Method for coupling a trailer to a towing vehicle, coupling control device and vehicle

A coupling control device, wherein the coupling control device is configured to actuate a ride-height control system in a truck tractor such that a height of a chassis of the truck tractor relative to at least one rear axle of the truck tractor changes, and the coupling device comprises a non-transitory computer readable storage medium having program code stored thereon;

• said program code being configured, when executed by a processor, to:
• import a reference height profile, wherein the reference height profile assigns a reference height gradient to different actual height values for the height of the chassis relative to the at least one rear axle;
• actuate the ride-height control system to change the height of the chassis relative to the at least one rear axle such that a coupling plate of the truck tractor approaches a top plate of a semi-trailer;
• continuously determine actual height values and actual height gradients while changing the height of the chassis relative to the at least one rear axle, wherein the actual height value is assigned the currently determined actual height gradient;
• check a coupling criterion by comparing a currently determined actual height gradient with the reference height gradient, wherein the reference height gradient which in the imported reference height profile is assigned to the same actual height value as the currently determined actual height gradient is applied;
• and,
• actuating the ride-height control system to maintain the height of the chassis relative to the at least one rear axle when the coupling criterion is met, wherein the coupling criterion is met when the currently determined actual height gradient deviates from the reference height gradient.

A vehicle comprising:

• a truck tractor having a chassis and a coupling plate disposed on said chassis;
• a semi-trailer having a top plate with a kingpin and being configured to be coupled to the truck tractor;
• said kingpin being configured to be pivotably fixable to said coupling plate in a coupled state by a locking device;
• said truck tractor further having a ride-height control system for changing a height of said chassis of said truck tractor relative to at least one rear axle of said truck tractor;
• said truck tractor including a processor and a coupling device comprising a non-transitory computer readable storage medium having program code stored thereon;
• said program code being configured, when executed by a processor, to:
• import a reference height profile, wherein the reference height profile assigns a reference height gradient to different actual height values for the height of the chassis relative to the at least one rear axle;
• actuate the ride-height control system to change the height of the chassis relative to the at least one rear axle such that the coupling plate of the truck tractor approaches the top plate of the semi-trailer;
• continuously determine actual height values and actual height gradients while changing the height of the chassis relative to the at least one rear axle, wherein the actual height value is assigned the currently determined actual height gradient;
• check a coupling criterion by comparing a currently determined actual height gradient with the reference height gradient, wherein the reference height gradient which, in the imported reference height profile, is assigned to the same actual height value as the currently determined actual height gradient, is applied;
• and,
• actuating the ride-height control system to maintain the height of the chassis relative to the at least one rear axle when the coupling criterion is met, wherein the coupling criterion is met when the currently determined actual height gradient deviates from the reference height gradient.