Method for monitoring a space to the rear and / or a space to the sides for a multiple-unit vehicle combination, in particular a utility-vehicle combination, computer program and / or computer-readable medium, control device, trailer, tractor vehicle, and multiple-unit vehicle combination, in particular utility-vehicle combination

Abstract

The invention relates to a method (400) for monitoring a space to the rear (300) and / or a space to the sides (301, 302) for a multiple-unit vehicle combination (200a), in particular a utility-vehicle combination (200b), comprising a trailer (250) which has a camera (101, 102) which is arranged in a front region (254) of the trailer (250) for monitoring the space to the rear (300) and / or the space to the sides (301, 302), and a tractor vehicle (240) having a mirror replacement system (247), the method (400) comprising: acquiring (410) visibility information (501) relating to the visibility of the trailer (250), of the space to the rear (300) and / or of the space to the sides (301, 302); determining (420) display information (502) on the basis of the visibility information (501); and outputting (430) a control signal (510) for outputting image data (515) from the camera (101, 102) on an output device (245) on the basis of the display information (502).

Description

[0001] Method for monitoring a rear space and / or a side space for a multi-unit vehicle combination, in particular a commercial vehicle combination, computer program and / or computer-readable medium, control unit, trailer, towing vehicle and multi-unit vehicle combination, in particular a commercial vehicle combination

[0002] The invention relates to a method for monitoring a rear space and / or a side space for a multi-unit vehicle combination, in particular a commercial vehicle combination, comprising a trailer with a camera arranged at a front area of ​​the trailer for monitoring the rear space and / or the side space and a towing vehicle with a mirror replacement system.The invention also relates to a computer program and / or computer-readable medium, a control device for a multi-unit vehicle combination, in particular a commercial vehicle combination, comprising a trailer with a camera arranged at a front region of the trailer for monitoring a rear space and / or a side space and a towing vehicle for monitoring the rear space and / or the side space, a trailer for a multi-unit vehicle combination, in particular a commercial vehicle combination, comprising the trailer and a towing vehicle, with a camera for monitoring a rear space and / or a side space, a towing vehicle for a multi-unit vehicle combination, in particular a commercial vehicle combination, comprising such a trailer and the towing vehicle, and a multi-unit vehicle combination, in particular a commercial vehicle combination.

[0003] Monitoring the side and / or rear areas of a multi-unit vehicle combination, in particular a commercial vehicle combination, is a safety feature for the vehicle combination, in particular a commercial vehicle combination, that facilitates reversing with the vehicle combination, in particular a commercial vehicle combination. Monitoring the side and / or rear areas can reduce the risk of damage and / or accidents caused by the driver's lack of visibility of the side and / or rear areas.

[0004] A reversing information system (RelS) or reversing assistant system according to the General Safety Regulation (GSR) (REGULATION (EU) 2019 / 2144 OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of November 27, 2019) requires either a camera image from a rear-facing camera or a detection and warning system. Camera images are preferred by drivers over other assistance systems because a visual assessment of the situation provides a driver with more options for action.

[0005] Camera arrangements for vehicles are known from the state of the art.

[0006] For example, so-called surround view systems are well known. Such a surround view system can monitor the entire area around the rear of the vehicle, for example the trailer. Both a composite overall image and individual images that can be switched between depending on the driving situation can be provided. However, such a surround view system requires a central display. In contrast, drivers are accustomed to using rear-view mirrors or mirror replacement systems, whose monitors are usually located near a corresponding A-pillar. In order to display image data from the surround view system simultaneously, "stitching" takes place, i.e., combining image data from several cameras. However, the "stitched" view of a surround view system takes some getting used to. Interpreting such a "stitched" display requires practice and experience.Furthermore, the SurroundView system's detection range is not standardized. When changing trailers and thus cameras, different viewing angles can be confusing. Ultimately, it's possible that hazards may not be correctly detected due to the unfamiliar display and the display principle.

[0007] In addition to surround-view systems, other side-mounted sensors such as ultrasound and / or radar may also be suitable for generating warnings of maneuvering damage. US 5,027,200 discloses a device that enables viewing of traffic or other conditions behind and to the side of a motor vehicle from opposite sides. The device includes a video camera structure mounted on the vehicle and directed sideways relative to the vehicle, and a CRT (cathode-ray tube) structure operatively connected to the camera structure for displaying a camera output on a CRT screen zone or zones, the CRT screen zone or zones being visible to the driver to enhance viewing of the rear and side of the vehicle.

[0008] DE 10 2008 039 649 A1 discloses an environment detection device for observing the environment of an articulated vehicle. The environment detection device comprises at least one camera that can be arranged on a rear vehicle member, a display unit arranged in a front vehicle member for displaying images captured by the at least one camera, and a mobile quick-attachment device for attaching the at least one camera to different rear vehicle members. Automatic image switching is provided, which selects the camera on the blind spot side of the articulated vehicle when reversing. This advantageously displays the blind spot area to the driver when reversing, particularly when maneuvering. The display unit is designed as a screen in the driver's cab that is visible to the driver.

[0009] Also according to the state of the art, stitching and / or a central display is used to enable the driver to monitor a side and / or rear area.

[0010] The invention is therefore based on the object of enriching the state of the art and providing improved monitoring of a side and / or rear space. In particular, an embodiment of the invention can solve the problem of enabling more reliable monitoring of a side and / or rear space and providing a display for monitoring the side and / or rear space in a manner that is intuitively accessible to the user. This object is achieved by a method according to claim 1 and the subject matter according to the further independent claims. The subclaims specify optional developments of the invention.

[0011] According to one aspect of the invention, a method for monitoring a rear space and / or a side space for a multi-unit vehicle combination, in particular a commercial vehicle combination, is provided. The vehicle combination comprises a trailer with a camera arranged at a front region of the trailer for monitoring the rear space and / or the side space of the trailer, and a towing vehicle with a mirror replacement system. The method comprises: detecting recognizability information relating to the recognizability of the trailer, the rear space, and / or the side space; determining display information based on the recognizability information; and outputting a control signal for outputting image data from the camera to an output device of the towing vehicle based on the display information.

[0012] The vehicle combination, especially the commercial vehicle combination, is referred to here and below as the "vehicle combination." The vehicle combination consists of several units and includes the trailer and the towing vehicle.

[0013] The towing vehicle includes the mirror replacement system and the output device. The driver of the vehicle combination is accustomed to using the mirror replacement system instead of a mirror and / or in addition to a mirror to monitor the side and / or rear area of ​​the towing vehicle. For this purpose, the output device is configured to display a visually perceptible output for the driver of the vehicle combination.

[0014] The trailer has the front area. The front area is a section of the trailer that is closer to the tractor than, for example, the rear area when the tractor and trailer form a multi-unit vehicle combination. The camera for monitoring the rear area and / or the side area of ​​the trailer is arranged in the front area. The camera is configured to capture image data relating to the rear area and / or the side area.

[0015] In order to ensure that the camera's image data can be appropriately displayed to the driver of the vehicle combination, the detectability information is recorded. This detectability information can relate to the detectability of the trailer, the area behind the vehicle, and / or the side area related to the user and / or the mirror replacement system. It has been recognized that the detectability of the trailer, for example, by the mirror replacement system, results in sections of the side and / or rear area being obscured by the trailer and thus cannot be detected by the mirror replacement system.

[0016] The display information is determined based on the recognizability information. To determine the display information, the recognizability information is evaluated.

[0017] The display information can be used to determine which image data is to be output by the output device and how. In the case of the mirror replacement system, the image from the trailer's camera can be made available as soon as, for example, the rear end of the trailer is no longer visible in the mirror replacement system.

[0018] Based on the display information, the control signal for outputting image data from the camera to the mirror replacement system's output device is output. The control signal causes the image data captured by the camera to be displayed on the output device. The driver can optionally view the image data from a familiar location, with the image data showing a familiar perspective of the side and / or rear view.

[0019] The invention provides the effect that the camera in the front area of ​​the trailer operates with a "viewing direction" or a detection range like a camera-based mirror replacement system and can be arranged at the level of the trailer's front wall and aligned along the trailer, i.e., to the rear. The camera thus has the same viewing direction that the driver is familiar with from a prescribed mirror or an approved mirror replacement system. The perspective is intuitively accessible to the driver. In particular, if the trailer swerves out and prevents a view of one side of the trailer, the view of the camera mounted on the trailer can be shown in the towing vehicle by the display device. The trailer's camera can therefore be described as an extension of the "mirror view."

[0020] Optionally, the detectability information includes a kink angle. Alternatively or additionally, the detectability information includes movement data relating to the movement of the towing vehicle for determining the kink angle. The kink angle refers to the angle enclosed between the direction of travel of the towing vehicle or the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer. It was recognized that the kink angle has a decisive influence on the visibility of the area to the side and / or rear. As the kink angle increases, the user's view and / or the detection range of the mirror replacement system can increasingly be obscured by the trailer and in particular by its front end facing the towing vehicle. It was also recognized that the kink angle can be measured directly, for example using a sensor, and can thus be recorded effectively.Alternatively or additionally, the articulation angle can be calculated or determined based on the movement data. The vehicle's movement, particularly the steering wheel angle and speed, can be used to determine the articulation angle, which leads to areas to the side and / or rear of the trailer that cannot be seen.

[0021] Optionally, the display information is determined depending on a predetermined condition relating to the articulation angle. It was recognized that switching from the mirror replacement system to the trailer camera can occur as soon as the articulation angle between the towing vehicle and the trailer exceeds a certain value. The predetermined condition can include the articulation angle value and a comparison of the measured articulation angle with the value.

[0022] Optionally, the recognizability information includes mirror-replacement image data captured by the mirror-replacement system. The recognizability information may include the fact that the mirror-replacement system is able to identify a front end of the trailer, thus obscuring the end of the trailer. The recognizability information can be effectively determined, for example, by object detection in the mirror-replacement image data.

[0023] Optionally, the display information is determined based on whether a front end of the trailer and / or which section of the front end is depicted in the mirror image data. This makes it possible, for example, to monitor a section of the side and / or rear area located to the right or left in the direction of travel in a differentiated manner.

[0024] According to a further aspect of the invention, a computer program and / or computer-readable medium is provided. The computer program and / or computer-readable medium comprises instructions that, when executed by a computer, cause the computer to perform the method described here and / or the steps of the method described here. The computer program and / or computer-readable medium may comprise instructions to perform a step of the method described as optional in order to achieve a corresponding technical effect.

[0025] According to one aspect of the invention, a control unit is provided for a multi-unit vehicle combination, in particular a commercial vehicle combination, comprising a trailer with a camera arranged at a front area of ​​the trailer for monitoring a rear area and / or a side area, and a towing vehicle for monitoring the rear area and / or the side area. The control unit is configured to carry out the method described above. The control unit can be configured to carry out a step of the method described as optional in order to achieve a corresponding technical effect.

[0026] Optionally, the control unit is a control unit of the towing vehicle. The control unit of the towing vehicle is thus configured to carry out the method described above. A powerful control unit for the trailer is therefore unnecessary. It may therefore be sufficient for the trailer to have a data processing device that provides an interface to the control unit. The data processing device is configured to transmit image data to the towing vehicle. The control unit can, for example, request the acquisition of image data by the camera using a control signal. Alternatively, the control unit can also receive image data without a request from the towing vehicle's control unit. The trailer can also continuously send the camera data or image data to the towing vehicle's control unit without a request from the towing vehicle's control unit.

[0027] According to one aspect of the invention, a trailer for a multi-unit vehicle combination comprising the trailer and a towing vehicle, in particular a commercial vehicle combination, is provided, comprising a camera arranged in a front region of the trailer for monitoring a rear area and / or a side area. The trailer has a data processing device for transmitting image data to the towing vehicle, and the data processing device is configured to receive a control signal from the towing vehicle for outputting image data from the camera to an output device. Furthermore, it is disclosed that the trailer is configured to continuously send image data to the towing vehicle without receiving a control signal, wherein the towing vehicle is configured to perform all display controls.

[0028] The trailer is thus configured to provide the camera for performing the method described above. The trailer may have two cameras, wherein a first of the two cameras is arranged and configured to monitor a left-side space and a second of the two cameras is arranged and configured to monitor a right-side space. The trailer may have a rearview camera for monitoring the rear space.

[0029] According to one aspect of the invention, a towing vehicle is provided for a multi-unit vehicle combination, in particular a commercial vehicle combination, comprising the above-described trailer and the towing vehicle. The towing vehicle has the above-described control unit and a mirror replacement system with an output device. The towing vehicle is thus configured to carry out the above-described method. The mirror replacement system can have two mirror replacement cameras, wherein a first of the two mirror replacement cameras is arranged and configured to monitor a left-hand side space, and a second of the two mirror replacement cameras is arranged and configured to monitor a right-hand side space.The mirror replacement system may comprise two mirror replacement output devices, wherein a first of the two mirror replacement output devices is configured to output mirror replacement image data of the first mirror replacement camera and a second of the two mirror replacement output devices is configured to output mirror replacement image data of the second mirror replacement camera.

[0030] Optionally, the mirror replacement system includes a mirror replacement output device, and the output device is different from the mirror replacement output device. In other words, in this embodiment, a further output device can be provided. The output device can be arranged near the mirror replacement output device. The output device can be provided exclusively for the image data from the trailer's camera and cannot affect the mirror replacement system. This allows compliance with legal requirements regarding the mirror replacement system.

[0031] Optionally, the mirror replacement system has a mirror replacement output device, and the output device includes the mirror replacement output device. In other words, the image data from the trailer's camera and / or the mirror replacement image data can be displayed on a common output device or mirror replacement output device. This eliminates the need for a separate output device for outputting the image data from the trailer's camera.

[0032] Optionally, the output device is configured to simultaneously output image data from the camera and from a rear-view camera. In other words, the output device can be used for the image data from the trailer camera and the image data from the rear-view camera (split screen). This displays the entire rear area, which would otherwise not be visible, in a manner familiar to the driver. For example, a monitor on a right-hand A-pillar displays the right side of the trailer in the upper monitor area. The video from the rear-view camera is shown in the lower monitor area. A monitor on a left-hand A-pillar displays the left side of the trailer in the upper monitor area. The video from the rear-view camera is shown in the lower monitor area.

[0033] Optionally, the control unit is configured to perform a blending of the image data from the camera and the mirror-replacement image data. For example, if the use of the mirror-replacement output device is permitted for blending onto the image data from the trailer's camera, the mirror-replacement image data and the image data from the trailer's camera can be monitored simultaneously to prevent damage that could be caused, for example, by a protruding trailer front end.

[0034] According to one aspect of the invention, a multi-unit vehicle combination, in particular a commercial vehicle combination, is provided. The vehicle combination, in particular a commercial vehicle combination, comprises the above-described towing vehicle and the above-described trailer.

[0035] Optionally, the multi-unit vehicle combination, in particular a commercial vehicle combination, includes a communication interface for transmitting information between the control unit of the towing vehicle and the data processing device of the trailer. The communication interface can be used to control the camera and / or transmit image data. Optionally, image data from multiple cameras can be transferred via a common, in particular standardized, data line, thereby simplifying cabling between the cameras and the towing vehicle and avoiding compatibility issues between the towing vehicle (truck) and trailer. Standardized camera service functions can be provided, which the towing vehicle can request as needed.

[0036] Further advantages and features of the invention, as well as their technical effects, will become apparent from the figures and the description of the preferred embodiments shown in the figures. These figures show: Fig. 1 shows a multi-unit vehicle combination, in particular a commercial vehicle combination, according to the prior art with a typical arrangement of damages;

[0037] Fig. 2 shows a multi-unit vehicle combination, in particular a commercial vehicle combination, according to the prior art when driving straight ahead;

[0038] Fig. 3 shows a multi-unit vehicle combination, in particular a commercial vehicle combination, according to the prior art when cornering;

[0039] Fig. 4 shows a multi-unit vehicle combination, in particular a commercial vehicle combination, according to the prior art when driving straight ahead;

[0040] Fig. 5 shows a multi-unit vehicle combination, in particular a commercial vehicle combination, according to the prior art during cornering;

[0041] Fig. 6 shows a multi-unit vehicle combination, in particular a commercial vehicle combination, according to the prior art when cornering;

[0042] Fig. 7 shows a multi-unit vehicle combination, in particular a commercial vehicle combination, according to one aspect of the invention during cornering;

[0043] Fig. 8 is a schematic representation of a multi-unit vehicle combination, in particular a commercial vehicle combination, according to one aspect of the invention;

[0044] Fig. 9 is a schematic representation of a multi-unit vehicle combination, in particular a commercial vehicle combination, according to one aspect of the invention; and

[0045] Fig. 10 is a schematic flow chart of a method according to one aspect of the invention.

[0046] With reference to the figures described below, the multi-unit vehicle combination 200a, in particular the commercial vehicle combination 200b, is also referred to as the vehicle combination 200a, 200b. Such a vehicle combination 200a, 200b comprises a towing vehicle 240 and a trailer 250.

[0047] Figure 1 shows a multi-unit vehicle combination 200a, in particular a commercial vehicle combination 200b, according to the prior art with a typical arrangement of damage 350. Damage analyses of vehicle combinations 200a, 200b according to the prior art show an accumulation of damage 350 at the end of the attached vehicle or trailer 250. It can be seen that an increased number of damages 350 can also be observed on the sides of the trailer 250. The damage 350 shown in Figure 1 occurs at locations that, as described with reference to Figures 2 to 5, are not visible during maneuvering and in particular when reversing with the vehicle combination 200a, 200b steered.

[0048] Figure 2 shows a multi-unit vehicle combination 200, in particular commercial vehicle combination 200b, according to the prior art when driving straight ahead.

[0049] The towing vehicle 240 has two mirror replacement cameras 103, 104. One of the mirror replacement cameras 103 is arranged on the left in the direction of travel F. The other of the mirror replacement cameras 104 is arranged on the right in the direction of travel F. Each of the mirror replacement cameras 103 is oriented opposite the direction of travel F and thus has an observation area 242 directed from the respective mirror replacement camera 103, 104 toward a rear space 300. Due to the arrangement of the mirror replacement cameras 103, 104, a lateral space 301, 302 is arranged in the observation area 242. The lateral space 301, 302 encompasses the trailer 250 or a body 251 of the trailer 250.

[0050] When reversing straight ahead, the rear space 300 of the trailer 250 is not visible, as shown by the hatched area. That is, the rear space 300 is not located within the observation area 242, and a view of the rear space 300 is obscured by the trailer 250. Damage 350 (not shown) in this area is thus explainable. To prevent damage 350, sensor systems can be provided that can warn of objects and even trigger braking intervention in the braking system of the trailer 250.

[0051] Figure 3 shows a multi-unit vehicle combination 200a, in particular a commercial vehicle combination 200b, according to the prior art during cornering. Figure 3 is described with reference to Figure 2. In Figure 3, the towing vehicle 240 has a direction of travel F. The direction of travel F corresponds to a longitudinal axis of the towing vehicle 240. The direction of travel F differs from a longitudinal axis L of the trailer 250. Thus, the vehicle combination 200a, 200b has a bend angle 210. The bend angle 210 describes the difference between the orientation of the direction of travel F, i.e., the longitudinal axis of the towing vehicle 240, and the longitudinal axis L of the trailer 250.

[0052] The articulation angle 210 changes the non-visible area of ​​the side space 301, 302 and / or the rear space 300, illustrated by the hatching. On the right side of the towing vehicle 240 in the direction of travel F, the right side space 301 and the right side of the trailer 240 can be captured by the mirror replacement camera 103. However, a front side 252 of the body 251 of the trailer 250 arranged in the direction of travel F obscures the clear view of the left side area 302, as shown by a dotted line within the hatched area.

[0053] Thus, non-visible areas can explain damage 350 (not shown in Figure 3) on the sides of the trailer 250, which occurs during shunting due to the articulation angle 210 between the towing vehicle 240 and the trailer 250.

[0054] Figure 4 shows a multi-unit vehicle combination 200a, in particular commercial vehicle combination 200b, according to the prior art when driving straight ahead.

[0055] The vehicle combination 200a, 200b has a rearview camera 110 for monitoring the rear area 300. This allows the rear area 300 to be made available to both the driver and an automated system, particularly with a wide-angle lens. Via an interface for digital data transmission of image data and / or video data, data is transmitted to the towing vehicle 240 and fed to a display and / or evaluation system.

[0056] Figure 5 shows a multi-unit vehicle combination 200a, in particular a commercial vehicle combination 200b, according to the prior art during cornering. Figure 5 shows the situation described with reference to Figure 3, wherein the vehicle combination 200a, 200b has the rearview camera 110 as described with reference to Figure 4. However, the centrally mounted rearview camera 110 does not fully enable monitoring of the lateral space 301, 302, as illustrated by the hatched area.

[0057] Figure 6 shows a multi-unit vehicle combination 200a, in particular a commercial vehicle combination 200b, according to the prior art, cornering. The vehicle combination 200a, 200b has a plurality of side cameras 111 and a rearview camera 110. Thus, the vehicle combination 200a, 200b provides a surround-view system. This allows the side space 301, 302 and the rear space 300 to be monitored, but in a manner that is not intuitively accessible to the user.

[0058] Figure 7 shows a multi-unit vehicle combination 300a, in particular commercial vehicle combination 300b, according to one aspect of the invention during cornering.

[0059] The vehicle combination 200a, 200b comprises a towing vehicle 240 and a trailer 250. The towing vehicle 240 includes a cab from which a driver (not shown) can operate the vehicle combination 200a, 200b.

[0060] The towing vehicle 240 is characterized by a forward direction of travel when traveling straight ahead, which is referred to below as direction of travel F. The direction of travel F corresponds to a longitudinal axis of the towing vehicle 240. The towing vehicle 240 is configured to travel opposite to the direction of travel F, i.e., backward, for example, for maneuvering.

[0061] The trailer 250 is defined by a longitudinal axis L. The longitudinal axis L corresponds to the forward direction of travel of the trailer 250 when traveling straight ahead.

[0062] Steering the towing vehicle 240 can lead to a kink angle 210. The kink angle 210 results from a difference between the direction of travel F and the longitudinal axis L. The kink angle 210 is measured by a kink angle measuring sensor (not shown) of the towing vehicle 240 and / or the trailer 250. The environment of the vehicle combination 200a, 200b comprises a lateral space 301, 302 and a rear space 300. The lateral space 301, 302 comprises, with respect to the direction of travel F, a right lateral space 301 and a left lateral space 302. The lateral space 301, 302 designates a section of the environment of the vehicle combination 200a, 200b that is arranged to the side, i.e., to the left or right, of the towing vehicle 240 and the trailer 250. The rear space 300 designates a section of the surroundings of the vehicle combination 200a, 200b, which is arranged behind the trailer 250 with respect to the longitudinal direction L.

[0063] The towing vehicle 240 comprises a mirror replacement system 247 (shown in Figures 8 and 9) with a right-hand mirror replacement camera 103 arranged to the right in the direction of travel F and a left-hand mirror replacement camera 104 arranged to the left in the direction of travel F. Each of the mirror replacement cameras 103, 104 has an observation area 242, the boundary of which is illustrated by a dotted line. The mirror replacement cameras 103, 104 are oriented opposite the direction of travel F in order to monitor the trailer 250 or the side space 301, 302 and / or the rear space 300.

[0064] The trailer 250 has a body 251. The body 251 can be configured for transporting goods. The trailer 250 has a front area 254. The front area 254 is a section of the trailer 250 that is arranged at the front of the trailer 250 with respect to the longitudinal direction L, i.e., closer to the towing vehicle 240 than to the rear compartment 300.

[0065] The body 251 has a front end 252 arranged frontally with respect to the longitudinal direction L. If the vehicle combination 200a, 200b has an articulation angle 210, the front end 252 can protrude with a front end section 253 into the observation area 242 of the mirror replacement cameras 103, 104. The trailer 250 thus obscures the observation area 242 for monitoring the side space 301, 302 and / or the rear space 300 by the or one of the mirror replacement cameras 103, 104. The trailer 250 has two cameras 101, 102 arranged in the front area 254 of the trailer 250 for monitoring the rear space 300 and / or the side space 301, 302. In another embodiment not shown, the trailer 250 may have exactly one or more than two such cameras.The cameras 101, 102 in the embodiment according to Figure ? comprise a camera 102 arranged on the left in the longitudinal direction L for monitoring the left side space 302 and / or the rear space 300 and a camera 101 arranged on the right for monitoring the right side space 301 and / or the rear space 300. The cameras 101, 102 are oriented opposite to the longitudinal direction L in order to monitor the trailer 250 or the side space 301, 302 and / or the rear space 300. Thus, each of the cameras 101, 102 has a detection area 305. The detection area 305 of the left camera 102 corresponds to the observation area 242 of the left mirror replacement camera 104 if the trailer 240 did not obscure the observation area 242.

[0066] The trailer 250 has a rear view camera 110 arranged in a rear portion of the trailer 250 for monitoring the rear space 300.

[0067] The cameras 101, 102 and the rear view camera 110 can in particular be high-resolution cameras in order to be able to zoom into areas of particular interest.

[0068] In one embodiment, the image data 515 is displayed during reversing and during forward travel only in situations where the rear end of the trailer 250 is obscured. Alternatively, the image data 515 is displayed only in situations where the rear end of the trailer 250 is obscured.

[0069] The vehicle combination 200a, 200b is further described below with reference to Figures 8 and 9.

[0070] Figure 8 shows a schematic representation of a multi-unit vehicle combination 200a, in particular a commercial vehicle combination 200b, according to one aspect of the invention. Figure 8 shows an embodiment of the vehicle combination 200a, 200b shown in Figure 7. Figure 8 will be described with reference to Figure 7.

[0071] The vehicle combination 200a, 200b is configured to perform the method 400 described with reference to Figure 10. For this purpose, the towing vehicle 240 according to Figure 8 has a control unit 243. The trailer 250 has a data processing device 260.

[0072] The control unit 243 is configured to capture recognizability information 501. The recognizability information 501 relates to recognizability by the mirror replacement system 247 of the trailer 250, the rear space 300, and / or the side space 301, 302. Thus, the recognizability information 501 indicates whether the trailer 250, the rear space 300, and / or the side space 301, 302 is located in the observation area 242 of the mirror replacement system 247. The recognizability information 501 can also indicate which parts of the trailer 250, the rear space 300, and / or the side space 301, 302 are located in the observation area 242 of the mirror replacement system 247. The recognizability information 501 includes the articulation angle 210 and / or movement data 264 relating to a movement of the towing vehicle 240 for determining the articulation angle 210.For this purpose, the control unit 243 can be connected to a bend angle sensor and / or acquire information about a steering angle and a speed of the vehicle combination 200a, 200b via a CAN bus in order to determine the bend angle 210. The recognizability information 501 additionally includes mirror replacement image data 516 acquired by the mirror replacement system 247, from which, for example, a coverage of the lateral space 301, 302 and / or the rear space 300 can be determined through object detection.

[0073] The control unit 243 is configured to determine display information 502 based on the recognizability information 501. The display information 502 indicates which image data 515 are requested by one of the cameras 101, 102 and / or are to be output by the output device 245. The display information 502 is determined as a function of a predetermined condition 262 relating to the articulation angle 210. The predetermined condition 262 can include a threshold value for the articulation angle 210 or the size, i.e., an absolute value, of the articulation angle 210, above which image data 515 from one or more of the cameras 101, 102 are to be output. The predetermined condition 262 can also take into account the orientation of the articulation angle 210 in order to be able to switch between image data 515 from the cameras 101, 102.The display information 502 can additionally or alternatively be determined depending on whether the front end 252 of the trailer 250 and / or which end section 253 of the front end 252 is depicted in the mirror replacement image data 516. A depiction of the front end 252 and / or the end section 253 indicates an obscuration of the observation area 242 of the mirror replacement system 247.

[0074] The control unit 243 is configured to output a control signal 510 for outputting image data 515 from the camera 101, 102 on the output device 245 based on the display information 502. For this purpose, the vehicle combination 200a, 200b comprises a communication interface 249 for transmitting information between the control unit 243 of the towing vehicle 240 and the data processing device 260 of the trailer 250. The data processing device 260 is configured to receive the control signal 510 from the towing vehicle 240 via the communication interface 249 for outputting image data 515 from the camera 101, 102 on an output device 245 based on the display information 502. In this case, the data processing device 260 can be used as a driver for the cameras 101, 102, ie, the control signal 510 comprises a request for specific image data 515 from at least one of the cameras 101, 102.The image data 515 are accordingly transmitted to the towing vehicle 240 via the communication interface 249. Alternatively, the data processing device 260 can actively intervene to determine which image data 515 are sent to the towing vehicle 240.

[0075] The control unit 243 is configured to blend the image data 515 from the camera 101, 102 and the mirror-replacement image data 516. The blending may depend, in particular, on the bending angle 210 and / or on an occlusion of the observation area 242 of the mirror-replacement system 247. With a small bending angle 210 or little occlusion of the observation area 242, the display of the image data 515 may be unnecessary. The greater the bending angle 210 or the occlusion of the observation area 242, the more the mirror-replacement image data 516 are blended with the image data 515 in order to achieve an intuitive display of the relevant lateral space 301, 302 and / or rear space 300.

[0076] The mirror replacement system 247 has a mirror replacement output device 265, and the output device 245 includes the mirror replacement output device 265. In other words, the mirror replacement output device 265 and the output device 245 include the same display or displays. The output device 245 is configured to output the image data 515 of the cameras 101, 102 and the mirror replacement image data 516.

[0077] The output device 245 is configured to simultaneously output image data 515 from the camera 101, 102 and from the rear view camera 110.

[0078] Figure 9 shows a schematic representation of a multi-unit vehicle combination 200a, in particular a commercial vehicle combination 200b, according to one aspect of the invention. Figure 9 is described with reference to Figure 8. The differences between the embodiments of Figures 8 and 9 are described.

[0079] The mirror replacement system 247 includes a mirror replacement output device 265. The output device 245 and the mirror replacement output device 265 are different from one another. In other words, the mirror replacement output device 265 and the output device 245 include different displays. The output device 245 is configured to output the image data 515 of the cameras 101, 102, and the mirror replacement output device 265 is configured to output the mirror replacement image data 516.

[0080] Figure 10 shows a schematic flowchart of a method 400 according to one aspect of the invention. The method 400 is a method 400 for monitoring a rear space 300 and / or a side space 301, 302 for a multi-unit vehicle combination 200a, in particular a commercial vehicle combination 200b, comprising a trailer 250 with a camera 101, 102 arranged on a front region 254 of the trailer 250 for monitoring the rear space 300 and / or the side space 301, 302 and a towing vehicle 240 with a mirror replacement system 247. Such a vehicle combination 200a, 200b is described with reference to Figures 7 to 9. Figure 10 is described with reference to Figures 7 to 9.

[0081] The method 400 according to Figure 10 comprises: detecting 410 a piece of detectability information 501 relating to the detectability of the trailer 250, the rear space 300, and / or the side space 301, 302. The detectability information 501 comprises a bend angle 210 and / or movement data 264 relating to a movement of the towing vehicle 240 for determining the bend angle 210. Alternatively or additionally, the detectability information 501 comprises mirror replacement image data 516 acquired by the mirror replacement system 247.

[0082] A piece of display information 502 is determined 420 based on the recognizability information 501. The display information 502 is determined depending on a predetermined condition 262 relating to the articulation angle 210. The display information 502 is determined depending on whether the front end 252 of the trailer 250 and / or which end section 253 of the front end 252 is depicted in the mirror replacement image data 516.

[0083] A control signal 510 is output 430 for outputting image data 515 from the camera 101, 102 to an output device 245 based on the display information 502.

[0084] Reference symbol (part of the description):

[0085] 101 Camera

[0086] 102 Camera

[0087] 103 Mirror replacement camera

[0088] 104 Mirror replacement camera

[0089] 110 Rear view camera

[0090] 111 Side camera

[0091] 112 front camera

[0092] 200a vehicle combination

[0093] 200b commercial vehicle combination

[0094] 210 bend angle

[0095] 240 towing vehicle

[0096] 242 Observation area

[0097] 243 Control unit

[0098] 245 Dispensing device

[0099] 246 Driver's cab

[0100] 247 Mirror replacement system

[0101] 248 Output interface

[0102] 249 Communication interface

[0103] 250 followers

[0104] 251 Structure

[0105] 252 front side

[0106] 253 front section

[0107] 254 front area

[0108] 260 Data processing device

[0109] 262 predetermined condition

[0110] 264 movement data

[0111] 265 Mirror replacement dispensing device 00 rear space 01 left side space 02 right side space 05 detection area 50 damage 00 procedure 10 detect 20 determine 30 dispense

[0112] 501 Recognizability Information

[0113] 502 Display information

[0114] 510 control signal

[0115] 515 image data

[0116] 516 mirror replacement data

[0117] L Longitudinal axis

[0118] F Direction of travel

Claims

Patent claims: 1 . Method (400) for monitoring a rear space (300) and / or a side space (301, 302) for a multi-unit vehicle combination (200a), in particular a commercial vehicle combination (200b), comprising a trailer (250) with a camera (101, 102) arranged on a front area (254) of the trailer (250) for monitoring the rear space (300) and / or the side space (301, 302) of the trailer (250) and a towing vehicle (240) with a mirror replacement system (247), the method (400) comprising: detecting (410) recognizability information (501) relating to a recognizability of the trailer (250), the rear space (300) and / or the side space (301, 302); Determining (420) a display information (502) based on the recognizability information (501); and Outputting (430) a control signal (510) for outputting image data (515) from the camera (101, 102) on an output device (245) based on the display information (502).

2. Method (400) according to claim 1, wherein the recognizability information (501) comprises a bending angle (210) and / or movement data (264) relating to a movement of the towing vehicle (240) for determining the bending angle (210).

3. The method (400) according to claim 2, wherein the display information (502) is determined as a function of a predetermined condition (262) relating to the bending angle (210).

4. Method (400) according to one of the preceding claims, wherein the recognizability information (501) comprises mirror replacement image data (516) acquired by the mirror replacement system (247).

5. The method (400) according to claim 4, wherein the display information (502) is determined depending on whether a front end (252) of the trailer (250) and / or which end face section (253) of the front end face (252) is depicted in the mirror replacement image data (516).

6. Computer program and / or computer-readable medium comprising instructions which, when the program or instructions are executed by a computer, cause the computer to carry out the method (400) and / or the steps of the method (400) according to one of claims 1 to 5 7. Control unit (243) for a multi-unit vehicle combination (200a), in particular a commercial vehicle combination (200b), comprising a trailer (250) with a camera (101, 102) arranged on a front region (254) of the trailer (250) for monitoring a rear space (300) and / or a side space (301, 302) and a towing vehicle (240), for monitoring the rear space (300) and / or the side space (301, 302) of the trailer (250), wherein the control unit (243) is configured to carry out the method (400) according to one of claims 1 to 5.

8. Control unit (243) according to claim 7, wherein the control unit (243) is a control unit (243) of the towing vehicle (240).

9. A trailer (250) for a multi-unit vehicle combination (200a), in particular a commercial vehicle combination (200b), comprising the trailer (250) and a towing vehicle (240), with a camera (101, 102) arranged on a front region (254) of the trailer (250) for monitoring a rear space (300) and / or a side space (301, 302) of the trailer (250), wherein the trailer (250) has a data processing device (260) for transmitting image data (515) to the towing vehicle (240), and the data processing device (260) is configured to receive a control signal (510) from the towing vehicle (240) for outputting image data (515) from the camera (101, 102) to an output device (245).

10. A towing vehicle (240) for a multi-unit vehicle combination (200a), in particular a commercial vehicle combination (200b), comprising a trailer (250) according to claim 9 and the towing vehicle (240), wherein the towing vehicle (240) has a control unit (243) according to claim 7 or 8 and a mirror replacement system (247) with an output device (245).

11. The towing vehicle (240) of claim 10, wherein the mirror replacement system (247) includes a mirror replacement output device (265), and the output device (245) is different from the mirror replacement output device (265).

12. The towing vehicle (240) of claim 10, wherein the mirror replacement system (247) includes a mirror replacement output device (265), and the output device (245) includes the mirror replacement output device (265).

13. Towing vehicle (240) according to one of claims 10 to 12, wherein the output device (245) is configured to simultaneously output image data (515) from the camera (101, 102) and from a rear-view camera (110).

14. Towing vehicle (240) according to one of claims 10 to 13, wherein the control unit (243) is configured to perform a blending of the image data (515) from the camera (101, 102) and mirror replacement image data (516).

15. Multi-unit vehicle combination (200a), in particular commercial vehicle combination (200b), comprising a towing vehicle (240) according to one of claims 10 to 14 and a trailer (250) according to claim 9.

16. Multi-unit vehicle combination (200a), in particular commercial vehicle combination (200b), according to claim 15, comprising a communication interface (249) for transmitting information between the control unit (243) of the towing vehicle (240) and the data processing device (260) of the trailer (250).

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