Method for monitoring the vehicle surroundings of a vehicle combination and monitoring system
The invention relates to a method for monitoring the vehicle surroundings (U) of a vehicle combination ( 1 ), in particular utility vehicle combination ( 1 ), composed of a traction vehicle ( 2 ) and at least one trailer ( 3 ) using a monitoring system with a camera ( 11 ), having at least the following steps:—defining a monitoring space ( 13 ) within a capture range ( 12 ) of the camera ( 11 ), wherein the monitoring system monitors only the monitoring space ( 13 ) for critical objects which can give rise to a collision probability, wherein the monitoring space ( 13 ) is defined and oriented in such a way that the vehicle surroundings (U) are located at least partially in the monitoring space ( 13 ), and at the same time the vehicle combination ( 1 ) is not located in the monitoring space ( 13 ), wherein for this purpose—a variable (δ, ω) which characterizes the orientation between the traction vehicle ( 2 ) and the trailer ( 3 ) is acquired; and—a manipulated variable (β) is determined as a function thereof, with which method the monitoring space ( 13 ) is shifted within the capture range ( 12 ) and therefore adapted dynamically; and—detecting whether critical objects are located in the monitoring space ( 13 ), in order to avoid a collision between an object which presents a risk and is located in the monitored vehicle surroundings (U) and the vehicle combination ( 1 ) in question.
1. A method for monitoring, using a monitoring system having a camera, a vehicle environment of a vehicle combination including a towing vehicle and a trailer, the method comprising:
specifying a monitoring area within a detection region of the camera, wherein the monitoring system only monitors the monitoring area for critical objects that may create a probability of collision, wherein the monitoring area is specified and oriented in such a manner that the vehicle environment is at least in regions in the monitoring area and simultaneously the vehicle combination is not in the monitoring area;
determining a variable that characterizes an orientation between the towing vehicle and the trailer;
determining an adjustment variable in dependence upon the variable that characterizes the orientation between the towing vehicle and the trailer;
displacing and therefore dynamically adjusting the monitoring area within the detection region using the adjustment variable; and
specifying whether critical objects are in the monitoring area so as to avoid a collision between a hazardous object that is in the vehicle environment that is being monitored and the associated vehicle combination.
2. The method as claimed in claim 1 , wherein the variable that characterizes the orientation between the towing vehicle and the trailer is a steering angle.
3. The method as claimed in claim 1 , wherein the variable that characterizes the orientation between the towing vehicle and the trailer is a steering wheel angle that takes into account an angle scale factor.
4. The method as claimed in claim 1 , wherein the variable that characterizes the orientation between the towing vehicle and the trailer is an articulation angle between the towing vehicle and the trailer.
5. The method as claimed in claim 1 , wherein the detection region is maintained with respect to a fastening point of the camera on the vehicle combination if the monitoring area is displaced by the adjustment variable.
6. The method as claimed in claim 1 , wherein the monitoring area is displaced within the detection region without altering a size of the monitoring area, wherein the monitoring area is specified for this purpose in such a manner that the monitoring area fits in the detection region without adjusting the size of the monitoring area both when traveling in a straight line as well as when negotiating an arbitrary bend or when making an arbitrary turn.
7. The method as claimed in claim 1 , wherein the monitoring area is additionally specified within the detection region in such a manner that when traveling in a straight line the monitoring area is entirely in the detection region and when the monitoring area is displaced by the adjustment variable the monitoring area is reduced in size by the regions that are no longer within the detection region when negotiating a bend or making a turn as a result of the displacement of the monitoring area by the adjustment variable.
8. The method as claimed in claim 1 , wherein the monitoring area is oriented to the vehicle environment to a side of the associated vehicle combination in this case without detecting the associated vehicle combination.
9. The method as claimed in claim 1 , wherein the adjustment variable is proportionally counter to the variable that characterizes the orientation between the towing vehicle and the trailer so as to compensate an orientation of the camera, which has changed relative to the vehicle environment as a consequence of a change in the orientation between the towing vehicle and the trailer.
10. The method as claimed in claim 1 , wherein the adjustment variable is a rotation angle about which the monitoring area is rotated within the detection region in dependence upon the variable that characterizes the orientation between the towing vehicle and the trailer.
11. A monitoring system for a vehicle combination comprising a towing vehicle and a trailer, the monitoring system comprising:
a camera having a detection region, wherein a monitoring area is arranged within the detection region,
a control device configured to:
monitor the monitoring area for critical objects that may create a probability of collision,
specify or change the monitoring area in such a manner that the vehicle environment is at least in regions in the monitoring area and the vehicle combination, on which the monitoring system is arranged, is not in the monitoring area,
determine a variable that characterizes an orientation between the towing vehicle and the trailer; and
determine and set an adjustment variable of the monitoring area within the detection region in dependence upon the variable that characterizes the orientation between the towing vehicle and the trailer.
12. A vehicle combination comprising a towing vehicle and a trailer having a monitoring system as claimed in claim 11 , wherein the monitoring area is oriented to the vehicle environment to a side of the associated vehicle combination.
13. The vehicle combination as claimed in claim 12 , wherein the camera is fastened to the towing vehicle or to the trailer in a non-rotatable manner.