System and method for computer-aided estimation of a value for the total mass of a vehicle system

Description

[0001] The invention is based on a system for the computer-aided estimation or determination of a value for the total mass of a vehicle system according to the preamble of claim 1 and on a method for the computer-aided estimation or determination of a value for the total mass of a vehicle system according to the preamble of claim 9. Furthermore, the invention according to the preamble of claim 6 also relates to a vehicle system which comprises a towing vehicle and optionally at least one trailer coupled to the towing vehicle.

[0002] Braking and vehicle control systems require the most accurate value possible for the total mass of the vehicle system in order to be able to execute the respective control system with the desired accuracy. Especially in commercial vehicles, the total mass can fluctuate considerably due to different loads, so repeated mass determination is required to support the braking and vehicle control systems.

[0003] If a towing vehicle and possibly a trailer are equipped with an axle load sensor for each axle, the total vehicle mass can be determined relatively accurately as the sum of the axle loads. However, only a small number of towing vehicles and trailers have an axle load sensor on each axle. Typically, an axle load sensor is only present on the rear axle of the towing vehicle, which is suspended by air bellows, with the air bellows pressure correlating with the axle load. For vehicles with full steel suspension, a measured axle load is not available in most cases.

[0004] Due to the lack of axle load sensors on all axles, direct mass determination is rarely possible. Instead, the total mass of the vehicle system is often estimated.

[0005] DE 10 2015 120 831 A1 discloses mixed autonomous and manual control of a vehicle. The vehicle may include an operating mode in which the vehicle operates autonomously but is influenced by a mixture of autonomous control inputs and manual control inputs. A first weight may be assigned to manual control inputs, and a second weight may be assigned to autonomous control inputs. The assigned first and second weights may be applied to a vehicle system. In response to receiving a manual control input, the received manual control input may influence the autonomous operation of the vehicle to an extent corresponding to the first weight and without disabling the autonomous operation of the vehicle system.

[0006] DE 103 07 511 A1 discloses a method for the computer-assisted estimation of the mass of a vehicle based on the equilibrium relationship between the drive force and the sum of inertial forces and drive resistances. The mass can therefore be estimated, for example, by simultaneously detecting a drive torque (a torque acting on the wheels) and a resulting acceleration and / or their derivatives. Since the frictional forces cannot usually be determined precisely, an accurate determination of the mass from such dynamic variables (i.e., without using a scale) is generally only possible successively through a large number of measurements. At a given point in time, a more or less accurate estimate of the mass is therefore available.This estimation can be performed, for example, using the so-called RLS (Recursive Least Squares) algorithm or an RLS estimator, whereby the estimation is based on the estimator being stimulated by the corresponding input variables. To achieve the most reliable estimate of the mass, the estimation is improved over a longer period of time. In this way, sources of error in the instantaneous estimated value can be avoided or at least their impact reduced. Such sources of error arise, for example, from changes in slope during successive downtimes of the commercial vehicle or from unknown friction (from the road, the rotating parts of the vehicle, wind, etc.).

[0007] If the estimator is not informed that the load has changed, the estimated value for the total mass will not match the actual total mass, or will only do so after a very long learning process. This can have significant consequences for the vehicle's handling. For example, if a downhill journey occurs after a load change (for example, without the driver accelerating), a critical situation can arise because the required braking force has not yet been optimally calculated. The mass estimate will only gradually adapt to the load change, as the estimator's memory still contains measured values for the outdated load and the new input values have not yet performed the correction. A driver may take this situation into account as a precaution, but for autonomous vehicles, an outdated mass value could have negative consequences.

[0008] Therefore, there is a need for another way to estimate or determine the total mass of a vehicle system, taking into account a change in the load and a change in the number of trailers coupled to the towing vehicle in order to speed up the estimation process.

[0009] The invention is therefore based on the object of providing a system and a method for computer-assisted estimation or determination of a value for the total mass of a vehicle system, with which the estimation or determination process can be carried out more quickly. Furthermore, a vehicle system with such a system is also to be provided.

[0010] This object is achieved according to the invention by the features of claims 1, 6 and 9. Disclosure of the invention

[0011] According to a first aspect of the invention, a system for the computer-assisted estimation or determination of a value for the total mass of a vehicle system is proposed, which comprises a towing vehicle and optionally at least one trailer coupled to the towing vehicle, wherein the system a) has a sensor device which is designed such that its sensor signals represent status data of the vehicle system, which change depending on a load of the vehicle system and on a number of trailers coupled to the towing vehicle and on the basis of which it can be recognized whether a load of the vehicle system and a number of trailers coupled to the towing vehicle have changed or not changed between a first time (t1) and at least one second time (t2) later than the first time (t1), and b) has an evaluation device which is designed such that, in particular independently of the status data at a first time (t1), it estimates or determines a first value (W1) for the total mass of the vehicle system as part of a first estimation or determination, wherein c) the evaluation device is further designed such that it can recognize on the basis of the status data,whether the load of the vehicle system and the number of trailers coupled to the towing vehicle have changed or not changed between the first time (t1) and the at least one second time (t2), and that d) the evaluation device is further designed to retain the first value (W1) as a valid value for the total mass of the vehicle system or to use it as an initial value for a further determination or estimation of the total mass of the vehicle system if it has recognized on the basis of the status data that between the first time (t1) and the second time (t2) neither a significant change in the load of the vehicle system nor a change in the number of trailers coupled to the towing vehicle has taken place, but within the framework of a second,estimates or determines a second value (W2) for the total mass of the vehicle system following the first estimate or determination, in particular independently of the status data, and rejects the first value (W1) if it has recognized on the basis of the status data that a change in the load of the vehicle system and / or a change in the number of trailers coupled to the towing vehicle has occurred between the first time (t1) and the second time (t2).

[0012] According to a second aspect of the invention, a method is proposed for the computer-assisted estimation or determination of a value for the total mass of a vehicle system, which comprises a towing vehicle and optionally at least one trailer coupled to the towing vehicle, wherein in the method a) status data of the vehicle system are recorded, which change depending on the load of the vehicle system and the number of trailers coupled to the towing vehicle and on the basis of which it can be recognized whether the load of the vehicle system and the number of trailers coupled to the towing vehicle have changed or not changed between a first point in time (t1) and at least one second point in time (t2) later than the first point in time (t1), and b) in particular, independently of the status data at a first point in time (t1), a first value (W1) for the total mass of the vehicle system is estimated or determined as part of a first estimation or determination, wherein the first value (W1) is retained as a valid value for the total mass of the vehicle system or is used as an initial value for a further determination or estimation of the total mass of the vehicle system if it has been recognized on the basis of the status data,that between the first time (t1) and the second time (t2) neither a significant change in the load of the vehicle system nor a change in the number of trailers coupled to the towing vehicle has occurred, but within the framework of a second estimate or determination following the first estimate or determination, a second value (W2) for the total mass of the vehicle system is estimated or determined, in particular independently of the status data, and the first value (W1) is rejected if it has been recognized on the basis of the status data that between the first time (t1) and the second time (t2) a change in the load of the vehicle system and / or a change in the number of trailers coupled to the towing vehicle has occurred.

[0013] The number of trailers coupled to the towing vehicle can be zero, in which case the vehicle system consists only of the towing vehicle, or it can be any integer, although the number of trailers that can be coupled is of course limited.

[0014] The invention has recognized that in cases where, for example, axle load sensors are not present on every axle of the vehicles in the vehicle system, from which the total mass of the vehicle system could then be easily determined directly, i.e. via the axle load signals from the axle load sensors, the total mass can be estimated or determined with a high degree of quality, in particular independently of the status data, and the estimated value for the total mass can then be used as a valid value as long as the status data does not change (significantly). To determine the status data, it is sufficient if not all axles of the vehicle system are equipped with axle load sensors, because it is already possible to detect a change in the status data and thus a change in the load of the vehicle system with just a few axle load sensors.Such a change in the status data then means that the previously estimated value (W1) for the total mass can no longer be used. Conversely, if the status data have not changed (significantly), this indicates that neither the load nor the number of trailers coupled to the towing vehicle has changed, so the previously estimated value (W1) for the total mass can still be used and is still valid.

[0015] In other words, the first value (W1) for the total mass of the vehicle system determined or estimated by the evaluation device, which, for example, has a high quality, is retained, for example, for further calculations or as an input value for further systems and / or used for a further estimation or determination if it has been recognized from the status data that the loading status of the vehicle system has not changed or has not changed significantly and the number of trailers coupled to the towing vehicle has not changed either.

[0016] Then, for example, when the vehicle system is stationary, a value for the total mass of the vehicle system is available, which was determined as the first value during a previous driving cycle based on an equilibrium relationship between the drive force and the sum of the inertial forces and the drive resistances. Furthermore, a relearning of the total mass, which can be time-consuming to achieve a certain estimation accuracy, can be eliminated or reduced.

[0017] As already explained above, the first value for the total mass of the vehicle system may, for example, have been determined as the first value on the basis of an equilibrium relationship between the driving force and the sum of inertial forces and the driving resistances.

[0018] Advantageous developments of the invention are defined by the features specified in the subclaims.

[0019] According to a further development of the system, the system can, for example, have a non-volatile data memory and the evaluation device can interact with the non-volatile data memory in such a way that the evaluation device a) at the first time (t1), the first value (W1) for the total mass of the vehicle system and the then available first state data (Z1) are read into the non-volatile data memory, and b) at the at least one second time (t2), second state data (Z2) are determined and compared with the first state data (Z1), and if the second state data (Z2) deviate from the first state data (Z1) by more than a permitted deviation, the first value (W1) is rejected and the second value (W2) is estimated or determined, but if the second state data (Z2) deviate from the first state data (Z1) by the permitted deviation or less than the permitted deviation, the first value (W1) is read from the data memory and retained as the valid value for the total mass of the vehicle system,

[0020] The evaluation device of the system can also be further configured to retain the first value (W1) as a valid value for the total mass of the vehicle system even if, between the first time (t1) and the second time (t2), the evaluation device has detected the occurrence of an event that could theoretically have led to a change in the total mass of the vehicle system. The event can be at least one of the following events: at least one ignition change of the towing vehicle, preferably two ignition changes in succession, and / or a period of standstill of the vehicle system that exceeds a predetermined period of standstill of the vehicle system.In other words, this prevents the first value (W1) for the total mass from being retained or continued to be used as an input value for other systems and a new value for the total mass from being estimated or determined, despite the detection of an event which could theoretically have led to a change in the total mass of the vehicle system, but which in fact did not lead to a change in the total mass of the vehicle system.

[0021] An ignition change of the towing vehicle occurs when the towing vehicle's ignition is switched off after it was previously switched on, for example, when a drive motor of the towing vehicle is switched from the "on" to the "off" state. The term "ignition change" or "ignition" should be interpreted broadly because it includes not only towing vehicles with an internal combustion engine as the drive motor, but also those with a combination of an internal combustion engine and an electric motor, as well as towing vehicles that are powered exclusively by an electric motor.

[0022] For example, the evaluation device receives a speed signal from at least one wheel speed sensor of the towing vehicle and / or at least one trailer in order to be able to determine the standstill, and / or the signal from an ignition switch of the towing vehicle.

[0023] A change in loading can also be detected by at least one vibration sensor, which, for example, has a vertical detection direction and can then detect the vibrations triggered by a loading process and feed them into the evaluation device.

[0024] The sensor device of the system may comprise at least the following: a) at least one axle load sensor on at least one axle of the towing vehicle and / or on at least one axle of the at least one trailer, which provides at least one axle load signal as a sensor signal to the evaluation device, and / or b) a trailer detection system, which provides information about the number of trailers coupled to the towing vehicle as a sensor signal to the evaluation device, and / or c) a camera system with at least one camera, which is arranged on the towing vehicle and / or on the at least one trailer in such a way that it provides at least one image signal with information about the number of trailers coupled to the towing vehicle, and / or d) at least one LIDAR sensor or one RADAR sensor, which is arranged on the towing vehicle and / or on the at least one trailer in such a way that it provides at least one signal with information about the number of trailers coupled to the towing vehicle,and / or by e) at least one ultrasonic sensor which is arranged on the towing vehicle and / or on the at least one trailer in such a way that it delivers at least one signal with information about the number of trailers coupled to the towing vehicle.

[0025] In particular, the at least one camera can preferably be arranged on the towing vehicle in such a way that it captures a rear area of the towing vehicle and delivers at least one image signal containing information about the number of trailers coupled to the towing vehicle. This at least one camera can also be a mirror camera arranged in or on a side mirror of the towing vehicle.

[0026] Towing vehicles often have a trailer detection system that generates a trailer detection signal. The evaluation device can use the trailer detection to detect the following in particular: the trailer availability (trailer detected, not detected, detection not available), the detection method, e.g. via current measurement on the CAN ISO11992, PLC, the trailer type (trailer without ABS, with ABS, with EBS), the condition and availability of the trailer (ABS, retarder), the trailer properties, which are transmitted from the trailer to the evaluation device on the towing vehicle, for example via CAN ISO11992, such as the trailer type (semi-trailer, dolly, etc.), the number of axles, the number of coupled trailers, and the trailer geometry (e.g. wheelbase).

[0027] Axle load signals from one or more axle load sensors on the trailer can also be transmitted from the trailer to the evaluation device on the towing vehicle via CAN ISO11992.

[0028] In a third aspect, the invention also relates to a vehicle system which comprises a towing vehicle and optionally at least one trailer coupled to the towing vehicle as well as a braking system or a vehicle control system or a vehicle regulation system and a system as described above, wherein the braking system or the vehicle control system or the vehicle regulation system interacts with the system in such a way that the system supplies the first value W1 and / or the second value W2 for the total mass of the vehicle system to the braking system, the vehicle control system or to the vehicle regulation system.

[0029] The braking system or vehicle control system or vehicle regulation system can in particular comprise an electronically controlled braking system (EBS), a vehicle dynamics control system, a transmission control system, a control system for at least partially autonomous driving and / or a coupling force control system between the towing vehicle and the at least one trailer.

[0030] According to a particularly preferred embodiment of the vehicle system, it can a) comprises a towing vehicle and a semi-trailer coupled to the towing vehicle, wherein the sensor device comprises at least one axle load sensor on a rear axle and / or on a front axle of the towing vehicle, but no axle load sensor is present on the semi-trailer, or b) comprises a towing vehicle without a coupled trailer, wherein the sensor device comprises at least one axle load sensor on a rear axle or on a front axle of the towing vehicle, or c) comprises a towing vehicle and a semi-trailer coupled to the towing vehicle, wherein the sensor device comprises at least one axle load sensor on at least one axle of the semi-trailer, but no axle load sensor is present on the towing vehicle, or d) comprises a towing vehicle with a coupled trailer, which is, for example, not a semi-trailer but a drawbar trailer.

[0031] Especially with these vehicle system configurations, determining the total mass based solely on the axle load signals from the axle load sensors as status data would be too inaccurate, because not all axles are equipped with axle load sensors. Therefore, for example, the total mass is estimated independently of the status data, but the axle load signals are used as status data for the evaluation device's assessment of whether the status data has changed between the first time t1 and the second time t2.

[0032] In case a) above, if, for example, there is only an axle load sensor on the rear axle of the towing vehicle, but no axle load sensor on the front axle or on the axle(s) of the semi-trailer, the axle load sensor on the rear axle of the towing vehicle determines the support load of the semi-trailer. The support load then forms part of the status data and is therefore suitable for assessing whether the load of the towing vehicle-semi-trailer combination has changed or not changed between the first time t1 and the second time t2.

[0033] In case b) above, in which only a towing vehicle but no trailer is present in the vehicle system, and in which the sensor device on a rear axle or on a front axle of the towing vehicle comprises at least one axle load sensor, the measured axle load on the front axle or on the rear axle forms part of the status data and is therefore suitable for assessing whether the load of the towing vehicle has changed or not changed between the first time t1 and the second time t2.

[0034] In case c) above, if there is no axle load sensor on the towing vehicle, but an axle load sensor is present on at least one axle of the semi-trailer, the axle load signals of the axle load sensor(s) of the semi-trailer can be transmitted via a data connection, e.g. via CAN ISO11992, from the semi-trailer to the evaluation device on the towing vehicle and checked there with regard to a possible change in load.

[0035] In cases a), c) and d), the trailer detection and / or the camera device can also be used to determine whether a semi-trailer / trailer has been uncoupled from or coupled to the towing vehicle between the first time t1 and the second time t2.

[0036] According to a further development of the procedure, a) at the first time (t1), the first value (W1) for the total mass of the vehicle system and the then available first state data (Z1) are stored in a non-volatile data memory, and b) at the at least one second time (t2), second state data (Z2) are determined and compared with the first state data (Z1), and if it has been determined that the second state data (Z2) deviate from the first state data (Z1) by more than a permitted deviation, the first value (W1) is discarded and the second value (W2) is estimated or determined, but if it has been determined that the second state data (Z2) deviate from the first state data (Z1) by the permitted deviation or less than the permitted deviation, the first value (W1) is read out from the data memory and retained as a valid value for the total mass of the vehicle system.

[0037] In the method, the first value (W1) can also be retained as a valid value for the total mass of the vehicle system even if the occurrence of an event has been detected between the first time (t1) and the second time (t2), which could theoretically have led to a change in the total mass of the vehicle system. The event can be at least one of the following events: at least one ignition change of the towing vehicle, preferably two ignition changes in succession, and / or a period of standstill of the vehicle system that exceeds a predetermined period of standstill of the vehicle system.

[0038] According to a further development of the method or device, the status data of the vehicle system can be recorded: a) by at least one axle load sensor on at least one axle of the towing vehicle and / or on at least one axle of the at least one trailer, which delivers at least one axle load signal as a sensor signal, and / or b) by a trailer detection system, which delivers information about the number of trailers coupled to the towing vehicle as a sensor signal, and / or c) by a camera device with at least one camera (6), which is arranged on the towing vehicle (2) and / or on the at least one trailer (3) in such a way that it delivers at least one image signal with information about the number of trailers (3) coupled to the towing vehicle (2), and / or d) by at least one LIDAR sensor or one RADAR sensor, which is arranged on the towing vehicle and / or on the at least one trailer in such a way that it delivers at least one signal with information about the number of trailers coupled to the towing vehicle,and / or by e) at least one ultrasonic sensor which is arranged on the towing vehicle and / or on the at least one trailer in such a way that it delivers at least one signal with information about the number of trailers coupled to the towing vehicle, and / or ,

[0039] In particular, the at least one camera can preferably be arranged on the towing vehicle in such a way that it captures a rear area of the towing vehicle and delivers at least one image signal containing information about the number of trailers coupled to the towing vehicle. This at least one camera can also be a mirror camera arranged in or on a side mirror of the towing vehicle. Drawings

[0040] Embodiments of the invention are illustrated in the drawing and explained in more detail in the following description. The drawing shows Fig. 1 shows a schematic representation of a system for computer-assisted estimation or determination of a value for the total mass of a vehicle system according to a preferred embodiment; Fig. 2 shows a flow chart of a method for computer-assisted estimation or determination of a value for the total mass of a vehicle system according to a preferred embodiment; Fig. 3 shows a vehicle system consisting of a towing vehicle and a semitrailer as a trailer according to a first embodiment, which is connected to the system according to Fig. 1 Fig. 4 a vehicle system consisting of a towing vehicle and a semi-trailer as a trailer according to a second embodiment, which is equipped with the system according to Fig. 1 is equipped. Description of the embodiments

[0041] Fig. 1shows a schematic representation of a system 1 for computer-assisted estimation or determination of a value for the total mass of a vehicle system 5 according to a preferred embodiment. The vehicle system 5 comprises a towing vehicle alone or a towing vehicle 2 with at least one trailer 3 coupled to the towing vehicle, as in Fig. 3 and Fig. 4 is shown.

[0042] The system 1 has a sensor device 4 which is designed such that its sensor signals represent status data of the vehicle system 5, which change depending on a load of the vehicle system 5 and on a number of trailers 3 coupled to the towing vehicle 2 and on the basis of which it can be recognized whether a load of the vehicle system 5 and a number of trailers 3 coupled to the towing vehicle 2 have changed or not changed between a first time t1 and at least one second time t2 which is later than the first time t1.

[0043] In the embodiment of Fig. 3 The sensor device 4 has, for example, a camera 6, which is arranged on the towing vehicle 2 in such a way that it detects a rear area of the towing vehicle 2 and which supplies image signals to an electronic evaluation device 7, which is arranged, for example, on or in the towing vehicle, from which image signals the evaluation device 7 can extract information about the number of trailers 3 coupled to the towing vehicle 2. In the present case, the evaluation device 7 therefore extracts from the image signals of the camera 6 the information that a trailer 3, in particular a semi-trailer, is coupled to the towing vehicle 2. The towing vehicle 2 here has, for example, a front axle and a rear axle, and the semi-trailer 3 has two rear axles.

[0044] Furthermore, the sensor device 4 comprises, when carrying out Fig. 3at least one rear axle load sensor 8 on the rear axle and one front axle load sensor 9 on the front axle of the towing vehicle 2, wherein the rear axle load sensor 8 delivers a rear axle load signal to the evaluation device 7, which contains information about the current rear axle load, and the front axle load sensor 9 delivers a front axle load signal, which contains information about the current front axle load. The semi-trailer 3 preferably does not have an axle load sensor here.

[0045] In addition or alternatively to the camera 6, the sensor device can be used when executing Fig. 3 also include a trailer detection system, the trailer detection signal of which, here for example an ABS signal, which is supplied for example via CAN ISO11992 from the semi-trailer 3 to the evaluation device 7 in the towing vehicle, then also transmits the information to the evaluation device 7 that a semi-trailer 3 is coupled.

[0046] The information about the current front axle load, the current rear axle load, and the semitrailer 3 coupled to the towing vehicle 2 constitutes status data of the vehicle system 5, which the evaluation device 7 then evaluates. This evaluation means that the evaluation device 7 can use the status data to determine whether the load of the vehicle system 5 and the number of trailers 3 coupled to the towing vehicle 2 have changed or not changed between the first time t1 and the second time t2.

[0047] Thanks to an integrated time counter, the evaluation device 7 can also detect the first time t1 and the second time t2 in their temporal sequence. The first time t1 and the second time t2 are arbitrary points in time and are only relevant with regard to a temporal sequence.

[0048] If, for example, the camera 6 has detected the semi-trailer 3 at the first time t1, but no longer at the second time t2, the evaluation device 7 evaluates the corresponding image signals of the camera 6 in such a way that the number of coupled trailers 3 has changed between the first time t1 and the second time t2, namely from 1 to zero.

[0049] Furthermore, the evaluation device 7 can use the rear axle and front axle load signals to determine whether the total mass of the vehicle system 5 has changed between the first time t1 and the second time t2. This is because increasing the load of the semitrailer 3 alone would lead to an increase in at least the rear axle load of the towing vehicle 2, as this would increase the support load of the semitrailer at the support point of the towing vehicle 2 above the rear axle. On the other hand, increasing the load of the towing vehicle 2 would also lead to a change in the rear axle load and the front axle load, which would in turn be detectable by a changed rear axle load signal and a changed front axle load signal.

[0050] Furthermore, estimation routines are implemented in the evaluation device 7, which, in particular, independently of the state data at the first time t1, estimate a first value W1 for the total mass of the vehicle system as part of a first estimate. This is achieved, for example, by estimating the total mass as the first value W1 in a driving cycle, i.e., with the vehicle system 5 moving, based on an equilibrium relationship between the drive force and the sum of the inertial forces and the drive resistances.

[0051] Routines are also implemented in the electronic evaluation device 7 which, at the second time t2, maintain the first value W1 as the valid value for the total mass of the vehicle system or use it as an initial value for a further determination or estimation of the total mass of the vehicle system 5 if they have recognized, based on the status data, that between the first time t1 and the second time t2, neither a (significant) change in the load of the vehicle system 5 nor a change in the number of trailers 3 coupled to the towing vehicle 2 has occurred. Of course, no change in the load is to be understood within a certain tolerance range.

[0052] Otherwise, if the routines of the evaluation device 7 have recognized on the basis of the status data that a change in the load of the vehicle system 5 and / or a change in the number of trailers 3 coupled to the towing vehicle 2 has occurred between the first time t1 and the second time t2, then the evaluation device 7 estimates a second value W2 for the total mass of the vehicle system 5 in a second estimate following the first estimate, likewise in particular independently of the status data, and rejects the first value W1 because it is then too inaccurate due to the change in the status data that has occurred in the meantime.

[0053] In the embodiment of Fig. 4 includes compared to the embodiment of Fig. 3The sensor device does not have a camera 6 or a front axle load sensor 9 on the front axle, but only at least one rear axle load sensor 8 on the rear axle. The semi-trailer 3 preferably also does not have an axle load sensor.

[0054] The rear axle load sensor 8 then has a dual function in that, on the one hand, it provides the evaluation device 7 with information via its rear axle load signal about whether a semitrailer 3 is coupled to the towing vehicle 2. This is because the rear axle load sensor 8 can then provide information about the support load of the semitrailer 3 in its rear axle load signal and thus also information about whether the number of trailers 3 coupled to the towing vehicle 2 has changed or not changed between the first time t1 and the second time t2. On the other hand, the rear axle load sensor 8 can also provide the evaluation device 7 with information about whether the load of the vehicle system 5 has changed or not changed between the first time t1 and the second time t2.

[0055] Fig. 2shows a flowchart of the method for computer-assisted estimation or determination of a value for the total mass of a vehicle system 5 according to a preferred embodiment. In a step 100, the evaluation device 7 estimates the first value W1 for the total mass of the vehicle system 5 at the first time t1. Furthermore, in a step 200, the state data at the first time t1 are acquired by the sensor device 4, for example as described above, and fed into the evaluation device 7.

[0056] In a step 300, the evaluation device 7 then checks whether the status data have changed between the first time t1 and the second time t2, i.e., whether sensor signals are present that indicate a change in the load of the vehicle system 5 and / or a change in the number of trailers 3 coupled to the towing vehicle 2 between the first time t1 and the second time t2. If this is the case ("Yes"), the evaluation device 7 rejects the first value W1, which is then too imprecise and cannot form an initial value for a second estimate, and estimates a second value W2 for the total mass of the vehicle system 5 in a step 400 as part of a second estimate. If this is not the case ("No"), the evaluation device 7 retains the first value W1 as the valid value for the total mass of the vehicle system 5 in a step 500 and then preferably does not perform any further estimation.

[0057] The routines of the evaluation device 7 can also be designed such that they retain the first value W1 as the valid value W1 for the total mass of the vehicle system 5 or use the first value W1 as an initial value for a further estimation of the total mass, even if the evaluation device 7 has determined the occurrence of an event between the first time t1 and the second time t2, which could theoretically have led to a change in the total mass of the vehicle system 5.

[0058] Such an event can be, for example, an ignition change of the towing vehicle 2, when, for example, a drive engine of the towing vehicle 2 is switched from the "on" state to the "off" state or in the reverse order.

[0059] For example, it is assumed that in a first driving cycle at the time t1, at which the drive engine of the towing vehicle is in the "on" state, the evaluation device 7 has estimated the first value W1 for the total mass of the vehicle system and stored it in a non-volatile data memory 10 together with the state data present at the time t1, as in Fig. 1 is shown. Since the data memory 10, e.g., an EEPROM, is non-volatile, the first value W1 for the total mass and the status data of the vehicle system 5 at time t1 are retained, even if an ignition change from "on" to "off" occurs, for example, when the vehicle system 5 is parked.

[0060] If the vehicle system 5 has been braked from a driving state to a standstill and then an ignition change from the "on" state to the "off" state has taken place, one could actually expect that the stationary and parked vehicle system 5 would be loaded or unloaded during such an ignition change.

[0061] However, if at time t2, i.e. when the drive motor of the towing vehicle is switched from the "off" state back to the "on" state, the evaluation device 7 reads the state data determined and stored at time t1 from the data memory 10 again and compares them with the state data newly supplied by the sensor device 4 at time t2.

[0062] If the status data relating to the first time t1 and the second time t2 do not then deviate (significantly) from one another, the evaluation device 7 reads the first value W1 from the data memory 10 and defines it as a valid value for the total mass of the vehicle system 5, even though the event of the ignition change, for example, from "on" to "off" and from "off" to "on", has justified the assumption that between the time t1 and the time t2 the vehicle system 5 has been loaded or unloaded and / or the number of trailers 3 coupled to the towing vehicle 2 has changed.

[0063] If, however, the state data relating to the first time t1 and the second time t2 differ (significantly) from one another following the double ignition change, this is an indication that the first value W1 is too inaccurate, so that the evaluation device 7 discards the first value W1, e.g. by deleting it from the data memory 10, and begins estimating a new, second value W2 for the total mass of the vehicle system 5 within the subsequent second driving cycle.

[0064] In a further example, the event consists, for example, in the fact that a period of a detected standstill of the vehicle system 5 has exceeded a predetermined period of standstill of the vehicle system 5. Here, too, it can be assumed that between the time t1, at which the vehicle system 5 has been braked to a standstill starting from a driving state, and the time t2, at which the vehicle system 5 is set in motion again from a standstill, the vehicle system 5 has been loaded or unloaded (e.g. with the drive engine running) and / or the number of trailers 3 coupled to the towing vehicle 2 has changed.

[0065] In other words, this prevents the first value W1 for the total mass from being retained or continued to be used as an input value for other systems and a new value for the total mass from being estimated or determined, despite the evaluation device 7 detecting at least one event which theoretically could have led to a change in the total mass of the vehicle system 5 but which actually did not lead to a change in the total mass of the vehicle system 5.

[0066] To detect such an event, the evaluation device 7 receives, for example, a speed signal from at least one wheel speed sensor of the towing vehicle 2 and / or the trailer 3 in order to be able to determine the standstill or the travel, and / or the signal from an ignition switch of the towing vehicle 2.

[0067] In the exemplary embodiments described above, a trailer is coupled to the towing vehicle 2 and together with it forms the vehicle system. However, the vehicle system can also comprise the towing vehicle 2 and several trailers 3, or even just the towing vehicle 2. The system according to the invention can therefore be combined with all possible vehicle systems. List of reference symbols

[0068] 1System 2Towing vehicle 3Trailer 4Sensor device 5Vehicle system 6Camera 7Evaluation device 8Rear axle load sensor 9Front axle load sensor 10Data memory 100-500Procedure steps W1First value W2Second value t1First time t2Second time Z1First status data Z2Second status data

Claims

1. System (1) for the computer-aided estimation or determination of a value for the total mass of a vehicle system (5), which comprises a towing vehicle (2) and, if necessary, at least one trailer (3) coupled with the towing vehicle (2), characterized in that the system a) has a sensor device, which is configured so that its sensor signals represent physical data of the vehicle system, which varies as a function of a loading of the vehicle system and a number of trailers coupled with the towing vehicle and on the basis of which it can be detected whether a loading of the vehicle system and a number of trailers coupled with the towing vehicle have changed or not changed between a first point in time (t1) and at least one second point in time (t2) later than the first point in time (t1), and b) has an processing device, which is configured such that, in particular independently of the physical data, it estimates or determines a first value (W1) for the total mass of the vehicle system at a first point in time (t1) as part of a first estimation or determination, wherein c) the processing device is further configured so that it can detect, on the basis of the physical data, whether the loading of the vehicle system and the number of trailers coupled with the towing vehicle have changed or not between the first point in time (t1) and the at least one second point in time (t2), and in that d) the processing device is further configured such that it - maintains the first value (W1) as the valid value for the total mass of the vehicle system or uses it as an initial value for a further determination or estimation of the total mass of the vehicle system, if it has detected, on the basis of the physical data, that between the first point in time (t1) and the second point in time (t2) no significant change in the loading of the vehicle system (5) and no change in the number of trailers (3) coupled with the towing vehicle (2), but - as part of a second estimation or determination subsequent to the first estimation or determination estimates or determines a second value (W2) for the total mass of the vehicle system (5), in particular independently of the physical data, and discards the first value (W1) if it has detected on the basis of the physical data that a change in the loading of the vehicle system (5) and / or a change in the number of trailers (3) coupled with the towing vehicle (2) has occurred between the first point in time (t1) and the second point in time (t2).

2. System according to claim 1, characterized in that it includes a non-transitory data memory (10) and the processing device (7) cooperate with the non-transitory data memory (10) so that the processing device (7) a) at the first point in time (t1) reads the first value (W1) for the total mass of the vehicle system (5) and the first physical data (Z1) then present into the non-transitory data memory, and b) at the at least one second point in time (t2) determines second physical data (Z2) and compares it with the first physical data (Z1), and if - the second physical data (Z2) deviates from the first physical data (Z1) by more than a permitted deviation, discards the first value (W1) and estimates or determines the second value (W2), but if - the second physical data (Z2) deviates from the first physical data (Z1) by the permitted deviation or less than the permitted deviation, reads the first value (W1) from the data memory (10) and maintains or uses it as a valid value for the total mass of the vehicle system (5).

3. System according to claim 1 or 2, characterized in that the processing device (7) is further configured such that it also maintains or uses the first value (W1) as the valid value for the total mass of the vehicle system (7), even if, between the first point in time (t1) and the second point in time (t2), the processing device (7) has detected the occurrence of an event, which could theoretically have led to a change in the total mass of the vehicle system (5).

4. System according to claim 3, characterized in that the event is at least one of the following events: a) at least one ignition change of the towing vehicle (2), b) a idle period of the vehicle system (5), which exceeds a predetermined idle period of the vehicle system (5).

5. System according to any one of the preceding claims, characterized in that the sensor device (4) a) comprises at least one axle load sensor (8, 9) on at least one axle of the towing vehicle (2) and / or on at least one axle of the at least one trailer (3), which supplies at least one axle load signal as a sensor signal of the processing device (7), and / or b) comprises a trailer detection, which provides the processing device (7) with information about the number of trailers (3) coupled with the towing vehicle (2) as a sensor signal, and / or c) comprises a camera device with at least one camera (6), which is arranged at the towing vehicle (2) and / or at the at least one trailer (3) so that it provides at least one image signal with information about the number of trailers (3) coupled with the towing vehicle (2), and / or d) at least one LIDAR sensor or RADAR sensor, which is arranged at the towing vehicle (2) and / or at the at least one trailer (3) so that it provides at least one signal with information regarding the number of trailers (3) coupled with the towing vehicle (2), and / or by e) at least one ultrasound sensor, which is arranged at the towing vehicle (2) and / or at the at least one trailer (3) so that it provides at least one signal with information regarding the number of trailers (3) coupled with the towing vehicle (2).

6. Vehicle system (5), which comprises a towing vehicle (2) and, if necessary, at least one trailer coupled with the towing vehicle (2), characterised in that it comprises a braking system or a vehicle control system or a vehicle regulation system and a system (1) according to any one of the preceding claims, wherein the braking system or the vehicle control system or the vehicle regulation system cooperates with the system (1) so that the system (1) supplies the first value (W1) and / or the second value (W2) for the total mass of the vehicle system (5) to the braking system, the vehicle control system or the vehicle regulation system.

7. Vehicle system (5) according to claim 6, characterized in that the brake system or the vehicle control system or the vehicle regulation system comprises an electronically controlled braking system (EBS), a driving drive regulation, a transmission control, a control for at least partially autonomous driving and / or a coupling force regulation between the towing vehicle (2) and the at least one trailer (3).

8. Vehicle system (5) according to claim 6 or 7, characterized in that it comprises a) a towing vehicle (2) and a semi-trailer (3) coupled with the towing vehicle (2), wherein the sensor device (4) comprises at least one axle load sensor on a rear axle and / or on a front axle of the towing vehicle (2), but no axle load sensor is present on the semi-trailer, or b) a towing vehicle (2) without a coupled trailer (3), wherein the sensor device (4) comprises at least one axle load sensor (8, 9) on a rear axle or on a front axle of the towing vehicle (2), or c) a towing vehicle (2) and a semi-trailer (3) coupled with the towing vehicle, wherein the sensor device comprises at least one axle load sensor on at least one axle of the semi-trailer, but no axle load sensor is provided on the towing vehicle, or d) a towing vehicle (2) with a coupled trailer (3).

9. Method for the computer-aided estimation or determination of a value for the total mass of a vehicle system (5), which comprises a towing vehicle (2) and, if necessary, at least one trailer (3) coupled with the towing vehicle (2), characterized in that in the method a) physical data of the vehicle system (5) is detected, which varies as a function of a loading of the vehicle system (5) and a number of trailers (3) coupled with the towing vehicle (2) and on the basis of which it can be determined whether the loading of the vehicle system (5) and the number of trailers coupled with the towing vehicle (2) has changed or not changed between a first point in time (t1) and at least one second point in time (t2) later than the first point in time (t1), and b) in particular independently of the physical data a first value (W1) for the total mass of the vehicle system (5) is estimated or determined as part of a first estimation or determination at a first point in time (t1), wherein - the first value (W1) is maintained as a valid value for the total mass of the vehicle system (5) or is used as an initial value for a further determination or estimation of the total mass of the vehicle system (5), if it has been detected on the basis of the physical data that no significant change in the loading of the vehicle system (5) and no change in the number of trailers (3) coupled with the towing vehicle (2) has occurred between the first point in time (t1) and the second point in time (t2), but - as part of a second estimation or determination subsequent to the first estimation or determination, a second value (W2) for the total mass of the vehicle system (5) is estimated or determined, in particular independently of the physical data, and the first value (W1) is discarded, if, on the basis of the physical data, it has been determined that a change in the loading of the vehicle system (5) and / or a change in the number of trailers (3) coupled with the towing vehicle (2) has occurred between the first point in time (t1) and the second point in time (t2).

10. Method according to claim 9, characterized in that a) at the first point in time (t1) the first value (W1) for the total mass of the vehicle system (5) and the first physical data (Z1) then present are stored in a non-transitory data memory (10), and b) at the at least one second point in time (t2) second physical data (Z2) are determined and compared with the first physical data (Z1), - and if it has been determined that the second physical data (Z2) deviates from the first physical data (Z1) by more than a permitted deviation, the first value (W1) is discarded and the second value (W2) is estimated or determined, - but if it is determined that the second physical data (Z2) deviates from the first physical data (Z1) by the permitted deviation or less than the permitted deviation, the first value (W1) is read from the memory (10) and maintained or used as the valid value for the total mass of the vehicle system (5).

11. Method according to claim 9 or 10, characterized in that the first value (W1) is also maintained or used as the valid value for the total mass of the vehicle system (5), if the occurrence of an event has been detected between the first point in time (t1) and the second point in time (t2) which could theoretically have caused a change in the total mass of the vehicle system (5).

12. Method according to claim 11, characterized in that the event is at least one of the following events: a) at least one ignition change of the towing vehicle (2), b) a idle period of the vehicle system (5), which exceeds a predetermined idle period of the vehicle system (5).

13. Method according to any one of claims 9 to 12, characterized in that the physical data of the vehicle system (5) is detected by: a) at least one axle load sensor (8, 9) on at least one axle of the towing vehicle (2) and / or on at least one axle of the at least one trailer (3), which provides at least one axle load signal as a sensor signal, and / or b) a trailer detection, which provides information regarding the number of trailers (3) coupled with the towing vehicle (2), and / or c) a camera device with at least one camera (6), which is arranged at the towing vehicle (2) and / or at the at least one trailer (3) so that it provides at least one image signal with information regarding the number of trailers (3) coupled with the towing vehicle (2), and / or d) at least one LIDAR sensor or RADAR sensor, which is arranged at the towing vehicle (2) and / or at the at least one trailer (3) so that it provides at least one signal with information regarding the number of trailers (3) coupled with the towing vehicle (2), and / or by e) at least one ultrasound sensor, which is arranged at the towing vehicle (2) and / or at the at least one trailer (3) so that it provides at least one signal with information regarding the number of trailers (3) coupled with the towing vehicle (2).