Verfahren zum Schätzen eines Gelenkwinkels zwischen einem Zugfahrzeug und einem Anhänger, Entsprechende Vorrichtung, Fahrassistenzsystem, Nutzfahrzeug und Computerprogrammprodukt

Details

Veröffentlichungs-Nr.

EP4253197

Aktenzeichen

EP22165932

Anmeldetag

31. März 2022

Veröffentlichung

12. November 2025

Erteilung

12. November 2025

Rechtsraum

EP

IPC

B62D15/02

Abstract

The present invention relates to a method for estimating an articulation angle (ϕ) between a towing vehicle (10) and a trailer (20) with respect to a pivot (K), comprising the steps of: determining a distance (r) between an instantaneous center of velocity (P) of the towing vehicle (10) and a center of at least one axle (R) of the towing vehicle (10) representative for a rotation of the towing vehicle (10) about the instantaneous center of velocity (P) of the towing vehicle (10) and/or a distance (r<T>) between an instantaneous center of velocity (D) of the trailer (20) and a center of at least one axle (T) of the trailer (20) representative for a rotation of the trailer (20) about the instantaneous center of velocity (D) of the trailer (20), determining at least one instantaneous speed (v<R>, v<T>, v<TL>, v<TR>) representative for a wheel speed of at least one wheel of the towing vehicle (10) and/or the trailer (20), wherein the at least one instantaneous speed (v<R>, v<T>, v<TL>, v<TR>) refers to the at least one determined distance (r, r<T>), and estimating the articulation angle (ϕ) based on the at least one determined instantaneous speed and the at least one determined distance (r, r<T>).

Anmelder

Firma

KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH

Land

🇩🇪 Deutschland

Fachgebiete