Camera system for accurate coupling of a trailer vehicle to a tractor vehicle

Abstract

The present invention particularly describes a camera system for accurate coupling of a trailer vehicle (200) to a tractor vehicle (100), comprising a first camera (130) mountable on the tractor vehicle (100) and providing first image data (133), and a second camera (131) mounted offset to one of the vehicle axes (x, y, z) of the tractor vehicle (100) with respect to the first camera (130) and providing second image data (134), wherein the first and second image data (133, 134) are displayed as a common screen motif (135) on a display device (132) installed in the cab. According to the invention, the first and second cameras (130, 131) are oriented such that a safety-relevant area (SD) behind the tractor vehicle (100) is recorded by the first camera (130) and a coupling-relevant area (SR) in which the coupling element (201) to be controlled of the trailer vehicle (200) is identifiable is recorded by the second camera (131).

Description

[Technical Field]

[0001] The present invention relates to a camera system for the accurate coupling of a trailer vehicle to a tractor vehicle according to the features of the preamble of claim 1. Furthermore, the invention is also implemented on a tractor vehicle. [Background technology]

[0002] The tractor vehicle has a corresponding coupling means for releasably attaching the trailer coupling element. During the coupling process, the tractor vehicle typically approaches the stationary trailer at a slow speed in reverse, and its trailer coupling element must be inserted as accurately as possible into the tractor vehicle coupling means and then locked therein. Incorrect approach of the tractor vehicle can result in the trailer coupling element not being engaged by the tractor vehicle coupling means, which can cause serious damage to the vehicle. Particularly dangerous is a supposedly correct coupling in which the trailer coupling element is not fully locked into the tractor vehicle coupling means, which can lead to the vehicle becoming disengaged during operation.

[0003] Efforts have already been made in the state of the art to simplify the coupling process for the driver: US 2014 / 0151979 A1 proposes mounting a camera holder between the beams of the vehicle frame and installing a rear-facing first camera on the camera holder for capturing the kingpin of the trailer vehicle and a forward-facing second camera for capturing the entrance opening of the fifth wheel coupling.

[0004] Both cameras are connected to a display device located in the cab. The image motifs from both cameras can then be displayed side by side on the display device, allowing the driver to see the trailer coupling element on one half of the screen and the tractor vehicle coupling means on the other half. However, it has proven to be disadvantageous that the driver has to alternate between looking at the image motifs from the first and second cameras while maneuvering in order to estimate the respective position of the kingpin relative to the fifth wheel coupling.

[0005] GB 2513393 A discloses an assistance system for coupling a trailer to a passenger vehicle on which several cameras are arranged. A composite screen motif can be generated on a display device from image data from the several cameras, a first camera providing image data of the rear driving area and a second camera installed in an exterior mirror extending the rear driving area laterally.

[0006] DE 10 2016 120 349 A1 also describes a trailer reversing assistance system having a camera, the image data of which is used to determine the coupling angle between the tractor vehicle and the trailer when the vehicle is automatically steered during a trailer reversing maneuver. The camera may be positioned in particular in the upper area of ​​the vehicle's tailgate and has a field of view suitable for recording one or more images of the trailer. Summary of the Invention

[0007] The present invention is therefore based on the object of improving a camera system or a tractor vehicle on which a camera system is installed in such a way that the driver no longer has to mentally switch between a first screen motif and a second screen motif when looking at the display device during coupling in order to get a comprehensive view of the area behind the tractor vehicle that is important to him.

[0008] This object is achieved by the features of claim 1. The first and second cameras operate in particular in the visible light range. Alternatively, the cameras may also operate in the non-visible spectrum, and the display device performs visual processing of the first and second image data.

[0009] A single screen motif always comprises first image data from a first camera and second image data from a second camera. Any contours and visible edges of objects captured in the first and second image data merge seamlessly, i.e., without discontinuities, into the common screen motif. The first image data of safety-relevant areas is preferably at least partially complemented with second image data of joint-relevant areas along the vertical axis of the vehicle and / or in the rearward extension of the longitudinal axis of the vehicle.

[0010] This allows the driver to concentrate only on a single screen motif, where both safety-relevant information relating to the safety-relevant area located behind the tractor vehicle and information relating to coupling the trailer vehicle to the coupling-relevant area in the rear travel direction are visible on the single screen motif, while avoiding blind spots that cannot be seen.

[0011] It may be preferable for the second image data to be displayed on the display device above the first image data.

[0012] The screen motif is advantageously constructed by stitching first and second image data captured simultaneously. Stitching generally refers to the creation of a larger screen motif from various smaller individual images showing overlapping sections of an object, so that a portion of the common screen motif is displayed using the first image data and the second image data.

[0013] It is particularly advantageous if the safety-relevant area is defined by a vertical plane at a distance of 0.10 m to 5.00 m, particularly preferably 0.15 m to 3.50 m, very particularly preferably 0.30 m to 3.00 m, and most preferably 0.50 m to 1.00 m behind the tractor vehicle. The vertical plane usually extends down to the road surface or rests on the road surface. If this vertical plane is captured by the first camera, collisions with obstacles or people close to the ground are also detected.

[0014] The vertical plane may be detected by the first camera, which provides the advantage that obstacles located in the vertical plane are included in the first image data and displayed on the display device.

[0015] Preferably, a space spanned by a vertical plane along the expected trajectory is detected. The tractor vehicle occupies this space when traveling in reverse. The vertical plane then steps back along the trajectory, creating a three-dimensional space. In theory, any point within this space can be touched by the tractor vehicle. While the tractor vehicle follows its trajectory, the safety-relevant area does not extend beyond this space in the direction of the vehicle's transverse and vertical axes.

[0016] The coupling-relevant region is the area where the coupling elements of the trailer vehicle are first visible. The second camera is positioned and designed so that the coupling elements of the trailer vehicle to be controlled are visible and in focus. The coupling elements of the trailer vehicle to be controlled are always first visible in the second image data of the second camera.

[0017] The safety-relevant area and the linkage-relevant area are both located at the rear of the vehicle, i.e. they are both at least partially in the rearward extension of the longitudinal axis of the vehicle.

[0018] The screen motif is advantageously formed from first and second image data, which image data originate from different positions in the direction of the longitudinal axis of the vehicle.

[0019] The first and second cameras are advantageously aligned in the rearward travel direction of the tractor vehicle, this arrangement being useful because before coupling the trailer vehicle, both the safety-relevant areas for steering and the coupling-relevant areas are visible in the rearward travel direction on the display device.

[0020] The camera system described above can be mounted on a tractor vehicle with the second camera attached to a component of the coupling means of the tractor vehicle. Depending on the mounting location, the second camera can be fixedly mounted on the component of the coupling means or movably mounted relative to the component of the coupling means, for example to temporarily move the second camera out of the collision zone with the coupling element on the trailer side during coupling. The second camera can also be mounted directly on the component of the coupling means or separated from the component of the coupling means by a bracket.

[0021] The tractor vehicle is, for example, a semi-trailer tractor, and the coupling means is a fifth wheel hitch with a coupling plate. Advantageously, the components of the fifth wheel hitch are the coupling plate, one of the bearing blocks supporting the coupling plate, a mounting plate supporting the bearing block, and / or a supporting cross member arranged between and attached to both sides of the bearing block.

[0022] The first camera is preferably mounted on the rear cross member of the semi-trailer tractor. According to a particularly advantageous embodiment of the invention, the semi-trailer tractor has a vehicle frame, in which the vehicle frame is delimited at the rear by the rear cross member and / or the vehicle frame is laterally projected over by the rear cross member. The rear cross member forms the rear end of the semi-trailer tractor and is therefore particularly suitable for mounting the first camera in order to capture the road surface directly behind the semi-trailer tractor without any obscuration or blind spots.

[0023] Alternatively, the tractor vehicle may also be a truck and the coupling means may be a rod coupling, in which case the components of the rod coupling for attaching the second camera are advantageously the coupling body with its pushing jaws, screw flanges, housing for the locking mechanism and / or tow bar.

[0024] The second camera may be mounted directly to the respective component or via a bracket. Again, the second camera may be mounted to the respective component in a fixed position, or alternatively, the second camera may be movably mounted on the component so as to temporarily move the second camera away from the potential collision area as the trailer-side coupling element approaches.

[0025] The first camera may in particular be mounted on the truck's underrun protection bumper, which provides the first camera with an unobstructed view of the safety-relevant area behind the tractor vehicle, in particular of any persons or obstacles located behind the truck.

[0026] For a better understanding, the invention will now be explained in more detail with reference to three figures. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is a side view of a semi-trailer tractor having a camera system with first and second cameras. [Figure 2] FIG. 1 is a side view of a truck having a camera system with first and second cameras. [Figure 3] A display device having a screen motif composed of first and second image data. DETAILED DESCRIPTION OF THE INVENTION

[0028] 1 shows a side view of a tractor vehicle 100 in the form of a semi-trailer tractor 110, which is reversing towards a stationary trailer vehicle 200 for coupling thereto. The trailer vehicle 200 is a semi-trailer with a kingpin attached in its front area as a coupling element 201.

[0029] The semi-trailer tractor 110 has a vehicle frame 101 extending along a longitudinal axis x of the vehicle, which supports at one front end a cab 102 and at a second opposite end a coupling means 103 configured as a fifth wheel coupling 140. The vehicle frame 101 also supports wheels 104 on which the tractor vehicle 100 stands on a road surface F.

[0030] The fifth wheel hitch 140 comprises a connecting plate 141 into which the connecting element 201 of the trailer vehicle 200 is pressed during the coupling process and is releasably held by a locking mechanism (not shown). The connecting plate 141 is pivotally mounted about the vehicle's transverse axis y via two bearing blocks 142, of which only the front bearing block 142 in the image plane is visible in the side view of Figure 1.

[0031] To better absorb lateral moments and forces, a support cross-member 144 may be fixedly mounted between the two bearing blocks 142 for stiffening purposes. This support cross-member 144 is attached to the bearing blocks 142 on both sides. In the side view of Figure 1, the support cross-member 144 is hidden by the bearing blocks 142 that protrude in front of it and is therefore only shown by dashed lines.

[0032] The bearing block 142 could in principle be bolted to the vehicle frame 101 directly or by means of a subframe. However, in the embodiment shown, the bearing block 142 stands on a mounting plate 143, which in turn is placed on top of the vehicle frame 101 and bolted to it.

[0033] The vehicle frame 101 terminates at the rear with a rear cross member 111. The rear cross member 111 projects laterally beyond the vehicle frame 101 in the vehicle's transverse axis y to protect the rear of the semi-trailer tractor 110 from damage when traveling without the trailer vehicle 200. Typically, the rear cross member 111 also projects beyond the wheels 104 in the vehicle's transverse axis y.

[0034] A first camera 130 is fixedly mounted on the rear cross member 111 and captures and provides first image data 133 from a safety-related area SD located immediately rearward of the tractor vehicle 100. The first camera 130 is connected by wire or wirelessly to a display device 132 located in the cab 102 and within the driver's field of view.

[0035] The safety-relevant area SD comprises a vertical plane E extending from the road surface F, which must be captured by the first camera 130. The vertical plane E may have a maximum size corresponding to the cross-sectional profile A of the tractor vehicle 100. The vertical plane E is located at a distance x from the tractor vehicle 100 in the rearward extension of the longitudinal axis x of the vehicle. E Only one person is separated.

[0036] On a component of the fifth wheel linkage 140, for example, as shown in FIG. 1, a second camera 131 is mounted on one of the bearing blocks 142, and / or the linkage plate 141, and / or the mounting plate 143, and / or the supporting cross member 144, and this second camera 131 captures and provides second image data 134 from the linkage-related region SR.

[0037] The coupling-relevant region SR is arranged above the safety-relevant region SD in the vertical axis z of the vehicle and extends beyond the safety-relevant region SD in the rearward extension of the longitudinal axis x of the vehicle, so that the expected coupling element 201 of the trailer vehicle 200 is first seen there for the purpose of coupling in the rearward driving direction R.

[0038] At the rear of the tractor vehicle 100, the linkage-relevant region SR and the safety-relevant region SD overlap with increasing distance along the longitudinal axis x of the vehicle.

[0039] In the safety-relevant zone SD captured by the first camera 130, the road surface F located immediately behind the tractor vehicle 100 is captured, while the connecting element 201 of the trailer vehicle 200 is visible only from a distance but cannot be recognized due to the focus of the first camera. Consequently, the main purpose of the first camera 130 is to use its first image data 133 to make visible to the driver on the display device 132 a person P (see FIG. 3 ) or low obstacle lying immediately behind the tractor vehicle 100.

[0040] The second camera 131, which is positioned offset from the first camera 130 along the vehicle's longitudinal axis x and vehicle's vertical axis z, will not be able to capture in its second image data 134 the area of ​​the road surface F located immediately behind the tractor vehicle 100 because this area is obscured by parts of the tractor vehicle 100, such as the fifth wheel hitch 140, the vehicle frame 101 with attachments not shown, or the rear cross member 111. Therefore, a person P or low obstacle lying immediately behind the tractor vehicle 100 would not be visible to the driver based solely on the second image data 134 on the display device 132.

[0041] The display device 132 presents the driver with a coherent screen motif 135 comprising first image data 133 from the first camera 130 and second image data 134 from the second camera 131, as described below in connection with FIG. 3, without the driver having to mentally switch between two or more individual screen motifs during a coupled maneuver.

[0042] FIG. 2 shows an alternative embodiment of the present invention in which the camera system is mounted on a tractor vehicle 100 in the form of a truck 120 .

[0043] A rod coupling 150, shown enlarged for clarity, is located at the rear of the truck 120 as coupling means 103.

[0044] The trailer vehicle 200 has a tow bar as connecting element 201, at the free end of which a towing eye is formed. To connect the truck 120 to the trailer vehicle 200, the towing eye is pressed into the bar connection 150 and locked therein by a connecting bolt (not shown).

[0045] Offset in the vehicle's vertical axis z, an underrun protection bumper 121 is located below the rod hitch 150. This underrun protection bumper 121 extends laterally beyond the vehicle frame 101 in the vehicle's transverse axis y and prevents the trailer-side coupling element 201, parts of the trailer vehicle 200, or other obstacles from sliding under the tractor vehicle 100 and causing damage when reversing without the trailer vehicle 200. In this exemplary embodiment, the first camera 130 is mounted on the underrun protection bumper 121.

[0046] The first camera 130 captures first image data 133 of a safety-relevant area SD located immediately behind the underrun protection bumper 121 in the longitudinal axis x of the vehicle. The first image data 133 includes in particular the road surface F located behind the tractor vehicle 100. The first camera 130 is not suitable to capture the connecting element 201 of the trailer vehicle 200 due to the low mounting position and focus of the first camera 130 on the truck 120, as the connecting element 201 is located significantly above the first camera 130 along the vertical axis x of the vehicle. The safety-relevant area SD is located at a distance x of the vertical plane E from the tractor vehicle 100. E is defined by

[0047] A second camera 131 mounted on a component of the rod hitch 150 is used for navigation during coupling. In particular, and as shown in FIG. 2 , the second camera 131 is mounted on the housing 153 of the locking mechanism and / or on the push-in jaw 151, as indicated by the dashed line, and / or on the towbar hitch body 154, preferably by means of a camera holder, and / or on the threaded flange 152, also preferably by means of a camera holder. In this installation position, the second camera 131 is located at an opposite height, in relation to the vertical axis z of the vehicle, from the trailer-side coupling element 201, which is accommodated in the form of a towing eye. The second image data 134 recorded by the second camera 131 depict mainly the trailer-side coupling element 201 in the hitch-relevant region SR as the truck 120 approaches the trailer vehicle 200, but do not capture the rear safety-relevant region SD located immediately behind the underrun protection bumper 121 and the road surface F located therein.

[0048] On the display device 132 shown as an example in FIG. 3, the first and second image data 133, 134 are linked to each other and displayed on the display device 132 as a common screen motif 135.

[0049] The first image data 133 is displayed in a partial section of the display device 132, allowing a view of the safety-relevant area SD immediately behind the tractor vehicle 100. Any person P crawling behind the tractor vehicle 100, for example a child crawling in search of a ball, will be captured by the first image data 133 and will not be located in the blind spot of the higher-mounted second camera 131. The second camera 131 provides second image data 134 in a further partial section of the display device 132, which second image data 134 is optimized for displaying the trailer vehicle 200 and its connecting element 201, for example in the form of a kingpin. However, the partial section with the first image data 133 and the partial section with the second image data 134 do not have to occupy the same size on the display device 132.

[0050] The first and second image data 133, 134 merge seamlessly into one another so that the driver only needs to focus on a single screen motif 135. The first image data 133 is preferably located at the bottom of the display device 132 and the second image data 134 is located at the top.

[0051] [List of reference numbers] 100 Tractor Vehicles 101 Vehicle Frame 102 Driver's cab 103 Connection means 104 Wheels 110 Semi-trailer tractor 111 Rear cross member 120 tracks 121 Underrun protection bumper 130 First Camera 131 Second Camera 132 Display device 133 First Image Data 134 Second Image Data 135 Screen Motif 140 Fifth wheel connection part 141 Connecting plate 142 Bearing block 143 Mounting plate 144 Supporting cross member 150 Rod connection 151 Push-in Jaw 152 Threaded flange 153 Locking mechanism housing 154 Connecting body with towbar 200 trailer vehicles 201 Connected Elements A. Cross-sectional profile of tractor vehicle E Vertical plane of safety-related area F road surface P person R Rear running direction SD Safety-related areas SR Consolidation Related Areas x longitudinal axis of the vehicle x E Distance between vertical plane and safety-related area y vehicle transverse axis z Vehicle vertical axis

Claims

1. A camera system for accurate coupling of a trailer vehicle (200) to a tractor vehicle (100), comprising: a first camera (130) mountable on the tractor vehicle (100) and providing first image data (133); and a second camera (131) mounted offset to one of the vehicle axes (x, y, z) of the tractor vehicle (100) with respect to the first camera (130) and providing second image data (134), wherein the first and second image data (133, 134) are displayed as a common screen motif (135) on a display device (132) installed in the cab; A camera system, characterized in that the first and second cameras (130, 131) are oriented so that a safety-related area (SD) behind the tractor vehicle (100) is recorded by the first camera (130) and a coupling-related area (SR) in which a coupling element (201) to be controlled of the trailer vehicle (200) is identifiable is recorded by the second camera (131).

2. The safety-related zone (SD) is located at a distance (x) of 0.10 m to 5.00 m, particularly preferably 0.15 m to 3.50 m, very particularly preferably 0.30 m to 3.00 m, most preferably 0.50 m to 1.00 m behind the tractor vehicle (100). E 2. The camera system of claim 1, wherein the camera system is defined by a vertical plane (E) in the plane (E).

3. 3. The camera system of claim 2, wherein the vertical plane (E) is detected by the first camera (130).

4. 4. Camera system according to claim 2 or 3, characterized in that the space spanned by said vertical plane (E) along an expected trajectory is detected.

5. 5. The camera system according to claim 1, wherein the image motif (135) is formed from the first and second image data (133, 134) originating from different positions in the direction of the longitudinal axis (x) of the vehicle.

6. The camera system of any one of claims 1 to 5, characterized in that the first image data (133) always captures a section of the road surface (F) located immediately behind the tractor vehicle (100).

7. The camera system according to any one of claims 1 to 6, characterized in that the first and second cameras (130, 131) are aligned in the rearward travel direction (R) of the tractor vehicle (100).

8. A tractor vehicle (100) having a camera system according to any one of claims 1 to 7, characterized in that the second camera (131) is mounted on a component of a coupling means (103) of the tractor vehicle (100).

9. The tractor vehicle (100) of claim 8, wherein the tractor vehicle (100) is a semi-trailer tractor (110) and the coupling means (103) is a fifth wheel coupling portion (140) having a coupling plate (141).

10. The tractor vehicle (100) of claim 9, characterized in that the components of the fifth wheel coupling portion (140) are the coupling plate (141), one of the bearing blocks (142) supporting the coupling plate (141), a mounting plate (143) supporting the bearing block (142), and / or a supporting cross member (144) arranged between the bearing block (142) and attached to both sides thereof.

11. The tractor vehicle (100) according to claim 9 or 10, characterized in that the first camera (130) is mounted on a rear cross member (111) of the semi-trailer tractor (110).

12. The tractor vehicle (100) of claim 11, characterized in that the semi-trailer tractor (110) has a vehicle frame (101), wherein the vehicle frame (101) is bounded at the rear by the rear cross member (111) and / or the vehicle frame (101) is projected laterally by the rear cross member (111).

13. A tractor vehicle (100) according to claim 8, characterized in that the tractor vehicle (100) is a truck (120) and the coupling means (103) is a rod coupling (150).

14. 14. The tractor vehicle (100) according to claim 13, characterized in that the components of the rod connection (150) are a push-in jaw (151), a screw-in flange (152), a housing (153) of a locking mechanism, and / or a connection body (154) having a tow bar.

15. A tractor vehicle according to claim 13 or 14, characterized in that the first camera (130) is mounted on an underrun protection bumper (121) of the truck (120).

Images