Method for ascertaining the coupling state of a trailer coupling, state ascertaining assembly, and vehicle

A method for ascertaining a coupling state of a trailer coupling between a towing vehicle and a trailer, wherein a pivotal connection between a towing-vehicle coupling element on the towing vehicle and a trailer coupling element on the trailer is established in a locked state of the trailer coupling, the method comprising:

• ascertaining coupling information, wherein, depending on a position of a locking mechanism of the trailer coupling and/or a jolt of the towing vehicle and/or a jolt of the trailer, the coupling information indicates whether the trailer coupling might be in the locked state;
• ascertaining positioning information, wherein, depending on sensor signals of a wave-based sensor device, the positioning information indicates whether the trailer coupling might be in the locked state;
• and
• ascertaining a coupling outcome, depending on the coupling information and also depending on the positioning information, wherein the coupling outcome indicates whether or not a pivotal connection between the towing vehicle and the trailer is established via the trailer coupling.