The remains of the Castle can be visited
Bichishausen Castle (Ruin)

In the Lauter Valley on the Swabian Jura, at approximately 628 meters above sea level, stands the Bichishausen Ruin, a former rock castle. It once marked the border between Württemberg and Fürstenberg and is part of a chain of eleven castles visible to each other in the Lauter Valley.
History+
The castle's origins date back to the 11th century when it belonged to the Counts of Achalm. In the 13th century, ownership passed to the Gundelfingers. The castle was likely built in the first half of the 13th century by Swigger IV von Gundelfingen or Konrad II. A note from 1306 reports the demolition of a tower around 1300 to strengthen the fortifications. During this period, a complete reconstruction with a shield wall created a typical shield wall castle with two courtyards. During restoration work in 1973, the stump of a 13th-century keep was discovered. In 1372, Kuno Truchsess von Bichishausen fell in battle on the Württemberg side against Reutlingen. In the mid-14th century, the Truchsessen von Magolsheim acquired the complex.
Source: Wikipedia · Licence: CC BY-SA 4.0
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 48.3330, 9.4999