Trailer coupling having an evaluation device, evaluation device and evaluation method

1. A trailer coupling for a towing vehicle, having a coupling carrier, which comprises a coupling arm and at whose free end a coupling ball is arranged for connecting a trailer, and which coupling carrier is fixedly or movably arranged on a mount, which is or can be attached to the towing vehicle, and having a sensor arrangement, which has at least one sensor and has the purpose of sensing a traction force and/or thrust force which can be caused by a traction load acting on the coupling carrier during a traction operation of the trailer and of outputting a force signal representing the traction force and/or thrust force, and having an evaluation device for determining a trailer mass value of the trailer on the basis of the force signal, wherein the evaluation device is configured to determine the trailer mass value on the basis of an evaluation of at least one spring parameter, which represents at least one spring property of the coupling carrier,

wherein the at least one spring parameter forms a component of a differential equation, evaluated by the evaluation device, which maps the trailer as a component of a single-mass sway system.

2. The trailer coupling according to claim 1 , wherein the at least one spring parameter comprises a spring constant of the coupling carrier or the coupling arm.

3. The trailer coupling according to claim 1 , wherein the at least one spring parameter forms a component of a differential equation, evaluated by the evaluation device, which comprises as a further component the product of the trailer mass value and a trailer acceleration value representing the acceleration of the trailer and/or a towing vehicle acceleration value representing the acceleration of the towing vehicle.

4. The trailer coupling according to claim 1 , wherein the evaluation device is configured for determining a trailer acceleration value representing the acceleration of the trailer on the basis of a differential equation.

5. The trailer coupling according to claim 1 , wherein the sensor arrangement has at least one strain sensor, which is arranged on the coupling carrier and/or the mount holding the coupling carrier and/or a carrier of the trailer coupling attached to the towing vehicle and is provided for sensing a deformation of the coupling carrier or mount or carrier caused by the traction force or thrust force.

6. A trailer coupling for a towing vehicle, having a coupling carrier, which comprises a coupling arm and at whose free end a coupling ball is arranged for connecting a trailer, and which coupling carrier is fixedly or movably arranged on a mount, which is or can be attached to the towing vehicle, and having a sensor arrangement, which has at least one sensor and has the purpose of sensing a traction force and/or thrust force which can be caused by a traction load acting on the coupling carrier during a traction operation of the trailer and of outputting a force signal representing the traction force and/or thrust force, and having an evaluation device for determining a trailer mass value of the trailer on the basis of the force signal, wherein the evaluation device is configured to determine the trailer mass value on the basis of an evaluation of at least one spring parameter, which represents at least one spring property of the coupling carrier,

wherein the evaluation device is configured for determining the trailer mass value on the basis of an evaluation of at least one damper parameter, wherein the damper parameter represents a damping property of the trailer coupling within the meaning of sway damping.

7. The trailer coupling according to claim 6 , wherein the damper parameter represents damping caused by the material of the coupling carrier and/or damping caused by an overrun damper and/or damping caused by friction in a chassis.

8. A trailer coupling for a towing vehicle, having a coupling carrier, which comprises a coupling arm and at whose free end a coupling ball is arranged for connecting a trailer, and which coupling carrier is fixedly or movably arranged on a mount, which is or can be attached to the towing vehicle, and having a sensor arrangement, which has at least one sensor and has the purpose of sensing a traction force and/or thrust force which can be caused by a traction load acting on the coupling carrier during a traction operation of the trailer and of outputting a force signal representing the traction force and/or thrust force, and having an evaluation device for determining a trailer mass value of the trailer on the basis of the force signal, wherein the evaluation device is configured to determine the trailer mass value on the basis of an evaluation of at least one spring parameter, which represents at least one spring property of the coupling carrier,

wherein the evaluation device is configured for determining the trailer mass value on the basis of a comparison between a progression over time of the force signal measured on the basis of the sensor arrangement and a force progression over time determined on the basis of a mathematical model, wherein the model maps the trailer and comprises an adopted trailer mass value representing the mass of the trailer and a trailer acceleration value representing the acceleration of the trailer and/or a towing vehicle acceleration value representing the acceleration of the towing vehicle.

9. The trailer coupling according to claim 8 , wherein the evaluation device in the mathematical model varies the adopted trailer mass value for adjusting the force progression determined on the basis of the mathematical model to the progression of the measured force signal and/or the at least one spring parameter and/or a damper parameter.

10. The trailer coupling according to claim 8 , wherein the evaluation device implements the mathematical model in the manner of a control-engineering observer and/or has a differential equation.

11. An evaluation method for a trailer coupling provided for a towing vehicle, having a coupling carrier, which comprises a coupling arm and at whose free end a coupling ball is arranged for connecting a trailer, and which coupling carrier is fixedly or movably arranged on a mount, which is or can be attached to the towing vehicle, wherein the evaluation method provides an evaluation of a force signal, which is output by a sensor arrangement having at least one sensor for sensing a traction force and/or thrust force, which can be caused by a traction load acting on the coupling carrier during a traction operation of the trailer and represents the traction force and/or thrust force, and determining a trailer mass value of the trailer on the basis of the force signal, wherein the evaluation method comprises determining a trailer mass value on the basis of an evaluation of at least one spring parameter on the basis of evaluation means, wherein the at least one spring parameter represents at least one spring property of the coupling carrier, and

wherein the method is carried out in the case of at least two successive braking or accelerating processes of the pair comprising towing vehicle and trailer for iterative determination of the trailer mass value, wherein a mean of the trailer mass value is formed.

12. An evaluation module for a trailer coupling provided for a towing vehicle, having a coupling carrier, which comprises a coupling arm and at whose free end a coupling ball is arranged for connecting a trailer, and which coupling carrier is fixedly or movably arranged on a mount, which is or can be attached to the towing vehicle, wherein the evaluation module comprises program code that can be executed by a processor:

for evaluating a force signal, which is output by a sensor arrangement having at least one sensor for sensing a traction force and/or thrust force, which can be caused by a traction load acting on the coupling carrier during a traction operation of the trailer and represents the traction force and/or thrust force; and

for determining a trailer mass value of the trailer using the force signal, wherein

determining the trailer mass value comprises an evaluation of at least one spring parameter, wherein the at least one spring parameter represents at least one spring property of the coupling carrier.