of the image capture device for recording the travel path of the towed axle is determined, and the viewing angle is adjusted accordingly. Thus, the travel path of the tracked axle is always recorded.

[0005] DE 10 2016 015 363 A1 describes a method for monitoring the surroundings of a vehicle combination. In the method, a variable characterizing the alignment between a towing vehicle and a trailer is determined, and based on this, a control variable is determined with which a monitoring area is shifted within the detection range of a camera of a monitoring system and thus dynamically adjusted.

[0006] DE 10 2017 205 114 A1 relates to an articulated vehicle having a sensor in a front area which can be pivoted depending on the articulation angle of the articulated joint in order to adapt a detected area.

[0007] It is intended that at a driving speed greater than zero, sensors can be pivoted in such a way that an overlap area is created in which the sensed areas of the sensors overlap.

[0008] DE 10 2016 209 927 A1 describes a monitoring device for the surroundings of a vehicle, in particular for a mirror replacement system, comprising a first support element which can be connected to the vehicle in a fixed position, a second support element, a first pivoting mechanism which connects the first and second support elements to one another, and a sensor unit which has an optical axis.

[0009] The invention is based on the object of adapting the detection range of the sensor device used to monitor a side area of ​​a trailer to a driving situation in which the articulation angle between the towing vehicle and the trailer is changed.

[0010] This object is achieved by the subject matter of the independent patent claims. Advantageous embodiments of the invention are evident from the dependent claims, the following description, and the figures.

[0011] The invention provides a method for monitoring the surroundings of a vehicle combination. The vehicle combination consists of a towing vehicle and at least one trailer pulled by the towing vehicle. Several trailers can be pulled in a row. A sensor device is provided on the towing vehicle and is designed to detect the surroundings of the vehicle combination in a side area that extends alongside the vehicle combination. The sensor device can therefore, for example, detect or monitor a right-hand side area or a left-hand side area of ​​the vehicle combination. Of course, a sensor device can be provided for each of the right-hand side areas and the left-hand side areas. The method relates to the operation of a sensor device for each side area.

[0012] The sensor device is held on a vehicle part of the towing vehicle by means of a holding device. For example, the sensor device can be attached or held on a frame or a panel part of the towing vehicle by means of the holding device. The sensor device is aligned by means of the holding device in such a way that the detection area (FOV - Field of View) of the sensor device is aligned in the side area. By means of the sensor device, another road user, for example a motor vehicle, cyclist, or pedestrian, can thus be detected or recorded in the side area in a manner known per se. Accordingly, a driver of the towing vehicle can be alerted to the presence of the other road user.

[0013] In order to take into account the changing relative position of the trailer with respect to the towing vehicle, for example when the vehicle combination is cornering (change in the articulation angle between the towing vehicle and the trailer), the method according to the invention provides that the sensor device is pivotably mounted with respect to said vehicle part by means of the holding device. In other words, the sensor device can be pivoted, rotated or moved horizontally and / or vertically with respect to the vehicle part, for example, by means of the holding device. The sensor device can therefore be mechanically adjusted with respect to the vehicle part. The detection range of the sensor device in the lateral area is then dynamically aligned or shifted accordingly. A control device is configured to receive at least one operating signal from the vehicle combination.An operating signal is a signal that describes a current operating state of the vehicle / trailer combination. An operating signal can be received or read from a data bus or communication bus of the tractor unit, for example a CAN bus (CAN - Controller Area Network). The control device is further configured to determine a current articulation angle between the towing vehicle and the trailer depending on the at least one received operating signal. In other words, an estimate or measurement of the current articulation angle is determined or derived from the at least one operating signal. If, for example, a sensor for measuring the articulation angle is provided in the vehicle / trailer combination, the sensor signal from this sensor can be received as the operating signal. In this case, the current articulation angle would be available as a measured angle value.The control device is further configured to adjust a mechanical pivot position of the sensor device relative to the vehicle part on which it can be mounted by controlling the holding device in order to adapt the orientation of the detection range of the sensor device to the articulation angle. In other words, the pivot position or spatial orientation of the sensor device relative to the vehicle part changes when the articulation angle between the towing vehicle and the trailer changes. For this purpose, the pivotable holding device is used, and the control device controls, for example, an actuator device or drive device.

[0014] The invention offers the advantage that the lateral alignment of the sensor device's detection area into the side area can be adapted to the vehicle's articulation angle. This prevents the sensor device's detection area from being in an unfavorable or undesirable orientation for monitoring the side area, for example, when cornering.

[0015] The sensor device has at least two sensors. Their respective sensor detection ranges are then, preferably in pairs, at least partially superimposed when the vehicle / trailer combination is traveling straight ahead. The sum of the sensor detection ranges results in the said detection range of the sensor device as a whole. The described adjustment of the mechanical pivot position of the sensor device can also mean that only one sensor or only some of the sensors of the sensor device are mechanically pivoted, adjusted, or realigned.

[0016] The sensor device has at least two sensors whose detection ranges are at least partially superimposed. The sensor detection ranges have the superposition. The sensor detection ranges together constitute the detection range of the sensor device as a whole.

[0017] The overlap creates a coverage margin. In other words, one of the sensors can be pivoted without creating a detection gap or non-detected area between the sensor detection areas of two sensors.

[0018] The holding device is designed to hold at least one sensor of the sensor device on a vehicle part of the towing vehicle. In order to enable adaptation of the orientation of the detection range of the sensor device to a bend angle of the combination consisting of a towing vehicle and a trailer, the invention provides that the holding device is designed to hold at least one of the at least two sensors movable relative to the vehicle part and to change a pivot position of the at least one sensor with respect to the vehicle part as a function of a control signal that can be generated, for example, by the described control device. In other words, by providing or generating a control signal by means of the holding device, at least one sensor of the sensor device can be pivoted or rotated or moved or variably aligned on the vehicle part.This changes the orientation of the detection area of ​​the sensor device with respect to the vehicle part.

[0019] By providing for the superposition of the sensor detection areas, it can be ensured that the detection area between the two sensor detection areas remains continuous despite the pivoting of one of the sensors, i.e. the superposition is maintained.

[0020] According to the invention, by controlling the holding device by which the sensor device is held, when the articulation angle changes, i.e. when this changes, the pivot position is adjusted such that a detection gap remains smaller than a predetermined maximum gap value. The said detection gap is the area that results between an edge of the detection area and the trailer. For example, if the sensor device is used to monitor the right side of the trailer and the trailer turns to the left, the detection gap between the detection area and the trailer initially increases if the sensor device remains fixed. This can now be counteracted by adjusting the pivot position so that the detection area is pivoted towards the rear of the trailer, whereby the detection gap is reduced and thus kept below the said maximum gap value.This advantageously prevents a blind spot when the vehicle is turning.

[0021] According to the invention, by controlling the holding device when the articulation angle changes, the pivot position is adjusted such that the overlap of a detection angle or radiation angle of the detection zone and the trailer remains smaller than a predetermined maximum overlap value. The detection angle defines the said edge of the detection zone in the event that no obstacle causes shielding. If, for example, the right-hand side area is monitored by the detection device and the trailer performs a turning maneuver to the right, the detection angle, i.e. the theoretical edge of the detection zone, is moved towards the trailer and then points into the trailer. This leads to the said overlap. However, the sensor device then detects the trailer itself, which can lead to so-called ghost detection.In other words, this can cause the driver to be warned about a nonexistent road user, as only the trailer is mistakenly interpreted as an unrelated road user. By changing the swivel position, the detection area can now be swiveled toward the front of the vehicle and thus away from the trailer. This advantageously avoids the aforementioned ghost detection.

[0022] By moving or pivoting the pivot position of at least one sensor of the sensor device, the orientation of its respective sensor detection range relative to the trailer can be changed. For example, the edge of the sensor detection range of a sensor can be aligned with the edge of the trailer. This limits or reduces the overlap to a maximum overlap value.

[0023] The monitoring of the side area is provided by a sensor device comprising two radar sensors.

[0024] The invention also includes embodiments which provide additional advantages.

[0025] In one embodiment, the at least one operating signal comprises a steering angle of the towing vehicle's steering system. In other words, the at least one operating signal indicates the direction in which the vehicle / trailer combination is steered.

[0026] This advantageously allows a steering maneuver of the trailer to be detected. The steering angle can be detected, for example, using a steering angle sensor.

[0027] In one embodiment, the at least one operating signal comprises a respective steering angle of at least one wheel of the towing vehicle and / or the trailer. A steering angle of a wheel can be detected by means of a corresponding sensor and / or read from a power steering system.

[0028] In one embodiment, said control device is configured to use a model to determine a temporal progression of the articulation angle on the basis of the at least one operating signal, for example a signal for the steering angle. In other words, the model is also used to determine or derive a temporal progression or change in the articulation angle, such as can occur even with a constant operating signal, for example due to a rolling motion of the vehicle / trailer combination. The model can be implemented, for example, as a digital model and / or, for example, based on an analog integrator circuit. A program module for a processor device, for example a microcontroller or a microprocessor, can be provided as a digital model.The model can advantageously take into account that the articulation angle continues to change even when the vehicle combination continues to roll without any operating parameter of the vehicle combination, e.g. the steering angle, being further changed.

[0029] In one embodiment, the at least one operating signal comprises a driving speed of the vehicle / trailer combination, and the model determines the temporal progression of the articulation angle as a function of the driving speed. The model therefore outputs a time signal that describes at what point in time the articulation angle has which estimated or calculated value. For example, if the steering angle of the towing vehicle is set to a value other than 0 degrees and the vehicle / trailer combination then rolls at a known driving speed, the articulation angle continuously increases without the steering angle itself having to be further changed. This can now be taken into account by the model.

[0030] The sensor device comprises two radar sensors. In other words, the sensor device can perform active positioning by emitting radar beams. This allows monitoring of the surrounding area to the side of the vehicle, independent of current lighting conditions, for example.

[0031] In order to carry out the method according to the invention, the invention also provides a system comprising a sensor device of a towing vehicle and a holding device for the sensor device of a towing vehicle. The holding device is designed to hold at least two sensors of the sensor device on a vehicle part of the towing vehicle. In order to enable adaptation of the orientation of the detection range of the sensor device to a bending angle of the combination consisting of a towing vehicle and a trailer, the invention provides that the holding device is designed to hold at least one of the at least two sensors movable relative to the vehicle part and to change a pivot position of the at least one sensor with respect to the vehicle part as a function of a control signal which can be generated, for example, by the described control device.In other words, by providing or generating a control signal by means of the holding device, at least one sensor of the sensor device can be pivoted or rotated or moved or variably aligned on the vehicle part. This changes the orientation of the detection range of the sensor device with respect to the vehicle part.

[0032] The sensor device has at least two sensors whose detection areas are at least partially superimposed.

[0033] The sensor detection areas overlap. The sensor detection areas together constitute the detection range of the sensor device as a whole.

[0034] The overlap creates a coverage margin. In other words, one of the sensors can be pivoted without creating a detection gap or non-detected area between the sensor detection areas of two sensors.

[0035] By providing for the superposition of the sensor detection areas, it can be ensured that the detection area between the two sensor detection areas remains continuous despite the pivoting of one of the sensors, i.e. the superposition is maintained.

[0036] In one embodiment, the holding device for changing the pivot position has an electromechanical drive device. An electromechanical drive device can be implemented, for example, on the basis of an electric motor, such as a stepper motor. In one embodiment, the holding device for changing the pivot position has a pneumatic and / or hydraulic drive device. A pneumatic and / or hydraulic drive device can utilize the pneumatics and / or hydraulics of the towing vehicle, thus eliminating the need for a separate power source.

[0037] In one embodiment, the holding device has a mechanical drive device for changing the pivot position. A mechanical drive device can, for example, transmit a force from the trailer to the at least one sensor via a gear and / or a linkage when the articulation angle of the trailer / trailer combination changes. This eliminates the need for electronic control.

[0038] In order to carry out the method in a towing vehicle, the invention also provides said control device for a towing vehicle. The control device can, for example, be designed as a control unit for the towing vehicle. The control device is configured to control an embodiment of the system according to the invention on the basis of an embodiment of the method according to the invention. The control device can, for example, carry out blind spot monitoring and / or turning assistance and / or lane keeping assistance. It can adapt the detection range of said sensor device to a current articulation angle of a combination consisting of the towing vehicle and a trailer. As a result, lateral coverage of the surroundings of the combination by the detection range of the sensor device is adapted or adjusted, for example with regard to a detection gap and / or an overlap with the trailer.

[0039] The invention also provides a towing vehicle with at least one sensor device of the system according to the invention for monitoring a side area of ​​a vehicle combination. The vehicle combination comprises the towing vehicle and at least one trailer in the said manner. In the towing vehicle, at least one sensor device is held on a vehicle part of the towing vehicle, for example on a frame or a panel part of the towing vehicle, via an embodiment of the holding device according to the invention of the system according to the invention. In addition, an embodiment of the control device according to the invention is provided, which is coupled to the holding device. In this way, for example, the said control signal for controlling the holding device can be transmitted from the control device to the holding device.

[0040] The invention also includes combinations of the features of the described embodiments.

[0041] An embodiment of the invention is described below. It shows: Fig. 1 is a schematic representation of an embodiment of the towing vehicle according to the invention with a trailer, wherein three different driving situations are shown; Fig. 2 is a schematic representation of an embodiment of the holding device according to the invention, as it is used in the towing vehicle of Fig. 1 can be provided; Fig. 3 is a schematic representation of components of the holding device and a sensor device; Fig. 4 is a flow chart for an embodiment of the method according to the invention, as it is carried out by a control device in the towing vehicle of Fig. 1 can be carried out.

[0042] The exemplary embodiment explained below is a preferred embodiment of the invention. In the exemplary embodiment, the described components of the embodiment each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described embodiment can also be supplemented by further features of the invention already described.

[0043] In the figures, functionally identical elements are provided with the same reference numerals.

[0044] Fig. 1 shows a vehicle combination 10 in three different driving situations F1, F2, F3. The vehicle combination 10 can, for example, be a semi-trailer truck. The vehicle combination 10 can comprise a towing vehicle 11 and a trailer 12. The towing vehicle 11 and the trailer 12 can be connected so that they can rotate relative to one another, for example by means of a saddle or a drawbar. Accordingly, a bending angle 13 can result between the towing vehicle 11 and the trailer 12. For example, the bending angle 13 can be an angle that can be formed between a longitudinal axis 14 of the towing vehicle 11 and a longitudinal axis 15 of the trailer 12. In Fig. 1 The articulation angle 13 has a different value in each of the three driving situations shown: F1, F2, and F3. For example, the articulation angle 13 can always be specified as counterclockwise or clockwise.

[0045] In the case of the trailer 10, the towing vehicle 11 can monitor a side area 16 of an environment 17. The side area 16 can, for example, be the right area next to the trailer 10, as shown in Fig. 1 is shown. Additionally or alternatively, monitoring of a left side area next to the trailer 10 (not shown) can be provided. The monitoring of the side area 16 can be provided by means of a sensor device 18, which comprises two radar sensors as sensors 19. In Fig. 1 It is shown that two sensors 19 can be provided, wherein a first sensor detection area 20 can be formed or generated by one of the sensors 19 and a second sensor detection area 21 can be formed or generated by a second of the sensors 19. The sensor detection areas 20, 21 are illustrated here by a detection angle 23 and respective boundaries or edges 24 of the sensor detection areas 20, 21. The sensor detection areas 20, 21 can have an overlay 25. The sensor detection areas 20, 21 together result in a detection area 26 of the sensor device 18 as a whole.

[0046] By means of the detection area 26, a volume area can be detected or monitored, for example as a side area 16 in the surrounding area 17, which can extend along an edge 27 of the trailer, at least when driving straight ahead (shown as driving situation F1). As a result, a road user located next to the trailer 12 in the side area 16 can be detected or located by means of the sensor device 18. For example, it can be provided that an edge 24 of the sensor detection area 20 is aligned parallel to or along an edge 27 of the trailer 12.

[0047] In driving situation F2, the trailer 10 can negotiate a right-hand bend. Accordingly, a bend angle 13 results that deviates from 0 degrees or 180 degrees (straight ahead). If the sensors 19 of the sensor device 18 on the towing vehicle 11 were to maintain their position, the radiation angle or detection angle 23 of the sensor detection area 20 would overlap with the trailer 12, which is illustrated by a boundary or edge 24'. This would result in an overlap 28. As a result, the part of the trailer 12 lying in the overlap 28 could be misinterpreted as an unrelated road user, and an unnecessary or incorrect warning could be issued to a driver of the towing vehicle 11.

[0048] To prevent this, however, the sensor device 18 can be pivoted in the trailer 10 in the towing vehicle 11. By moving or pivoting 29 the pivot position of at least one sensor 19 of the sensor device 18, the orientation of its respective sensor detection area 20 relative to the trailer 10 can be changed. For example, the edge 24 of the sensor detection area 20 of a sensor 19 can be aligned with respect to the edge 27 of the trailer 12. This limits or reduces the overlap 28 to a maximum overlap value.

[0049] In driving situation F3, the vehicle combination 10 can make a left turn. If the sensor device 18 had an unchanged orientation of the detection area 26 relative to the towing vehicle 11, a Fig. 1 illustrated imaginary course 24'' of the edge of the detection area 26. In the trailer 10, it can be provided that the towing vehicle 11 pivots at least one sensor 19 of the sensor device 18 so that, for example, the orientation of the sensor detection area 20 is adapted to the articulation angle 13. For example, the edge 24 of the sensor detection area 20 can be aligned or oriented with the edge 27 of the trailer 12. As a result, a detection gap 30, which could arise between the detection area 26 and the trailer 12, is kept smaller than a predetermined maximum gap value.

[0050] By providing the overlay 25 of the sensor detection areas 20, 21, it can be ensured that the detection area 26 between the two sensor detection areas 20, 21 remains gapless despite the pivoting of one of the sensors 19, i.e. the overlay 25 is maintained.

[0051] Fig. 2 illustrates a possible embodiment of the sensor device 18 with an associated holding device 31. Fig. 2 For the sake of clarity, only one sensor 19 of the sensor device 18 is shown. The sensor 19 can be fastened to the holding device 31, for example, by screwing it to it. The holding device 31 can, for example, have a holding plate 32 for fastening the sensor 19. The holding device 31 can have a drive device 33, by means of which the sensor 19, for example together with the holding plate 32, can be pivoted or moved relative to a vehicle part 34 of the towing vehicle 11. The vehicle part 34 can, for example, be implemented by a frame or a paneling part of the towing vehicle 11. The sensor device 18 can be fastened to this vehicle part 34 by means of the holding device 31.

[0052] A connecting cable 35 may be provided to control the drive device 33 by means of a control signal 36. The drive device 33 may, for example, comprise an electric motor, such as a stepper motor. The drive device 33 can be controlled by means of the control signal 36, whereby a current pivot position θ of the sensor device 18 with respect to the vehicle part 34 can be set or changed. Fig. 2 shows a possible range 37 of values ​​for the pivot position θ. Depending on the pivot position θ, the respective sensor detection area 20 of the sensor 19 is then aligned or pivoted with respect to the vehicle part 34. Thus, a sensor detection area 20 as shown in Fig. 1 shown can be aligned or pivoted or adjusted or set relative to the trailer 10.

[0053] Fig. 3 illustrates how to determine which current swivel position θ should currently be set for the trailer 10.

[0054] For this purpose, the holding device 31 can have a control device 38, which can be implemented, for example, on the basis of a control unit. The control device 38 can have a processor device 39, which can have at least one microprocessor and / or at least one microcontroller. The control device 38 can receive at least one operating signal 41 of the trailer / carriage from a communication bus or data bus 40, for example. The data bus 40 can be a CAN bus, for example. A current steering angle and / or a current driving speed at a respective detection time can be received as the operating signal 41. The operating signal can be received repeatedly by the sensor device 18. On the basis of a digital model 42, the control device 38 can determine a current value of the articulation angle 13.It can then be determined which current pivot position θ is necessary for the sensor 19 of the sensor device 18 with respect to the vehicle part 34. For example, a minimization of the detection gap 30 and / or a minimization of the overlap 28 can be provided in the manner described. Depending on the detected or estimated articulation angle 13, the control signal 36 can then be generated to fulfill the said at least one condition so that the pivot position θ can be adjusted.

[0055] The model 42 can, for example, provide for determining a temporal course or a temporal development of the articulation angle 13, taking into account a steering angle and a driving speed or rolling speed of the vehicle combination 10.

[0056] Fig. 4illustrates a possible method that can be carried out by the control device 38, for example by means of the processor device 39. In a step S10, the control device can receive the at least one operating signal 41 of the vehicle combination 10. In a step S11, the control device can determine a current articulation angle 13 between the towing vehicle 11 and the trailer 12 as a function of the at least one received operating signal 41. In a step S12, the control device 38 can adjust the mechanical pivot position θ of the sensor device 18 with respect to the vehicle part 34 by controlling the holding device 31 in order to adapt an alignment or spatial orientation of the detection area 26 to the articulation angle 13.

[0057] Overall, the example shows how the invention can provide an adaptive electro-mechanical radar sensor mount.

Claims

1. Method for monitoring the surroundings (17) of a vehicle / trailer combination (10) consisting of a towing vehicle (11) and a trailer (12) towed by the towing vehicle (11), wherein a sensor device (18) for covering a lateral region (16) of the surroundings (17) that extends next to the vehicle / trailer combination (10) is provided on the towing vehicle (11) for each of both a right lateral region (16) and a left lateral region (16), each sensor device (18) having two respective radar sensors (19), wherein a sum of the sensor coverage regions (20, 21) forms a coverage region (26) of the sensor device (18) in each case, and the sensor device (18) is held on a respective vehicle part (34) of the towing vehicle (11) by means of a mounting device (31) and the coverage region (26) of the respective sensor device (18) is aligned with the lateral region (16), wherein one radar sensor (19) of the two radar sensors (19) is mounted pivotably with respect to the vehicle part (34) by means of the mounting device (31) so as to be mobile relative to the vehicle part (34), and a control device (38) receives at least one operating signal (41) of the vehicle / trailer combination (10) and takes the at least one received operating signal (41) as a basis for determining a current articulation angle (13) between the towing vehicle (11) and the trailer (12) and sets a mechanical swivel position (θ) of one radar sensor (19) of the two radar sensors (19) with respect to the vehicle part (34) by controlling the mounting device (31) in order to assimilate an alignment of the coverage region (26) to the articulation angle (13), characterized in that the mechanical swivel position (θ) is assimilated by virtue of just one radar sensor (19) of the respective sensor device (18) being mechanically pivoted or adjusted or realigned and the respective sensor coverage regions (20, 21) of the two radar sensors (19) have at least a partial overlap (25), wherein the overlap (25) between the sensor coverage regions (20, 21) is provided such that, despite the setting of the mechanical swivel position (θ) of one radar sensor (19) of the two radar sensors (19) with respect to the vehicle part (34), there is the certainty of the overlap (25) being maintained and thus the coverage region (26) between the two sensor coverage regions (20, 21) remaining uninterrupted, and wherein the control of the mounting device (31) in the event of a change in the articulation angle (13) updates the swivel position (θ) to the effect that a coverage gap (30) between an edge (24) of the coverage region (26) and the trailer (12) remains smaller than a predetermined maximum gap value and that an intersection (28) of a coverage angle (24') of the coverage region (26) and the trailer (12) remains smaller than a predetermined maximum intersection value by virtue of the edge (24) of the sensor coverage region (20) of one radar sensor being aligned with respect to an edge (27) of the trailer (12), thereby avoiding phantom tracking.

2. Method according to Claim 1, wherein the at least one operating signal (41) comprises a steering angle of a steering of the towing vehicle (11).

3. Method according to Claim 1 or 2, wherein the at least one operating signal (41) comprises a respective angle of lock of at least one wheel of the towing vehicle (11) and / or of the trailer (12).

4. Method according to one of the preceding claims, wherein the control device (38) takes the at least one operating signal (41) as a basis for determining a time characteristic of the articulation angle (13) by means of a model (42).

5. Method according to Claim 4, wherein the at least one operating signal (41) comprises a speed of travel of the vehicle / trailer combination (10) and the model (42) determines the time characteristic as a function of the speed of travel.

6. Towing vehicle (11) having two systems, each comprising a sensor device (18) of the towing vehicle (11) and a mounting device (31) for the sensor device (18) for monitoring a respective lateral region (16) of a vehicle / trailer combination (10), each sensor device (18) having two respective radar sensors (19), wherein a sum of the sensor coverage regions (20, 21) forms a respective coverage region (26) of the respective sensor device (18), wherein the mounting device (31) is designed to hold the at least two radar sensors (19) of the respective sensor device (18) on a vehicle part (34) of the towing vehicle (11) and to hold one of the two radar sensors (19) so as to be mobile relative to the vehicle part (34) and to take a control signal (36) as a basis for changing a respective swivel position (θ) of one radar sensor (19) with respect to the vehicle part (34), wherein the respective sensor coverage regions (20, 21) of the respective two radar sensors (19) have at least a partial overlap (25), wherein the overlap (25) between the respective sensor coverage regions (20, 21) is provided such that, despite the setting of the mechanical swivel position (θ) of one radar sensor (19) of the two radar sensors (19) with respect to the vehicle part (34), there is the certainty of the overlap (25) being maintained and thus the respective coverage region (26) between the two respective sensor coverage regions (20, 21) remaining uninterrupted, characterized in that the sensor device (18) of the respective system is held on the vehicle part (34) of the towing vehicle (11) by the mounting device (31) of the respective system in each case and a control device (38) is coupled to the respective mounting device (31) of the respective system, the control device (38) being designed to control the mounting devices (31) of the systems using a method according to one of Claims 1 to 5.

7. Towing vehicle (11) according to Claim 6, wherein the mounting device (31) has an electromechanical drive device (33) for changing the swivel position (θ).

8. Towing vehicle (11) according to Claim 6 or 7, wherein the mounting device (31) has a pneumatic and / or hydraulic drive device (33) for changing the swivel position (θ).

9. Towing vehicle (11) according to one of Claims 6 to 8, wherein the mounting device (31) has a mechanical drive device (33) for changing the swivel position (θ).