Method for measuring at least one angle between a vehicle trailer and a towing vehicle

Abstract

The invention relates to a method for measuring at least one angle between a vehicle trailer and a towing vehicle. The invention further relates to a computer, a computer system or a computer network designed to carry out said method. In addition, the invention relates to a computer program comprising commands which, when the program is executed by a computer, cause the latter to carry out said method. The invention also relates to an agricultural machine having a computer, a computer system or a computer network.

Description

[0001] Method for measuring at least one angle between a vehicle trailer and a towing vehicle

[0002] The invention relates to a method for detecting at least one angle between a vehicle trailer and a towing vehicle.

[0003] Furthermore, the invention relates to a computer, a computer system, or a computer network configured to execute the aforementioned method. The invention also relates to a computer program comprising instructions that, when executed by a computer, cause the computer to execute the aforementioned method.

[0004] Furthermore, the invention relates to an agricultural machine with a computer, a computer system or a computer network.

[0005] Trailed implements and vehicle trailers, regardless of whether they have a steered axle or not, are known from the state of the art. These agricultural machines can include seed drills, sprayers, harrows, etc.

[0006] Furthermore, various sensor devices are known from agriculture that detect or measure the angle between the drawbar of an implement or trailer and a towing vehicle, such as a tractor. These require an additional mechanical connection, e.g., between the implement / trailer and the tractor. Different detection methods are used, some based on the Hall effect.

[0007] Furthermore, the positioning requirements for the trailer are high, and therefore the relative orientation between the trailer and the tractor is crucial for determining the trailer's position from the tractor's position. This is essential, especially in precision agriculture, as an assistance system, for high-precision fieldwork (e.g., hoeing, sowing), and in autonomous operations.

[0008] Furthermore, agricultural machinery is subjected to significant mechanical stresses. It is also used in all weather conditions and in a wide variety of applications. This results in high wear and tear and soiling. The aforementioned sensor devices for detecting the angle between the

[0009] P24-048 The drawbar of an implement or vehicle trailer is exposed to a towing vehicle. This can cause the measurement results to become unreliable over time and prevent the device from performing its tasks with the necessary precision. Furthermore, the cleaning effort after operation is increased, specifically due to the need to clean the sensor assembly.

[0010] Therefore, the object of the present invention is to provide a method for detecting at least one angle between a vehicle trailer and a towing vehicle, which is highly reliable and / or durable with minimal effort.

[0011] These problems are solved by the features of the independent patent claims. Further advantageous developments are the subject of the dependent claims.

[0012] A first aspect of the present invention comprises a method for detecting at least one angle between a vehicle trailer and a towing vehicle.

[0013] One step of the procedure involves determining a first position on the vehicle trailer. A further step involves determining a second position on the vehicle trailer.

[0014] As a subsequent step, the method involves creating a first vector from the determined first and second positions, connecting these two positions. This allows the orientation of the vehicle trailer, or its longitudinal axis, to be determined.

[0015] The next procedural step involves determining a third position on the towing vehicle.

[0016] As a further step, the method involves determining a fourth position on the towing vehicle. Thus, in addition to the third position, a further position of the towing vehicle can be obtained. The third position is spaced apart from the fourth position. Consequently, the orientation of the towing vehicle, or its longitudinal axis, can be determined.

[0017] From the determined third and fourth positions, a process step involves generating a second vector that connects the third and fourth positions. This allows the orientation of the towing vehicle, or its longitudinal axis, to be determined.

[0018] P24-048 Furthermore, the method includes determining at least one angle between the first and second vectors, whereby the at least one angle between the longitudinal axis of the vehicle trailer and the longitudinal axis of the towing vehicle can be determined directly.

[0019] This method is highly reliable and ensures low maintenance costs.

[0020] As an alternative to the above step of determining a fourth position, the procedure includes, as a further step, creating a fourth position by extending the first vector by a definable value. Extending this value allows, for example, the determination of the trailer's coupling point on the towing vehicle, given that the trailer is rigidly connected to the rest of the trailer. Thus, the position of the towing vehicle's coupling point can be obtained. In simplified terms, the definable value can be derived from the technical data or known dimensions of the trailer, or it can be appropriately defined based on these. Consequently, a common position on both the trailer and the towing vehicle can be determined.

[0021] From the determined third and the generated fourth positions, one process step involves creating a second vector that connects the third and fourth positions. This allows the orientation of the towing vehicle, or rather its longitudinal axis, to be determined.

[0022] Furthermore, the procedure – as already explained in the first alternative – includes determining at least one angle between the first and second vectors, whereby the at least one angle between the longitudinal axis of the vehicle trailer and the longitudinal axis of the towing vehicle can be determined directly.

[0023] This method is highly reliable and requires minimal maintenance. Furthermore, it increases practicality for farmers by eliminating an additional, collision-prone mechanical connection compared to current technology. Thus, the contactless design prevents the risk of collisions with currently used mechanical drawbar angle sensors.

[0024] P24-048 Additionally or alternatively, the method includes creating a second vector from the determined first and third positions, connecting them. This connects a point on the trailer to a point on the towing vehicle. The result is the longitudinal axis of the trailer and a fourth position shared by the trailer and towing vehicle, as this fourth position describes the location of the towing vehicle's trailer hitch.

[0025] Subsequently, a procedural step involves determining at least one angle between the first and second vectors, thereby indirectly determining at least one angle between the longitudinal axis of the trailer and the longitudinal axis of the towing vehicle. This determination is indirect because, within a vector triangle formed by the longitudinal axis of the trailer (the first vector) and the line connecting a point on the towing vehicle (other than the trailer coupling) to a position on the trailer (the second vector), the angle between the longitudinal axis of the trailer and the longitudinal axis of the towing vehicle cannot be determined directly, but only indirectly. Using mathematical methods, the missing third vector of the vector triangle, i.e., the longitudinal axis of the towing vehicle, can then be deduced.

[0026] This method is highly reliable and ensures low maintenance costs.

[0027] Determining an initial position can involve the following steps.

[0028] For example, receiving signals from at least one global navigation satellite system, or GNSS, and / or receiving signals from several GNSS satellites to determine the coordinates of the first position and / or a first sensor device.

[0029] This can be followed as a further procedural step by determining the coordinates of the first position, e.g. in three-dimensional space.

[0030] This can also be followed by determining the coordinates of the first position, e.g. in three-dimensional space, based on received signals from at least one global navigation satellite system and / or based on received signals from several GNSS satellites.

[0031] P24-048 Furthermore, determining a first position may involve transferring the determined coordinates of the first position to an evaluation device for forming a first and / or second vector and / or for determining at least one angle between a first and second vector.

[0032] Furthermore, determining a first position can involve generating correction data derived from deviations in signals from at least one global navigation satellite system at the first position. Using this correction data, the accuracy of the first position can be increased to such an extent that deviations are only on the order of centimeters.

[0033] Alternatively or additionally, determining an initial position can involve receiving correction data via mobile communication, such as real-time correction data, e.g., from a mobile network, which is generated from deviations in signals from at least one global navigation satellite system. Using the received correction data, the accuracy of the initial position can be increased to such an extent that deviations occur only on the order of centimeters.

[0034] Furthermore, determining an initial position can involve transmitting the generated and / or received correction data via mobile network to a second, third, and / or fourth sensor unit, allowing for a more accurate determination of the second, third, and / or fourth position relative to the first. This can, for example, reduce the relative deviation of the second, third, and / or fourth sensor unit, or of the second, third, and / or fourth position, from the first sensor unit or the first position, thus increasing the accuracy of the second, third, and / or fourth position relative to the first sensor unit or the first position using the correction data.

[0035] Alternatively or additionally, determining a first position may involve transferring the generated and / or received correction data via mobile network to an evaluation unit to correct certain coordinates of the first position and / or to form the first and / or second vector.

[0036] Furthermore, determining a second position may involve receiving signals from at least one global navigation satellite system (GNSS) and / or receiving signals from multiple GNSS satellites to determine the coordinates of the second position and / or a second sensor device.

[0037] P24-048 Furthermore, determining a second position may involve determining the coordinates of the second position, e.g. in three-dimensional space.

[0038] It is also possible that determining a second position involves determining the coordinates of the second position, e.g. in three-dimensional space, based on received signals from at least one global navigation satellite system and / or based on received signals from several GNSS satellites.

[0039] Furthermore, determining a second position may involve transferring the determined coordinates of the second position to an evaluation unit to generate a first and / or second vector and / or to determine at least one angle between the first and second vectors. This determination may also be performed within the evaluation unit.

[0040] Furthermore, determining a second position may involve receiving generated and / or mobile phone-received correction data, which may be transmitted, for example, from a first sensor device to a second sensor device and / or from a mobile network to a second sensor device.

[0041] Determining a second position may involve correcting the established coordinates of that position using received, generated, and / or mobile communication correction data. With these corrected coordinates, the accuracy of the second position, relative to the first sensor or the first position, can be increased to such an extent that deviations are only a matter of centimeters.

[0042] Furthermore, determining a second position may include transferring the corrected coordinates of the second position to an evaluation device to form the first and / or second vector and / or to determine at least one angle between the first and second vector.

[0043] Furthermore, determining a third position may involve receiving signals from at least one global navigation satellite system (GNSS) and / or receiving signals from multiple GNSS satellites to determine the coordinates of the third position and / or a third sensor device.

[0044] It is also possible that determining a third position includes determining the coordinates of the third position, e.g. in three-dimensional space.

[0045] P24-048 Furthermore, it may be provided that determining a third position involves determining the coordinates of the third position, e.g. in three-dimensional space, using received signals from at least one global navigation satellite system, or GNSS, and / or using received signals from several GNSS satellites.

[0046] Furthermore, it is conceivable that determining a third position involves transferring the determined coordinates of the third position to an evaluation device to form a first and / or second vector and / or to determine at least one angle between the first and second vector.

[0047] Furthermore, determining a third position may involve receiving generated and / or mobile phone-received correction data, which may be transmitted, for example, from a first sensor device to a third sensor device or from a mobile network to a third sensor device.

[0048] Determining a third position can involve correcting the established coordinates of that third position using received, generated, and / or mobile phone-acquired correction data. With the corrected coordinates, the accuracy of the third position can be increased to such an extent that deviations are only on the order of centimeters.

[0049] Furthermore, determining a third position may involve transferring the corrected coordinates of the third position to an evaluation device to form the first and / or second vector and / or to determine at least one angle between the first and second vector.

[0050] Determining a fourth position may also involve receiving signals from at least one global navigation satellite system (GNSS) and / or receiving signals from multiple GNSS satellites to determine the coordinates of the fourth position and / or a fourth sensor device.

[0051] It is also possible that determining a fourth position includes determining the coordinates of the fourth position, e.g. in three-dimensional space.

[0052] Furthermore, it may be provided that determining a fourth position involves determining the coordinates of the fourth position, e.g., in three-dimensional space, based on received signals from at least one global navigation satellite system.

[0053] P24-048, or GNSS for short, and / or based on received signals from several GNSS satellites.

[0054] Furthermore, it is conceivable that determining a fourth position involves transferring the determined coordinates of the fourth position to an evaluation device to form a first and / or second vector and / or to determine at least one angle between the first and second vector.

[0055] Furthermore, determining a fourth position may involve receiving generated and / or mobile phone-received correction data, which may be transmitted, for example, from a first sensor device to a fourth sensor device or from a mobile network to a fourth sensor device.

[0056] Determining a fourth position can involve correcting the established coordinates of that position using received, generated, and / or mobile phone-acquired correction data. With the corrected coordinates, the accuracy of the fourth position can be increased to such an extent that deviations are only on the order of centimeters.

[0057] In the aforementioned step of generating a first vector, the difference between the coordinates of the determined first and second positions can be calculated. The first vector can then reflect the orientation of the vehicle trailer.

[0058] Alternatively or additionally, during the aforementioned step of generating the first vector, the difference between the corrected coordinates of the first and second positions can be calculated. This increases the accuracy of the generated vector. Thus, the first vector can indicate the orientation of the vehicle trailer with greater accuracy.

[0059] In the aforementioned step of generating a second vector, or when generating the second vector itself, the difference between the coordinates of the determined third and fourth positions can be calculated. This second vector can then reflect the orientation of the towing vehicle.

[0060] Alternatively or additionally, in the aforementioned step of forming a second vector, or when forming the second vector, a difference can be calculated from the corrected values.

[0061] The coordinates of the third and fourth positions are calculated using P24-048. This increases the accuracy of the generated vector. Therefore, the second vector can indicate the orientation of the towing vehicle with greater accuracy.

[0062] Furthermore, when extending the first vector to a coordinate or to a corrected coordinate of the first vector, the determinable value can be added. The determinable value can depend on the vehicle trailer used. Moreover, the determinable value can at least correspond to or depend on the length of the drawbar of the vehicle trailer used. The drawbar can be rigidly connected to the rest of the vehicle trailer used. In this way, the location of the coupling of the vehicle trailer to the towing vehicle can be determined. Thus, a common position is established on both the vehicle trailer and the towing vehicle. While the first vector can now end at this common position, or at the fourth position, the second vector can start at this position.

[0063] The drawbar of a vehicle trailer can also be movably connected to the rest of the trailer. This is the case, for example, when an articulated steering system is used.

[0064] Furthermore, in the aforementioned step of generating a second vector, or when generating the second vector, a difference can be calculated between the coordinates of the determined third and fourth positions. The second vector can then reflect the orientation of the towing vehicle.

[0065] Alternatively or additionally, during the aforementioned step of generating a second vector, the difference between the corrected coordinates of the third position and the corrected coordinates of the fourth position can be calculated. This allows the second vector to indicate the orientation of the towing vehicle with greater accuracy.

[0066] Furthermore, in the aforementioned step of generating a second vector, or when generating the second vector itself, a difference can be calculated between the coordinates of the determined third position and the generated fourth position. In this way, the second vector can reflect the orientation of the towing vehicle.

[0067] Alternatively or additionally, in the aforementioned step of forming a second vector, or when forming the second vector, a difference can be calculated from the corrected values.

[0068] The coordinates of the third position and the generated coordinates of the fourth position are used in P24-048. Thus, the second vector can specify the orientation of the towing vehicle with greater accuracy.

[0069] Furthermore, in the aforementioned step of determining at least one angle, or in determining at least one angle between the first and second vectors, the angle can be determined in a plane that is oriented in the same direction as the Earth's surface.

[0070] Alternatively or additionally, in the above-mentioned step of determining at least one angle or when determining at least one angle between the first and second vectors, the angle in a plane formed by a vector in the direction of the longitudinal axis of the vehicle trailer and by a vector perpendicular to the Earth's surface can be determined.

[0071] Alternatively or additionally, in the above-mentioned step of determining at least one angle or when determining at least one angle between the first and second vectors, the angle in a plane formed by a vector perpendicular to the direction of the longitudinal axis of the vehicle trailer and by a vector perpendicular to the Earth's surface can be determined.

[0072] In the aforementioned step of forming a second vector, or when forming the second vector, a difference can be calculated between the coordinates of the determined first and third positions.

[0073] Alternatively or additionally, the aforementioned step of creating a second vector can be performed, or, when creating the second vector, a difference can be calculated between the corrected coordinates of the first and third positions. This increases the accuracy of the vector.

[0074] Furthermore, after determining at least one angle, or after determining the at least one angle between the first and second vectors, at least one further angle can be calculated between a third, unknown vector connecting the third and fourth positions and the first vector. The law of cosines can be used for this calculation. When using the law of cosines, the lengths of the first and second vectors, as well as the at least one angle between them, can be used as known quantities.

[0075] P24-048 Furthermore, determining a first position can be carried out using a first sensor device. This can be referred to as a moving base. The first sensor device can be configured to receive GNSS satellite signals. The first sensor device can also be configured to receive signals from at least one global navigation satellite system (GNSS) and / or signals from multiple GNSS satellites. The first sensor device can be a GPS, GLONASS, Galileo, and / or BeiDou receiver.

[0076] Furthermore, the first sensor device can serve as a reference station and be configured to determine deviations from signals of at least one global navigation satellite system based on its current position and to continuously transmit these as correction data, e.g., to a second, third, and / or fourth sensor device. Additionally, the first sensor device can be configured to determine the initial position from received signals of at least one global navigation satellite system (GNSS).

[0077] The first sensor device can be installed on the trailer. It can be positioned above an axle of the trailer. Alternatively, it can be positioned above a point on the trailer that serves as a pivot point.

[0078] Furthermore, the first position can be located at the rear end of a vehicle trailer in the direction of travel or in the direction of pull.

[0079] The direction of travel can refer to the direction in which a "train" or a combination of vehicles moves, which may consist of a towing vehicle and a vehicle trailer.

[0080] Furthermore, determining a second position can be accomplished using a second sensor device. This can be referred to as a rover or a first rover. The second sensor device can be configured to receive GNSS satellite signals. It can also be configured to receive signals from at least one global navigation satellite system (GNSS) and / or signals from multiple GNSS satellites.

[0081] The second sensor device can be a GPS, GLONASS, Galileo and / or Beidou receiver.

[0082] P24-048 The second sensor device may also be configured to receive correction data from the first sensor device. Furthermore, it is possible for the second sensor device to be configured to determine the second position from received correction data from the first sensor device and from received signals from at least one global navigation satellite system.

[0083] The second sensor device can be installed on the trailer. Furthermore, the second sensor device can be located at the front end of the trailer, either in the direction of travel or in the direction of pull. The distance between the first and second sensors can be known.

[0084] The first and second sensor devices can also be aligned along a longitudinal axis of the vehicle trailer.

[0085] Alternatively, the angle between a first vector, formed from the first and second positions, and a longitudinal axis of the vehicle trailer can be known. In this case, the vehicle trailer can travel straight ahead along its longitudinal axis.

[0086] Furthermore, the first, second and / or third and / or fourth sensor devices can be interconnected via signal transmission, e.g. via cable or radio.

[0087] Furthermore, a third position can be determined using a third sensor device. This can be referred to as a rover or a second rover. The third sensor device can be configured to receive GNSS satellite signals. It can also be configured to receive signals from at least one global navigation satellite system (GNSS) and / or signals from multiple GNSS satellites. The third sensor device can be a GPS, GLONASS, Galileo, and / or BeiDou receiver.

[0088] Furthermore, the third sensor device can be configured to receive correction data from the first sensor device. Additionally, the third sensor device can be configured to determine the third position from received correction data from the first sensor device and from received signals from at least one global navigation satellite system.

[0089] P24-048 In this case, it is possible that the third sensor device is installed on the towing vehicle. Furthermore, the third position and / or the third sensor device can be located at a rear end of the towing vehicle in the direction of travel or in the direction of pull.

[0090] Furthermore, the first, second and / or third and / or fourth sensor devices can be interconnected via signal transmission, e.g. via cable or radio.

[0091] Furthermore, a fourth position can be determined using a fourth sensor device. This can be referred to as a rover or a third rover. The fourth sensor device can be configured to receive GNSS satellite signals. It can also be configured to receive signals from at least one global navigation satellite system (GNSS) and / or signals from multiple GNSS satellites.

[0092] The fourth sensor device can be a GPS, GLONASS, Galileo and / or Beidou receiver.

[0093] The fourth sensor device can also be configured to receive correction data from the first sensor device. Furthermore, it is possible for the fourth sensor device to determine the fourth position from received correction data from the first sensor device and from received signals from at least one global navigation satellite system.

[0094] The fourth sensor device can be installed on the towing vehicle.

[0095] Furthermore, the fourth position and / or fourth sensor device can be located at the front end of the towing vehicle in the direction of travel or in the direction of pull. The distance between the third and fourth sensor devices may be known.

[0096] The third and fourth sensor devices can also be aligned along a longitudinal axis of the towing vehicle.

[0097] Alternatively, the angle between a second vector, formed from the third and fourth positions, and a longitudinal axis of the towing vehicle can be known. In this case, the towing vehicle can travel straight ahead along its longitudinal axis.

[0098] Furthermore, the fourth position and / or the fourth sensor device can be located at the front end of the towing vehicle in the direction of travel or in the direction of pull,

[0099] P24-048, while the third position and / or the third sensor device may be located at a rear end of the towing vehicle in the direction of travel or in the direction of pull. The distance between the third and fourth sensor devices may be known. The third and fourth sensor devices may also be aligned along a longitudinal axis of the towing vehicle.

[0100] Alternatively, the angle between a second vector, formed from the third and fourth positions, and a longitudinal axis of the towing vehicle can be known. In this case, the towing vehicle can travel straight ahead along its longitudinal axis.

[0101] Furthermore, the first, second, and / or third and / or fourth sensor devices can be interconnected via signal transmission, such as by cable or wirelessly. Additionally, the first, second, third, and / or fourth sensor devices can each have an evaluation unit or share one. The first, second, and / or third sensor devices can also be connected to an evaluation unit.

[0102] The evaluation unit can be configured to generate the first and / or second vector and / or to determine at least one angle between the first and second vectors. The evaluation unit can also be configured to receive correction data from a first sensor unit.

[0103] Furthermore, the evaluation device can be designed to solve the cosine rule so that at least one angle between a third, unknown vector, which can connect the third and fourth positions, and the first vector can be obtained.

[0104] Furthermore, the evaluation unit can be equipped to correct a determined first, second and / or third position and / or a created fourth position with received correction data.

[0105] It is also possible that the evaluation unit is trained to correct a determined first, second, third and / or fourth position with received correction data.

[0106] Furthermore, it is possible that the first, second, third and / or fourth sensor device and / or the evaluation device are connected to each other by means of signal transmission, e.g. by cable or by radio.

[0107] P24-048 Furthermore, the evaluation unit may be designed to carry out the presented procedure completely or largely.

[0108] The evaluation unit can have an interface for a BUS system.

[0109] Furthermore, the first, second, third and / or fourth sensor unit can have an interface for a BUS system. This allows an evaluation unit to be integrated into an existing BUS system, e.g., that of the towing vehicle.

[0110] It is also possible that the complementary angle to the at least one angle between the longitudinal axis of the trailer and the longitudinal axis of the towing vehicle can be calculated by subtracting the at least one angle from the difference of 180 degrees. This can be done, for example, by an evaluation unit.

[0111] Furthermore, after determining the minimum angle, the procedure can include, as a further step, using this angle to steer the towing vehicle and / or the trailer (e.g., also called trailing-line control). Using this angle, for example, the towing vehicle's steering system can ensure that the intended curve radii can be negotiated safely with the vehicle combination, which may consist of a towing vehicle and a trailer. This prevents collisions between the towing vehicle and trailer at certain curve radii. It also prevents tipping or instability of the vehicle combination at certain curve radii and / or on specific terrain.

[0112] Furthermore, the procedure can include, as a step, determining the position of a towing vehicle and / or a trailer in space. This position can be determined using at least one inertial measurement unit or at least two inertial measurement units, for example, to achieve a more precise determination of the angle between a trailer and a towing vehicle in uneven terrain.

[0113] Furthermore, it is possible that the fusion or combination of determined positions and location positions allows for a position correction of a towing vehicle and / or a

[0114] P24-048 vehicle trailer in space. It is also possible that the fusion or combination allows for a more precise determination of at least one angle between a vehicle trailer and a towing vehicle.

[0115] Furthermore, by fusing or combining this data with, for example, at least one determined wheel speed, the accuracy of a position correction for a towing vehicle and / or a trailer in space can be further increased. This also makes it possible to determine the angle between a trailer and a towing vehicle more precisely through fusing or combining the data.

[0116] A second aspect of the present invention comprises a computer, a computer system or a computer network.

[0117] It is expressly pointed out that the features of the procedure, as mentioned under the first aspect, can be applied individually or in combination to the computer, the computer system or the computer network.

[0118] A computer, a computer system, or a computer network is configured to perform the procedure according to the first aspect, either locally or non-locally.

[0119] A third aspect of the present invention comprises a computer program.

[0120] It is expressly pointed out that the features of the procedure, as mentioned under the first aspect, can be applied individually or in combination to the computer program.

[0121] A computer program comprises instructions which, when the program is executed by a computer, cause it to carry out the procedure according to the first aspect.

[0122] A fourth aspect of the present invention comprises an agricultural machine, such as a tractor.

[0123] It is expressly pointed out that the features of the first and / or second and / or third aspect can be applied individually or in combination to the agricultural machine.

[0124] An agricultural machine, such as a towing vehicle or a tractor, is designed to carry out the method according to the first aspect of the invention.

[0125] P24-048 Alternatively or additionally, an agricultural machine has a computer, computer system or computer network according to the second aspect.

[0126] Alternatively or additionally, an agricultural machine is designed to execute a computer program according to the third aspect of the invention.

[0127] The invention concept presented above is expressed again and in addition in other words below.

[0128] This concept – in simplified terms – concerns a method for detecting at least one angle between a vehicle trailer and a towing vehicle. In other words, the invention utilizes a sensor system that can accurately measure the relative orientation between the towing vehicle (tractor) and the towed trailer (implement) or vehicle trailer in an articulated vehicle combination.

[0129] Unlike currently used drawbar tilt angle sensors, this sensor system can operate without mechanical contact. It can also measure the relative orientation in one, two, or three dimensions, whereas sensors on the market can only measure the relative angle in one dimension using mechanical contact. This is typically the relative yaw angle, assuming a level surface.

[0130] The sensor system can utilize the moving base approach. For example, using three GNSS antennas and receivers, the positions of the antennas relative to each other can be estimated with an accuracy of approximately ± 2 cm. From this, the relative orientation between the towing vehicle and the trailer can be derived.

[0131] To describe it more precisely, the approach of the presented invention can be based on the principle of a moving base. Similar to conventional RTK GNSS, this can send corrections to the respective GNSS receiver, which is installed, for example, in a lane guidance system in a towing vehicle.

[0132] The moving base can therefore send corrections to the respective moving GNSS receiver or rover. The base and the rover can be connected via cable.

[0133] The complete system of the invention can use a base and two rovers connected by cables. The base and one rover can be mounted on the vehicle trailer, while the second rover can be mounted on the tractor.

[0134] P24-048 From the relative positions of the rover to the base, the relative angles of the vehicle trailer to the towing vehicle can be determined in x, y and z coordinates.

[0135] The presented invention is robust against external environmental influences (e.g., rain, sunlight). In contrast to conventional mechanically contact-based angle sensors, 3D orientation can be measured contactlessly, and not just an angle.

[0136] The mechanically contactless measurement promises robustness, meaning that no mechanical components can be damaged during coupling, tight turns, or torsion between the towing vehicle and the trailer's drawbar. Since the second rover can simply be mounted on the towing vehicle, no information from the towing vehicle's system is required, making it compatible even with low-tech towing vehicles.

[0137] The invention is explained in more detail below with reference to exemplary embodiments in conjunction with the accompanying drawings. These schematically show:

[0138] Fig. 1 shows a schematic view of a vehicle trailer and a towing vehicle during a curve maneuver to support the explanation of a method for detecting an angle between the vehicle trailer and the towing vehicle according to a first embodiment;

[0139] Fig. 2 shows a schematic view of a vehicle trailer and a towing vehicle during a curve maneuver to support the explanation of a method for detecting an angle between the vehicle trailer and the towing vehicle according to a second embodiment; and

[0140] Fig. 3 shows a schematic view of a vehicle trailer and a towing vehicle during a curve maneuver to support the explanation of a method for detecting an angle between the vehicle trailer and the towing vehicle according to a third embodiment.

[0141] P24-048 In the following description, the same reference symbols are used for the same items.

[0142] Figure 1 shows a schematic view of a vehicle trailer 11 and a towing vehicle 10 during a curve. Figure 1 is illustrated to support the explanation of a method for detecting an angle α between the vehicle trailer 11 and the towing vehicle 10 according to a first embodiment.

[0143] The procedure for measuring an angle 'a' between a vehicle trailer 11 and a towing vehicle 10 comprises the following steps.

[0144] As a first step, an initial position P1 is determined on the vehicle trailer 11. This first step itself comprises several steps, as explained below.

[0145] Determining an initial position P1 involves, as one step, receiving signals from several GNSS satellites (not shown) to determine the coordinates of the initial position P1, or rather, of an initial sensor unit 1. More precisely, determining the initial position P1 is performed using an initial sensor unit 1. This initial sensor unit 1 is designed to receive GNSS satellite signals. Specifically, the initial sensor unit 1 is a GPS and a Galileo receiver. Thus, the initial sensor unit 1 is configured to determine the initial position P1 from received signals from the Global Navigation Satellite Systems (GNSS).

[0146] Furthermore, the first sensor device 1 serves as a reference station and is designed to determine deviations from signals of a global navigation satellite system from its current position and to continuously transmit these as correction data, e.g. to a second and third sensor device 2, 3.

[0147] Determining an initial position P1 involves receiving correction data via mobile communication, e.g., from a mobile network. As mentioned, this correction data is generated from deviations in signals from at least one global navigation satellite system. Using this received correction data, the accuracy of the initial position P1 can be increased to such an extent that deviations are only on the order of centimeters.

[0148] Looking at Figure 1, it can be seen that the first sensor device 1 is located on the

[0149] Vehicle trailer 11 is installed and positioned above an axle of the vehicle trailer 11.

[0150] P24-048 is arranged. The first sensor device 1 is arranged above a point on the vehicle trailer 11 that forms a pivot point for the vehicle trailer 11. According to Figure 1, the first position P1 is also arranged at a rear end of the vehicle trailer 11 in the direction of travel or pulling.

[0151] Furthermore, determining a first position P1, as a further step following the reception of signals from several GNSS satellites described above, includes determining the coordinates of the first position P1, e.g., in three-dimensional space, based on the received signals from several GNSS satellites. Additionally, as a further step following the aforementioned determination of the coordinates of the first position P1, the determined coordinates of the first position P1 are transferred to an evaluation unit 12. This serves to generate a first vector V1 and to determine an angle α between the first vector and a second vector V1, V2.To increase accuracy, determining a first position P1 also includes - as already indicated - the creation of correction data, which are generated from deviations of signals from a global navigation satellite system at the first position P1.

[0152] The generated correction data is then transferred to an evaluation unit 12 to correct certain coordinates of the first position P1 and to form a first vector V1.

[0153] As a further step, the procedure for determining an angle α between a vehicle trailer 11 and a towing vehicle 10 involves determining a second position P2 on the vehicle trailer 11.

[0154] Determining a second position P2 involves receiving signals from multiple GNSS satellites to ascertain the coordinates of the second position P2, or a second sensor device 2. This determination of a second position P2 is carried out using a second sensor device 2, which is configured to receive GNSS satellite signals. Specifically, the second sensor device 2 is a GPS and a Galileo receiver.

[0155] P24-048 Furthermore, the second sensor device 2 is designed to receive correction data from the first sensor device 1 and to determine the second position P2 from received correction data from the first sensor device 1 and from received signals from the global navigation satellite systems.

[0156] According to Figure 1, the second sensor device 2 is installed on the vehicle trailer 11 and is arranged at a front end of the vehicle trailer 11 in the direction of pulling or in the direction of travel.

[0157] The distance between the first and second sensor devices 1 , 2 is known, wherein the first and second sensor devices 1 , 2 are aligned along a longitudinal axis L11 of the vehicle trailer 11.

[0158] Determining a second position P2 also includes, as a further step following the reception of signals from several GNSS satellites, determining the coordinates of the second position P2, e.g. in three-dimensional space, based on received signals from several GNSS satellites.

[0159] Furthermore, determining a second position P2 as an additional step following the determination of the coordinates of the second position P2 includes transferring the determined coordinates of the second position P2 to the evaluation unit 12. This serves to form a first and second vector V1, V2 and to determine an angle α between the first and a second vector V1, V2.

[0160] To increase accuracy, determining a second position P2—as already mentioned—includes receiving generated correction data. This data is transmitted from the first sensor unit 1 to the second sensor unit 2. The determined coordinates of the second position P2 are then corrected using the received correction data. The corrected coordinates of the second position P2 are subsequently transmitted to the evaluation unit 12 for generating the first and second vectors V1 and V2, and for determining the angle α between these two vectors. This determination can also be performed directly in the evaluation unit 12.

[0161] As a further step, the method for determining an angle α between a vehicle trailer 11 and a towing vehicle 10, from the determined first and second positions P1 , P2, involves forming a first vector V1 that connects the first and second positions P1 , P2.

[0162] P24-048 When forming the first vector V1, a difference is formed between the corrected coordinates of the first and second positions P1 , P2.

[0163] A further step of the procedure for determining an angle α between a vehicle trailer 11 and a towing vehicle 10 includes determining a third position P3 on the towing vehicle 10.

[0164] Determining a third position P3 involves receiving signals from multiple GNSS satellites to ascertain the coordinates of the third position P3, or a third sensor device 3. This determination of a third position P3 is carried out using a third sensor device 3, which is configured to receive GNSS satellite signals. Specifically, the third sensor device 3 is a GPS and a Galileo receiver.

[0165] Furthermore, the third sensor device 3 is designed to receive correction data from the first sensor device 1 and to determine the third position P3 from received correction data from the first sensor device 1 as well as from received signals from the global navigation satellite systems.

[0166] According to Figure 1, the third sensor device 3 is installed on the towing vehicle 10, wherein the first, second and third sensor devices 1 , 2, 3 are connected to each other by means of signal transmission, e.g. by cable or by radio.

[0167] Determining a third position P3 includes, as a further step following the reception of signals from several GNSS satellites, determining the coordinates of the third position P3, e.g. in three-dimensional space, based on received signals from several GNSS satellites.

[0168] Furthermore, determining a third position P3, as a further step following the determination of the coordinates of the third position P3, includes transferring the determined coordinates of the third position P3 to the evaluation unit 12. This serves to form a second vector V2 and to determine an angle α between the first and the second vector V1, V2.

[0169] To increase accuracy, determining a third position P3—as already mentioned—includes receiving generated correction data. This correction data is transmitted from the first sensor unit 1 to the third sensor unit 3. The determined coordinates of the third position P3 are then used to calculate this data.

[0170] P24-048 is corrected with the received, generated correction data. The corrected coordinates of the third position P3 are then transferred to the evaluation unit 12 to generate the second vector V2 and to determine an angle α between the first and second vectors V1 and V2. This determination can also be performed in the evaluation unit 12.

[0171] Furthermore, the procedure for determining an angle a between a vehicle trailer 11 and a towing vehicle 10 includes the step of creating a fourth position P4 by extending the first vector V1 by a determinable value A.

[0172] When extending the first vector V1, the determinable value A is added to a corrected coordinate of the first vector V1. This value A depends on the vehicle trailer 11 used. Furthermore, the determinable value A corresponds to the length of the drawbar of the vehicle trailer 11 used. As shown in Figure 1, the drawbar is rigidly connected to the rest of the vehicle trailer 11 used. In this way, the location of the coupling of the vehicle trailer 11 to the towing vehicle 10 can be determined. Thus, a common position P4 is established on the vehicle trailer 11 and on the towing vehicle 10. While the first vector V1 now ends at the common, or fourth, position P4 after being extended, the second vector V2 starts at this position.

[0173] Furthermore, the procedure for determining an angle α between a vehicle trailer 11 and a towing vehicle 10 includes the step of forming a second vector V2 that connects the third and fourth positions P3, P4, from the determined third position P3 and the created fourth position P4.

[0174] When forming the second vector V2, a difference is calculated between the corrected coordinates of the third position P3 and the generated coordinates of the fourth position P4.

[0175] Furthermore, the method for determining an angle α between a trailer 11 and a towing vehicle 10 includes the step of determining an angle α between the first and second vectors V1 and V2. This allows the angle α between the longitudinal axis L11 of the trailer 11 and the longitudinal axis L10 of the towing vehicle 10 to be determined directly. This method is highly reliable and ensures low maintenance costs.

[0176] P24-048 When determining an angle a between the first and second vectors V1 , V2, the angle a is determined in a plane that is oriented in the same direction as the Earth's surface.

[0177] Finally, it should be noted that, according to Figure 1, the first, second and third sensor devices 1, 2, 3 are connected to the evaluation device 12.

[0178] The evaluation device 12 is designed to form the first and second vectors V1, V2 and to determine the angle a between the first and second vectors V1, V2.

[0179] The evaluation unit 12 is also designed to receive correction data from the first sensor unit 1 and to correct the determined first, second and third positions P1, P2, P3 as well as the created fourth position P4 with the received correction data.

[0180] In short, the evaluation unit 12 is designed to execute the presented procedure completely or for the most part.

[0181] Furthermore, the evaluation unit 12 has an interface for a BUS system. The same applies to the first, second, and third sensor units 1, 2, 3. Thus, the evaluation unit 12 can be integrated into an existing BUS system, e.g., that of the towing vehicle 10.

[0182] Finally, it should be mentioned that the complementary angle y to angle a can be easily calculated by subtracting angle a from 180 degrees. This can also be done, for example, using evaluation unit 12.

[0183] Figure 2 shows a schematic view of a vehicle trailer 11 and a towing vehicle 10 during a curve. Figure 2 is illustrated to support the explanation of a method for detecting an angle α between the vehicle trailer 11 and the towing vehicle 10 according to a second embodiment.

[0184] The procedure for measuring an angle 'a' between a vehicle trailer 11 and a towing vehicle 10 comprises the following steps.

[0185] In a first step, an initial position P1 is determined on the vehicle trailer 11. This first step itself comprises several steps, as explained below. One step in determining the initial position P1 involves receiving signals from several GNSS satellites (not shown) to determine the coordinates of the initial position P1, or rather, of an initial sensor device 1. More precisely, the initial position P1 is determined using an initial sensor device 1. This initial sensor device 1 is designed to receive GNSS satellite signals. Specifically, the initial sensor device 1 is a GPS and a Galileo receiver. Thus, the initial sensor device 1 is designed to determine the initial position P1 from the received signals of the global navigation satellite systems.

[0186] Furthermore, the first sensor device 1 serves as a reference station and is designed to determine deviations from signals of a global navigation satellite system from its current position and to continuously transmit these as correction data, e.g. to a second and third sensor device 2, 3.

[0187] Determining an initial position P1 involves receiving correction data via mobile communication, e.g., from a mobile network. As mentioned, this correction data is generated from deviations in signals from at least one global navigation satellite system. Using this received correction data, the accuracy of the initial position P1 can be increased to such an extent that deviations are only on the order of centimeters.

[0188] As can be seen in Figure 2, the first sensor device 1 is installed on the vehicle trailer 11 and is arranged above an axle of the vehicle trailer 11. The first sensor device 1 is positioned above a point on the vehicle trailer 11 that forms a pivot point for the vehicle trailer 11. Furthermore, as shown in Figure 2, the first position P1 is located at a rear end of the vehicle trailer 11 in the direction of travel.

[0189] Furthermore, determining a first position P1, as a further step following the reception of signals from several GNSS satellites described above, includes determining the coordinates of the first position P1, e.g., in three-dimensional space, based on the received signals from several GNSS satellites. As a further step following the aforementioned determination of the coordinates of the first position P1, determining the first position P1 also involves transferring the determined coordinates of the first position P1 to an evaluation unit 12. This serves to generate a first vector V1 and to determine an angle α between the first vector and a second vector V1, V2. To increase accuracy, determining a first position P1 additionally includes—as already indicated—the creation of correction data derived from deviations in signals from a global navigation satellite system at the first position P1.

[0190] The generated correction data is then transferred to an evaluation unit 12 to correct certain coordinates of the first position P1 and to form a first vector V1.

[0191] As a further step, the procedure for determining an angle α between a vehicle trailer 11 and a towing vehicle 10 involves determining a second position P2 on the vehicle trailer 11.

[0192] Determining a second position P2 involves receiving signals from multiple GNSS satellites to ascertain the coordinates of the second position P2, or a second sensor device 2. This determination of a second position P2 is carried out using a second sensor device 2, which is configured to receive GNSS satellite signals. Specifically, the second sensor device 2 is a GPS and a Galileo receiver.

[0193] Furthermore, the second sensor device 2 is designed to receive correction data from the first sensor device 1 and to determine the second position P2 from received correction data from the first sensor device 1 as well as from received signals from the global navigation satellite systems.

[0194] According to Figure 2, the second sensor device 2 is installed on the vehicle trailer 11 and is arranged at a front end of the vehicle trailer 11 in the direction of pulling or in the direction of travel.

[0195] The distance between the first and second sensor devices 1 , 2 is known, wherein the first and second sensor devices 1 , 2 are aligned along a longitudinal axis L11 of the vehicle trailer 11.

[0196] Determining a second position P2 also includes, as a further step following the reception of signals from several GNSS satellites, determining the coordinates of the second position P2, e.g. in three-dimensional space, based on received signals from several GNSS satellites.

[0197] P24-048 Furthermore, determining a second position P2 includes, as an additional step following the determination of the coordinates of the second position P2, the transmission of the determined coordinates of the second position P2 to the evaluation unit 12. This serves to generate a first and second vector V1, V2 and to determine an angle α between the first and a second vector V1, V2. To increase accuracy, determining a second position P2—as already indicated—includes receiving generated correction data. The generated correction data is transmitted from the first sensor unit 1 to the second sensor unit 2. Subsequently, the determined coordinates of the second position P2 are corrected using the received, generated correction data.The corrected coordinates of the second position P2 are then transferred to the evaluation unit 12 to generate the first and second vectors V1, V2 and to determine an angle α between the first and second vectors V1, V2. This determination can also be performed in the evaluation unit 12.

[0198] As a further step, the method for determining an angle α between a vehicle trailer 11 and a towing vehicle 10, from the determined first and second positions P1 , P2, involves forming a first vector V1 that connects the first and second positions P1 , P2.

[0199] When forming the first vector V1, a difference is calculated from the corrected coordinates of the first and second positions P1 and P2.

[0200] A further step of the procedure for determining an angle α between a vehicle trailer 11 and a towing vehicle 10 includes determining a third position P3 on the towing vehicle 10.

[0201] Determining a third position P3 involves receiving signals from multiple GNSS satellites to ascertain the coordinates of the third position P3, or a third sensor device 3. This determination of a third position P3 is carried out using a third sensor device 3, which is configured to receive GNSS satellite signals. Specifically, the third sensor device 3 is a GPS and a Galileo receiver.

[0202] P24-048 Furthermore, the third sensor device 3 is designed to receive correction data from the first sensor device 1 and to determine the third position P3 from received correction data from the first sensor device 1 and from received signals from the global navigation satellite systems.

[0203] According to Figure 2, the third sensor device 3 is installed on the towing vehicle 10, wherein the first, second and third sensor devices 1 , 2, 3 are connected to each other by means of signal transmission, e.g. by cable or by radio.

[0204] Determining a third position P3 includes, as a further step following the reception of signals from several GNSS satellites, determining the coordinates of the third position P3, e.g. in three-dimensional space, based on received signals from several GNSS satellites.

[0205] Furthermore, determining a third position P3, as a further step following the determination of the coordinates of the third position P3, includes transferring the determined coordinates of the third position P3 to the evaluation unit 12. This serves to form a second vector V2 and to determine an angle α between the first and the second vector V1, V2.

[0206] To increase accuracy, determining a third position P3—as already mentioned—includes receiving generated correction data. This data is transmitted from the first sensor unit 1 to the third sensor unit 3. The determined coordinates of the third position P3 are then corrected using this data. The corrected coordinates of the third position P3 are subsequently transmitted to the evaluation unit 12 for generating the second vector V2 and determining the angle α between the first and second vectors V1 and V2. This determination can also be performed directly in the evaluation unit 12.

[0207] Furthermore, the procedure for determining an angle a between a vehicle trailer 11 and a towing vehicle 10 includes the step of creating a fourth position P4 by extending the first vector V1 by a determinable value A.

[0208] When extending the first vector V1, the determinable value A is added to a corrected coordinate of the first vector V1. This value A depends on the vehicle trailer 11 used. Furthermore, the determinable value A corresponds to the

[0209] P24-048 Length of the drawbar of the vehicle trailer 11 used. As shown in Figure 2, the drawbar is rigidly connected to the rest of the vehicle trailer 11. In this way, the location of the coupling of the vehicle trailer 11 to the towing vehicle 10 can be determined. Thus, there is a common position P4 on the vehicle trailer 11 and on the towing vehicle 10. While the first vector V1 now ends at the common, or fourth, position P4 after being extended, a third vector V3 starts at this position.

[0210] Furthermore, the procedure for determining an angle α between a vehicle trailer 11 and a towing vehicle 10 includes the step of forming a second vector V2 that connects the first and third positions P1 , P3, from the determined first P1 and the determined third position P3.

[0211] When forming the second vector V2, a difference is formed between the corrected coordinates of the first and third positions P1, P3.

[0212] Furthermore, the method for determining an angle α between a trailer 11 and a towing vehicle 10 includes the step of determining an angle β between the first and second vectors V1, V2. This allows the angle α between the longitudinal axis L11 of the trailer 11 and the longitudinal axis L10 of the towing vehicle 10 to be determined indirectly. This method is highly reliable and requires minimal maintenance.

[0213] To obtain the additional angle α, it is calculated after determining the angle β between the first and second vectors V1, V2. The step of calculating this additional angle α between a third, unknown vector V3, which connects the third and fourth positions P3, P4, and the first vector V1 uses the law of cosines. When using the law of cosines, the lengths of the first and second vectors V1, V2, as well as the angle β between them, are used as known quantities. The subsequent procedure for solving the law of cosines, as well as the law itself, are known.

[0214] When determining the angles a and ß, both are determined in a plane that is aligned in the same orientation as the Earth's surface.

[0215] Finally, it should be noted that, according to Figure 2, the first, second and third sensor devices 1, 2, 3 are connected to the evaluation device 12.

[0216] P24-048 The evaluation unit 12 is configured to generate the first and second vectors V1, V2 and to determine the angle β between the first and second vectors V1, V2. Furthermore, the evaluation unit 12 is configured to solve the law of cosines so that, as indicated above, the angle α between a third, unknown vector V3, which connects the third and fourth positions P3, P4, and the first vector V1 can be obtained.

[0217] The evaluation unit 12 is also designed to receive correction data from the first sensor unit 1 and to correct the determined first, second and third positions P1, P2, P3 as well as the created fourth position P4 with the received correction data.

[0218] In short, the evaluation unit 12 is designed to execute the presented procedure completely or for the most part.

[0219] Furthermore, the evaluation unit 12 has an interface for a BUS system. The same applies to the first, second, and third sensor units 1, 2, 3. Thus, the evaluation unit 12 can be integrated into an existing BUS system, e.g., that of the towing vehicle 10.

[0220] Finally, it should be mentioned that the complementary angle y to angle a can be easily calculated by subtracting angle a from 180 degrees. This can also be done, for example, using evaluation unit 12.

[0221] Figure 3 shows a schematic view of a vehicle trailer 11 and a towing vehicle 10 during a curve. Figure 3 is illustrated to support the explanation of a method for detecting an angle α between the vehicle trailer 11 and the towing vehicle 10 according to a third embodiment.

[0222] In this example, one drawbar of the vehicle trailer is movably connected to the rest of the vehicle trailer in use.

[0223] The procedure for measuring an angle 'a' between a vehicle trailer 11 and a towing vehicle 10 comprises the following steps.

[0224] As a first step, an initial position P1 is determined on the vehicle trailer 11. This first step itself comprises several steps, as explained below.

[0225] P24-048 Determining a first position P1 involves, as one step, receiving signals from several GNSS satellites (not shown) to determine the coordinates of the first position P1, or a first sensor unit 1. More precisely, determining a first position P1 is performed using a first sensor unit 1. This first sensor unit 1 is designed to receive GNSS satellite signals. Specifically, the first sensor unit 1 is a GPS and a Galileo receiver. Thus, the first sensor unit 1 is designed to determine the first position P1 from received signals from the global navigation satellite systems.

[0226] Furthermore, the first sensor device 1 serves as a reference station and is designed to determine deviations from signals of a global navigation satellite system from its current position and to continuously transmit these as correction data, e.g. to a second and third sensor device 2, 3.

[0227] Determining an initial position P1 involves receiving correction data via mobile communication, e.g., from a mobile network. As mentioned, this correction data is generated from deviations in signals from at least one global navigation satellite system. Using this received correction data, the accuracy of the initial position P1 can be increased to such an extent that deviations are only on the order of centimeters.

[0228] As can be seen in Figure 3, the first sensor device 1 is installed on the vehicle trailer 11 and is arranged above an axle of the vehicle trailer 11. The first sensor device 1 is positioned above a point on the vehicle trailer 11 that forms a pivot point for the vehicle trailer 11. Furthermore, as shown in Figure 3, the first position P1 is located at a rear end of the vehicle trailer 11 in the direction of travel.

[0229] Furthermore, determining a first position P1, as a further step following the reception of signals from multiple GNSS satellites described above, involves determining the coordinates of the first position P1, e.g., in three-dimensional space, based on the received signals from several GNSS satellites. Additionally, determining a first position P1, as a further step following the aforementioned determination of the coordinates of the first position P1, involves transferring the determined coordinates of the first position P1 to a

[0230] P24-048 Evaluation Unit 12. This serves to generate a first vector V1 and to determine an angle α between the first and a second vector V1, V2. To increase accuracy, determining a first position P1 additionally includes – as already indicated – the creation of correction data, which are generated from deviations of signals from a global navigation satellite system at the first position P1.

[0231] The generated correction data is then transferred to an evaluation unit 12 to correct certain coordinates of the first position P1 and to form a first vector V1.

[0232] As a further step, the procedure for determining an angle α between a vehicle trailer 11 and a towing vehicle 10 involves determining a second position P2 on the vehicle trailer 11.

[0233] Determining a second position P2 involves receiving signals from multiple GNSS satellites to ascertain the coordinates of the second position P2, or a second sensor device 2. This determination of a second position P2 is carried out using a second sensor device 2, which is configured to receive GNSS satellite signals. Specifically, the second sensor device 2 is a GPS and a Galileo receiver.

[0234] Furthermore, the second sensor device 2 is designed to receive correction data from the first sensor device 1 and to determine the second position P2 from received correction data from the first sensor device 1 as well as from received signals from the global navigation satellite systems.

[0235] According to Figure 3, the second sensor device 2 is installed on the vehicle trailer 11 and is arranged at a front end of the vehicle trailer 11 in the direction of travel or in the direction of pull.

[0236] The distance between the first and second sensor devices 1 , 2 is known, wherein the first and second sensor devices 1 , 2 are aligned along a longitudinal axis L11 of the vehicle trailer 11.

[0237] Determining a second position P2 also includes, as a further step following the reception of signals from several GNSS satellites, determining the coordinates of the second position P2, e.g. in three-dimensional space, based on received signals from several GNSS satellites.

[0238] P24-048 Furthermore, determining a second position P2 includes, as an additional step following the determination of the coordinates of the second position P2, the transmission of the determined coordinates of the second position P2 to the evaluation unit 12. This serves to generate a first and second vector V1, V2 and to determine an angle α between the first and a second vector V1, V2. To increase accuracy, determining a second position P2—as already indicated—includes receiving generated correction data. The generated correction data is transmitted from the first sensor unit 1 to the second sensor unit 2. Subsequently, the determined coordinates of the second position P2 are corrected using the received, generated correction data.The corrected coordinates of the second position P2 are then transferred to the evaluation unit 12 to generate the first and second vectors V1, V2 and to determine an angle α between the first and second vectors V1, V2. This determination can also be performed in the evaluation unit 12.

[0239] As a further step, the method for determining an angle α between a vehicle trailer 11 and a towing vehicle 10, from the determined first and second positions P1 , P2, involves forming a first vector V1 that connects the first and second positions P1 , P2.

[0240] When forming the first vector V1, a difference is calculated from the corrected coordinates of the first and second positions P1 and P2.

[0241] A further step of the procedure for determining an angle α between a vehicle trailer 11 and a towing vehicle 10 includes determining a third position P3 on the towing vehicle 10.

[0242] Determining a third position P3 involves receiving signals from multiple GNSS satellites to ascertain the coordinates of the third position P3, or a third sensor device 3. This determination of a third position P3 is carried out using a third sensor device 3, which is configured to receive GNSS satellite signals. Specifically, the third sensor device 3 is a GPS and a Galileo receiver.

[0243] P24-048 Furthermore, the third sensor device 3 is designed to receive correction data from the first sensor device 1 and to determine the third position P3 from received correction data from the first sensor device 1 and from received signals from the global navigation satellite systems.

[0244] According to Figure 3, the third sensor device 3 is installed on the towing vehicle 10 and is arranged at a rear end of the towing vehicle 10 in the direction of travel, wherein the first, second and third sensor devices 1 , 2, 3 are connected to each other by means of signal transmission, e.g. by cable or by radio.

[0245] Determining a third position P3 includes, as a further step following the reception of signals from several GNSS satellites, determining the coordinates of the third position P3, e.g. in three-dimensional space, based on received signals from several GNSS satellites.

[0246] Determining a third position P3 includes, as a further step following the determination of the coordinates of the third position P3, transferring the determined coordinates of the third position P3 to the evaluation unit 12. This serves to form a second vector V2 and to determine an angle α between the first and the second vector V1, V2.

[0247] To increase accuracy, determining a third position P3—as already mentioned—includes receiving generated correction data. This data is transmitted from the first sensor unit 1 to the third sensor unit 3. The determined coordinates of the third position P3 are then corrected using this data. The corrected coordinates of the third position P3 are subsequently transmitted to the evaluation unit 12 for generating the second vector V2 and determining the angle α between the first and second vectors V1 and V2. This determination can also be performed directly in the evaluation unit 12.

[0248] Furthermore, the procedure for determining an angle α between a vehicle trailer 11 and a towing vehicle 10 includes the step of determining a fourth position P4 on the towing vehicle 10.

[0249] Determining a fourth position P4 involves receiving signals from multiple GNSS satellites to ascertain the coordinates of the fourth position P4, or a fourth sensor device 4. Specifically, determining a fourth position P4 is performed using P24-048, a fourth sensor device 4. This fourth sensor device 4 is designed to receive GNSS satellite signals. In particular, the fourth sensor device 4 is a GPS and a Galileo receiver.

[0250] Furthermore, the fourth sensor device 4 is designed to receive correction data from the first sensor device 1 and to determine the fourth position P4 from received correction data from the first sensor device 1 and from received signals from the global navigation satellite systems.

[0251] As shown in Figure 3, the fourth sensor device 4 is installed on the towing vehicle 10 and arranged at a front end of the towing vehicle 10 in the direction of travel, the distance between the third and fourth sensor devices 3, 4 being known. The third and fourth sensor devices 3, 4 are aligned along a longitudinal axis L10 of the towing vehicle 10. Furthermore, the first, second, third, and fourth sensor devices 1, 2, 3, 4 are interconnected for signal transmission, e.g., by cable or radio.

[0252] Determining a fourth position P4 includes, as a further step following the reception of signals from several GNSS satellites, determining the coordinates of the fourth position P4, e.g. in three-dimensional space, based on received signals from several GNSS satellites.

[0253] Furthermore, determining a third position P4, as a further step following the determination of the coordinates of the fourth position P4, includes transferring the determined coordinates of the fourth position P4 to the evaluation unit 12. This serves to form a second vector V2 and to determine an angle α between the first and the second vector V1, V2.

[0254] To increase accuracy, determining a fourth position P4 involves receiving generated correction data. This data is transmitted from the first sensor unit 1 to the fourth sensor unit 4. The determined coordinates of the fourth position P4 are then corrected using this data. The corrected coordinates of the fourth position P4 are subsequently transmitted to the evaluation unit 12 for generating the second vector V2 and determining the angle α between the first and second vectors V1 and V2. This determination can also be performed directly in the evaluation unit 12.

[0255] P24-048 As a further step, the method for determining an angle α between a vehicle trailer 11 and a towing vehicle 10, from the determined third and fourth positions P3, P4, includes forming a second vector V2 that connects the third and fourth positions P3, P4.

[0256] When forming the second vector V2, a difference is formed between the corrected coordinates of the third position P3 and the corrected coordinates of the fourth position P4.

[0257] Furthermore, the method for determining an angle α between a trailer 11 and a towing vehicle 10 includes the step of determining an angle α between the first and second vectors V1 and V2. This allows the angle α between the longitudinal axis L11 of the trailer 11 and the longitudinal axis L10 of the towing vehicle 10 to be determined directly. This method is highly reliable and ensures low maintenance costs.

[0258] When determining an angle α between the first and second vectors V1, V2, the angle α is determined in a plane that is oriented in the same direction as the Earth's surface.

[0259] Finally, it should be noted that, according to Figure 3, the first, second, third, and fourth sensor devices 1, 2, 3, 4 are connected to the evaluation device 12. The evaluation device 12 is configured to generate the first and second vectors V1, V2 and to determine the angle α between the first and second vectors V1, V2.

[0260] The evaluation unit 12 is also designed to receive correction data from the first sensor unit 1 and to correct the determined first, second, third and fourth positions P1, P2, P3, P4 with the received correction data.

[0261] In short, the evaluation unit 12 is designed to execute the presented procedure completely or for the most part.

[0262] Furthermore, the evaluation unit 12 has an interface for a BUS system. The same applies to the first, second, third, and fourth sensor units 1, 2, 3, 4. Thus, the evaluation unit 12 can be integrated into an existing BUS system, e.g., that of the towing vehicle 10.

[0263] P24-048 Finally, it should be mentioned that the complementary angle y to angle a can be easily calculated by subtracting angle a from 180 degrees. This can also be done, for example, using evaluation unit 12.

[0264] P24-048 Reference sign list

[0265] 1 first sensor device

[0266] 2 second sensor device

[0267] 3 third sensor device

[0268] 10 Towing vehicle

[0269] 11 vehicle trailers

[0270] 12 Evaluation unit

[0271] P1 first position

[0272] P2 second position

[0273] P3 third position

[0274] P4 fourth position

[0275] V1 first vector

[0276] V2 second vector

[0277] V3 third vector a angle ß angle

[0278] L10 Longitudinal axis of the towing vehicle

[0279] L11 Longitudinal axis of the vehicle trailer

[0280] A determinable value

[0281] P24-048

Claims

Patent claims 1. Method for measuring at least one angle (a, ß) between a vehicle trailer (11) and a towing vehicle (10) comprising: - Determining a first position (P1 ) on the vehicle trailer (11 ), - Determining a second position (P2) on the vehicle trailer (11 ), - from the determined first and second positions (P1 , P2), form a first vector (V1 ) that connects the first and second positions (P1 , P2), - Determining a third position (P3) on the towing vehicle (10), - Determining a fourth position (P4) on the towing vehicle (10) or creating a fourth position (P4) by extending the first vector (V1) by a determinable value, - from the determined third (P3) and fourth positions (P4), forming a second vector (V2) that connects the third and fourth positions (P3, P4), - Determine at least one angle (a) between the first and second vectors (V1 , V2), whereby the at least one angle (a) between the longitudinal axis (L11 ) of the vehicle trailer (11 ) and the longitudinal axis (L10) of the towing vehicle (10) can be directly determined, and / or - from the determined third (P3) and the created fourth position (P4), forming a second vector (V2) that connects the third and fourth positions (P3, P4), - Determine at least one angle (a) between the first and second vectors (V1 , V2), whereby the at least one angle (a) between the longitudinal axis (L11 ) of the vehicle trailer (11 ) and the longitudinal axis (L10) of the towing vehicle (10) can be directly determined, and / or - from the determined first position (P1 ) and the determined third position (P3), form a second vector (V2) that connects the first and third positions (P1 , P3), - Determine at least one angle (β) between the first and second vectors (V1, V2), whereby the at least one angle (α) between the longitudinal axis P24-048 (L11 ) of the vehicle trailer (11 ) and the longitudinal axis (L10) of the towing vehicle (10) can be determined indirectly.

2. The method of claim 1, wherein determining a first position (P1) comprises the following steps: - Receiving signals from a global navigation satellite system and / or receiving signals from multiple GNSS satellites to determine the coordinates of the first position (P1) and / or a first sensor device (1), and - Determining the coordinates of the first position (P1), and - Transferring the determined coordinates of the first position (P1 ) to an evaluation device (12) to form a first and / or second vector (V1 , V2) and / or to determine at least one angle (a, ß) between a first and second vector (V1 , V2).

3. Method according to claim 1 or 2, wherein determining a first position (P1) comprises the following steps: - Receiving signals from a global navigation satellite system and / or receiving signals from multiple GNSS satellites to determine the coordinates of the second position (P2) and / or a second sensor device (2), - Determining the coordinates of the second position (P2), and - Transferring the determined coordinates of the second position (P2) to an evaluation device (12) to form a first and / or second vector (V1 , V2) and / or to determine at least one angle (a, ß) between first and second vector (V1 , V2).

4. Method according to any of the preceding claims, wherein determining a third position (P3) comprises the following steps: - Receiving signals from a global navigation satellite system and / or receiving signals from multiple GNSS satellites to determine the coordinates of the third position (P3) and / or a third sensor device (3), P24-048 - Determining the coordinates of the third position (P3), and - Transferring the determined coordinates of the third position (P3) to an evaluation device (12) to form a first and / or second vector (V1 , V2) and / or to determine at least one angle (a, ß) between first and second vector (V1 , V2).

5. A method according to any of the preceding claims, wherein determining a fourth position (P4) comprises the following steps: - Receiving signals from a global navigation satellite system and / or receiving signals from multiple GNSS satellites to determine the coordinates of the fourth position (P4) and / or a fourth sensor device (4), - Determining the coordinates of the fourth position (P4), and - Transferring the determined coordinates of the fourth position (P4) to an evaluation device (12) to form a first and / or second vector (V1 , V2) and / or to determine at least one angle (a, ß) between first and second vector (V1 , V2).

6. Method according to any of the preceding claims, - where, when forming the first vector (V1), a difference is formed between the coordinates of the determined first and second positions (P1 , P2).

7. Method according to any of the preceding claims, - where, when forming the second vector (V2), a difference is formed between the coordinates of the determined third and fourth positions (P3, P4), and / or - where, when forming the second vector (V2), a difference is formed between the coordinates of the determined third and the created fourth position (P3, P4).

8. Method according to any of the preceding claims, P24-048 where, when forming the second vector (V2), a difference is formed between the coordinates of the determined first and the determined third position (P1 , P3).

9. Method according to any of the preceding claims, - after determining at least one angle (β) between the first and second vectors (V1 , V2), calculating at least one further angle (α) between a third, unknown vector (V3) connecting the third and fourth positions (P3, P4) and the first vector (V1 ).

10. Computer, computer system or computer network configured to execute locally or non-locally the method according to any one of claims 1 to 9.

11. Computer program comprising instructions which, when the program is executed by a computer, cause it to execute the method according to any one of claims 1 to 9.

12. Equipping an agricultural machine: - a computer, a computer system or a computer network according to claim 10. P24-048

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