1. Field of the Invention
The present invention refers to a method for moving backwards a combination into an area that might be surrounded by obstacles. The combination to be moved backwards comprises a propelled vehicle, e.g. a tractor, and an implement, e.g. a non-propelled agricultural baler or loader wagon or a trailer. The area can be a parking lot. The implement is coupled with the propelled vehicle by means of a coupling assembly and can pivot with respect to the propelled vehicle around a vertical pivoting axis. The present invention further refers to an assembly for assisting the backward movement of such a combination.
2. Background of the Invention
DE 102009039111 A1 discloses a method for moving a combination backwards. The combination (15) comprises a tractor truck (1) pulling a trailer (2). The trailer 2 can pivot with respect to the tractor 1 around a vertical pivoting axis, cf. FIG. 1. In one embodiment, the combination 15 is to be moved backwards into an area for parking the combination 15. The current pivoting angle (11) between the tractor 1 and the trailer 2 is measured. For measuring the pivoting angle, the orientation of the tractor and that of the trailer 2 are determined by using signals from several GPS receivers 5. One GPS receiver 5.1 is mounted on board of the tractor 1 and a further GPS receiver 5.2 is mounted on board of the trailer 2, cf. FIG. 3. A projecting and measuring system (4) is arranged on board of the trailer 2 and measures the environment of the trailer 2. A trajectory (13) of the combination 15 is calculated. For doing so, the measured pivoting angle 11 between tractor 1 and trailer 2, geometric data about the environment, dimensions of the trailer, and the position of the target point 12 are used. A vehicle navigation system (28) calculates the trajectory 13 which is used in a driver assistance system.
In DE 10312548 B3 a propelled vehicle (1) with two distance sensors (3, 3′) mounted at the rear edge (2) of the vehicle is described. The vehicle 1 can pull an implement (5) coupled with the vehicle 1 by means of a coupling unit (6) and an electrical connection (7, 9). A detection sensor (4) can detect whether or not an implement 5 is coupled with the propelled vehicle 1. The distance sensors 3, 3′ can either operate for assisting the driver when driving the vehicle 1 backwards without an implement into a parking lot (Mode A) or can determine the articulation angle (Mode B) between the longitudinal axis of the vehicle 1 and that of the implement 5 actually coupled with the vehicle. When being operated in the mode B, the vehicle 1 pulls the implement 5 forwardly. The assistance mode is only activated when the vehicle 1 is driven backwards. The distance between the vehicle 1 and an obstacle (1) is determined. In the case that the vehicle 1 pulls an implement and drives into a curve, the two sensors 3, 3′ measure two different distance values.