COLLISION WARNING DEVICE, VEHICLE COMPRISING A COLLISION WARNING DEVICE, METHOD FOR OPERATING A COLLISION WARNING DEVICE, COMPUTER PROGRAM AND COMPUTER-READABLE MEDIUM

1 . A collision warning device, wherein the collision warning device comprises a control apparatus comprising at least one of a microprocessor or a microcontroller which is configured

to receive vehicle movement data which describe a movement of a vehicle of a vehicle-trailer combination, and

to receive object movement data for at least one object in a surroundings of the vehicle-trailer combination, which object movement data describe a movement of the at least one object,

to take the vehicle movement data as a basis for ascertaining a movement equation for describing the movement of the vehicle as a function of time and a current control value of a control parameter of the vehicle,

to take the object movement data of the at least one object and the vehicle movement data as a basis for ascertaining a movement equation for describing the movement of the respective at least one object in relation to the vehicle as a function of time and the current control value of the control parameter of the vehicle,

to take the movement equation for describing the movement of the respective at least one object in relation to vehicle for the current control value of the control parameter as a basis for checking if the respective at least one object has met a predetermined relevance criterion,

if relevance criterion is met, to take the movement equation for control values of a predefined control value range as a basis for ascertaining respective collision values of a collision parameter, relating to a predicted collision event between the vehicle and the respective at least one object,

to take the respective collision values of the collision parameter for the control value range as a basis for ascertaining an impact function in relation to the vehicle for the respective at least one object, which impact function assigns to the control values of the control value range an impact value relating to the predicted collision event between the vehicle and the respective at least one object,

to ascertain an overall impact function of the vehicle-trailer combination from the respective impact functions in relation to the vehicle for the at least one object, and

to ascertain an optimum control value of the control parameter from the overall impact function of the vehicle-trailer combination according to an optimization method.

2 . The collision warning device as claimed in claim 1 , wherein the control apparatus is further configured

to at least one of receive trailer movement data which describe a movement of a trailer of the vehicle-trailer combination or ascertain the trailer movement data from the vehicle movement data,

to take the trailer movement data as a basis for ascertaining a movement equation for describing the movement of the trailer as a function of time and the current control value of the control parameter of the vehicle,

to take the object movement data of the at least one object and the trailer movement data as a basis for ascertaining a movement equation for describing the movement of the respective at least one object in relation to the trailer as a function of time and the current control value of the control parameter of the vehicle,

if the relevance criterion is met, to ascertain respective collision values of a collision parameter, relating to a predicted collision event between the trailer and the respective at least one object, for the control values of the predefined control value range,

to take the respective collision values of the collision parameter for the control value range as a basis for ascertaining an impact function in relation to the trailer for the respective at least one object, which impact function assigns to the control values of the control value range an impact value relating to the predicted collision event between the trailer and the respective at least one object, and

to ascertain the overall impact function of the vehicle-trailer combination from the respective impact function in relation to the vehicle of the at least one object and the respective impact function in relation to the trailer of the at least one object.

3 . The collision warning device as claimed in claim 1 , wherein the predetermined relevance criterion includes a predefined minimum distance being undershot by a predicted minimum distance between the vehicle and the at least one object.

4 . The collision warning device as claimed in claim 1 , wherein the collision parameter includes a duration until the predicted collision event.

5 . The collision warning device as claimed in claim 1 , wherein the collision parameter includes a collision location of the predicted collision event in relation to the vehicle-trailer combination.

6 . The collision warning device as claimed in claim 1 , wherein the collision parameter includes a collision energy of the predicted collision event.

7 . The collision warning device as claimed in claim 1 , wherein the control apparatus is configured to actuate the vehicle to set the optimum control value of the control parameter.

8 . The collision warning device as claimed in claim 1 , wherein the control parameter includes at least one of a steering angle or an acceleration.

9 . The collision warning device as claimed in claim 1 , wherein the control apparatus is configured to actuate an output device for outputting output signals to instruct a driver of the vehicle to set the optimum control value of the control parameter.

10 . The collision warning device as claimed in claim 1 , wherein the collision warning device comprises a sensor apparatus which is configured to detect the at least one object in the surroundings of the vehicle-trailer combination and to transmit the object movement data to the control apparatus.

11 . The collision warning device as claimed in claim 1 , wherein the collision value of the collision parameter is ascertained by polygonal modeling of at least one of the object or the vehicle-trailer combination.

12 . A vehicle comprising a collision warning device as claimed in claim 1 .

13 . A method for operating a collision warning device, the method carried out by a control apparatus of the collision warning device, the control apparatus comprising at least one of a microprocessor or a microcontroller, the method comprising:

receiving vehicle movement data which describe a movement of a vehicle of a vehicle-trailer combination,

receiving of object movement data for at least one object in surroundings of the vehicle-trailer combination, which object movement data describe a movement of the at least one object,

taking the vehicle movement data as a basis for ascertaining a movement equation for describing the movement of the vehicle as a function of time and a current control value of a control parameter of the vehicle,

taking the object movement data of the at least one object and the vehicle movement data as a basis for ascertaining a movement equation for describing the movement of the respective at least one object in relation to the vehicle as a function of time and the current control value of the control parameter of the vehicle,

taking the movement equation for describing the movement of the respective at least one object in relation to vehicle for the current control value of the control parameter as a basis for checking if the respective at least one object has met a predetermined relevance criterion,

if the relevance criterion is met, taking the movement equation for control values of a predefined control value range as a basis for ascertaining respective collision values of a collision parameter, relating to a predicted collision event between the vehicle and the respective at least one object,

taking the respective collision values of the collision parameter for the control value range as a basis for ascertaining an impact function in relation to the vehicle for the respective at least one object, which impact function assigns to the control values of the control value range an impact value relating to the predicted collision event between the vehicle and the respective at least one object,

ascertaining an overall impact function of the vehicle-trailer combination from the respective impact function in relation to the vehicle for the at least one object, and

ascertaining an optimum control value of the control parameter from the overall impact function of the vehicle-trailer combination according to an optimization method.

14 . A computer program comprising commands which cause the collision warning device to carry out the method steps as claimed in claim 13 .

15 . A non-transitory computer-readable medium on which the computer program as claimed in claim 14 is stored.