Method for operating an assistance system of a traction vehicle of a vehicle unit for performing a wheet manipulation, computing device, computer-readable storage

Abstract

A method according to the invention for operating an assistance system for a traction vehicle of a vehicle group for performing a turn maneuver comprises detecting an operator control input of a user of the traction vehicle, an indication for the turn maneuver being provided by means of the operator control input. In addition, the method according to the invention comprises at least semi-automatically carrying out the turning maneuver depending on the maneuver input. To this end, the actuation input describes a predetermined target position for the cornering actuation.

Description

Field of the Invention

[0001] A method for operating an auxiliary system for a towing vehicle of a vehicle combination to perform a turning maneuver. Furthermore, the invention relates to a computing device for a towing vehicle. The invention also relates to a computer-readable storage medium and an auxiliary system for a towing vehicle of a vehicle combination. Finally, the invention relates to a towing vehicle. Background Art

[0002] Modern vehicles nowadays have many auxiliary systems that assist the user of the vehicle in maneuvers such as moving the vehicle, parking, etc. For example, modern vehicles have a rearview camera or generate a so-called bird's-eye view image using multiple cameras. Furthermore, modern vehicles are also able to assume longitudinal guidance and / or lateral guidance during the parking process. In addition, for the towing vehicle of a vehicle combination, the so-called trailer assistant is becoming increasingly popular. Here, the user or driver of the vehicle combination can, for example, continuously preset the angle between the towing vehicle and the trailer during reverse travel by means of a turn-press-regulator, thereby significantly simplifying the maneuvering of the vehicle combination.

[0003] Performing a turning maneuver still poses particular challenges for the user of the towing vehicle. Therefore, multiple gear shifts usually have to be performed, the often poorly visible environmental areas have to be monitored, and critical scenarios with additional traffic participants have to be predicted. At the same time, it is applicable to pay attention to the valid traffic rules and evaluate whether the vehicle combination can perform a turning maneuver within the available space. Therefore, the turning maneuver poses particular challenges for the user of the towing vehicle and may thus lead to anxiety and overburden.

[0004] Document DE 10 2011 110 214 A1 describes a method and a corresponding device for turning a motor vehicle, wherein the motor vehicle has an environmental sensing device for determining the surroundings of the motor vehicle. Here, the contour of the drivable area of the surroundings of the motor vehicle is determined by means of the environmental sensing device, and a turning signal is generated when a turning area that is large enough for a turning maneuver is detected by means of the determined contour.

[0005] Document DE 10 2015 008 446 A1 relates to a method for operating a driving assistance system of a motor vehicle, the method having the following steps: determining the time period required to perform a turning maneuver of the motor vehicle on a road section on which the motor vehicle is traveling; detecting the traffic conditions in the surroundings of the motor vehicle including the drivable road section; checking, by means of the determined traffic conditions, whether performing a turning maneuver on the road section is insignificant; if the performance of the turning maneuver is classified as insignificant: automatically performing the turning maneuver.

[0006] The document DE 10 2019 000 447 A1 relates to a method for turning a vehicle, in which the surroundings of the vehicle are monitored, and in which the turning process is carried out based on this environmental monitoring. In the method for preventing dangerous situations, the turning process of the vehicle is automatically carried out after an input signal.

[0007] The document DE 100 65 230A1 discloses a method and a system, in particular a control and / or regulation device, for facilitating the maneuvering and / or reverse driving of a vehicle with a trailer, wherein the vehicle has a steering angle measuring device for detecting the steering angle of the steerable axle of the vehicle and a monitoring device, in particular a parking assistance device, for detecting at least the area of the surroundings of the vehicle facing the trailer. The invention disclosed in this document is characterized in that an evaluation unit for evaluating the detected values gives an indication for turning the steering wheel. Summary of the Invention

[0008] The object of the present invention is to provide a solution as to how a user of a towing vehicle can be supported in performing turning maneuvers beyond the prior art.

[0009] According to the present invention, this object is solved by a method, a computing device, a computer-readable storage medium, an assistance system and a towing vehicle having the features of the independent claims. Advantageous refinements of the present invention are given in the dependent claims.

[0010] In the context of the document, the term "automated driving" is understood to mean a driving with automated longitudinal guidance and / or lateral guidance. Automated driving can be, for example, a longer driving on a highway or a time-limited driving in a parking area. The term "automated driving" includes automated driving with any degree of automation. Exemplary degrees of automation are assisted, semi-automated, conditionally automated, highly automated, and fully automated driving (with respectively increasing degrees of automation). The above five degrees of automation correspond to SAE levels 1 to 5 according to the SAE J3016 standard (SAE International) of April 30, 2021. In assisted driving (SAE level 1), the system performs longitudinal guidance or lateral guidance in specific driving situations. In semi-automated driving (SAE level 2), the system assumes longitudinal guidance and lateral guidance in specific driving situations, where the driver must continuously monitor the system as in assisted driving. In conditionally automated driving (SAE level 3), the system assumes longitudinal guidance and lateral guidance in specific driving situations, and the driver does not have to continuously monitor the system, but the driver must be able to assume vehicle guidance according to the system's requirements at certain times. In highly automated driving (SAE level 4), the system assumes vehicle guidance in specific driving situations even when the driver does not respond to an intervention request, thus dispensing with the driver as a fallback level. In fully automated driving (SAE level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions, which are also controlled by a human driver.

[0011] Furthermore, in the context of the literature, the term "at least semi-automated driving or maneuver" is also understood to mean semi-automated, conditionally automated, highly automated, fully automated driving. In other words, the term "at least semi-automated driving" is understood to mean the degree of automation starting from SAE level 2.

[0012] A method for operating an auxiliary system of a towing vehicle of a vehicle group to perform a turning maneuver according to the present invention includes detecting an operation input of a user of the towing vehicle, wherein an indication for the turning maneuver is provided by means of the operation input. Furthermore, the method according to the present invention includes at least semi-automatically performing the turning maneuver according to the operation input. For this purpose, the operation input describes a preset target position for the turning maneuver.

[0013] The method can be performed, for example, by means of a computing device. The computing device can, for example, be configured as at least one electronic control device of the towing vehicle, which includes one or more programmable processors. Furthermore, the computing device can have a computer-readable storage medium on which a computer program is stored. In order to implement corresponding method steps, such as receiving the operation input, the computer program can be implemented on the computing device.

[0014] The vehicle combination can include a trailer and a towing vehicle here. The towing vehicle can be configured as a passenger car, for example. In addition, the towing vehicle can also be a truck, a commercial vehicle, a self-propelled working machine, a motorhome, etc. The towing vehicle can in particular also be a tractor, a tractor for agricultural or forestry operations, a semi-trailer, a bus, etc.

[0015] The trailer can be configured as a simple passenger car trailer, for example, which can have not only an inertia brake but also its own service brake. In addition, a boat trailer, a caravan, a horse trailer, a semi-trailer, a combine harvester, etc. are also conceivable. Here, the steering technology of the trailer is usually not important. In particular, the trailer can be a non-articulated trailer (rigid axle). In addition, the trailer can also have a pivot axle steering device or a turntable steering device.

[0016] Therefore, the method according to the invention serves to support the user of the towing vehicle during operation of an assistance system for performing a turning maneuver. The user of the towing vehicle can be, for example, the driver of the towing vehicle or a passenger of the towing vehicle. It is also conceivable that the user of the towing vehicle is a person outside the towing vehicle who has a remote control device for remotely controlling the towing vehicle or the vehicle combination.

[0017] The user of the towing vehicle can make operating inputs, for example, by means of a touchscreen display, a voice controller, a gesture controller, a sight controller or conventional operating elements. For example, so-called turn-and-press regulators, exterior mirror adjustment devices, joysticks, etc. are suitable as conventional operating elements. It is also conceivable that the operating inputs are made using conventional buttons. The latter is particularly conceivable when it comes to the confirmation of a target position as an operating input or as part of an operating input.

[0018] Generally, the turning maneuver is used to change the forward travel direction of the towing vehicle by 180°, in particular. However, it can also be advantageous for the orientation of the towing vehicle and the orientation of the trailer (for example by presetting the angle between the trailer and the towing vehicle) to be adapted individually for each case. In other words, it is thus advantageous for the forward travel direction of the towing vehicle to differ from the initial situation by, for example, 150° to 210° after the turning maneuver has been carried out. For example, the forward travel direction of the towing vehicle can differ from the initial orientation of the towing vehicle by 160° after the turning maneuver has been carried out. At the same time, the orientation of the trailer can differ from the initial orientation of the trailer by, for example, only 140°, where the angle of rotation can then be 20° (as long as the angle of rotation is 0° in the initial position). Overall, the subsequent driving after the turning maneuver can be facilitated for the user of the towing vehicle. In addition, the user can start the turning maneuver himself or perform the first stage of the turning maneuver and can then be assisted by the assistance system.

[0019] Here, the operating input includes a preset target position for a turning maneuver. The preset target position can be the position that marks the end of the turning maneuver. It is also conceivable here that the preset target position is suggested by an assistance system. In this case, the operating input can describe a simple confirmation of the suggested preset target position. Alternatively or additionally, the preset target position can also be preset by the user of the vehicle. The above-described operating device or operating element is suitable for this. Generally, the target position can describe the position of the towing vehicle, the trailer, and the angle between the towing vehicle and the trailer.

[0020] The angle of the vehicle combination (also referred to as the vehicle combination angle) can describe the angle between the longitudinal axis of the towing vehicle and the longitudinal axis of the trailer here. During straight-line driving of the vehicle combination, the angle can be 0°. During a left turn, the angle may be greater than 0°. During a right turn, the angle may be less than 0°. The numerically maximum angle, i.e., the angle that can just prevent the folding of the vehicle combination without a correction phase, is also referred to as the folding angle.

[0021] Finally, the turning maneuver can be planned by an assistance system such that the turning maneuver ends at the preset target position. For this purpose, the assistance system can plan the necessary trajectory and the corresponding gearshifts. Subsequently, the turning maneuver, which should end at the preset target position and thus be carried out according to the operating input, can be executed at least semi-automatically. For this purpose, it is conceivable that the assistance system or the computing device communicates with the central control device of the towing vehicle, and the central control device controls the actuators of the towing vehicle. It is also conceivable that the functions of an additional trailer assistance system are used for this.

[0022] In this case, it may be advantageous to preset a yaw angle for the preset target position of the turning maneuver. For example, the user of the towing vehicle does not necessarily want to turn 180°. Alternatively, in some cases it may be beneficial that the orientation of the towing vehicle relative to its initial position after performing the turning maneuver is in an angular range of, for example, 150° to 210°. In other words, it may be beneficial to preset the target position in the lateral and longitudinal directions and additionally preset the yaw angle of the towing vehicle for orienting the vehicle or for finely adjusting the driving direction.

[0023] For the user of the towing vehicle, an intuitive operation of the assistance system for performing the turning maneuver is obtained by means of the method according to the invention. Thereby, the anxiety caused by the necessary turning maneuver can be additionally reduced. Furthermore, for the user of the vehicle, the continued driving after the turning maneuver can be designed correspondingly simply.

[0024] In this case, it may be advantageous if the target position of the turning maneuver includes a preset corner angle, where the preset corner angle describes the angle between the towing vehicle and the trailer coupled to the towing vehicle. The preset corner angle can provide additional comfort for the user. This can facilitate continued driving after the turning maneuver. In addition, the number of vehicle displacement phases required for the turning maneuver can be reduced. Therefore, the turning maneuver can be performed more quickly. This can reduce the additional anxiety of the user of the towing vehicle.

[0025] Alternatively, it may also be advantageous to detect the coupling of the trailer to the towing vehicle and, as long as the coupling is detected, the preset target position of the turning maneuver includes a preset corner angle that describes the angle between the towing vehicle and the trailer coupled to the towing vehicle. If the preset target position only includes the preset corner angle, the method according to the invention can additionally also be used during normal operation of the towing vehicle, i.e., during operation of the towing vehicle without a trailer.

[0026] The coupling of the trailer can also be detected manually or automatically. Automatic recognition can be carried out, for example, by means of corresponding environmental sensors (lidar sensors, radar sensors, and / or ultrasonic sensors and / or cameras) of the towing vehicle. In addition, automatic recognition can also be determined by means of a corresponding plug connection by which the trailer is connected to the vehicle's on-board network. Overall, the assistance system can thus be used to perform turning maneuvers in an intelligent manner and method both with and without a trailer.

[0027] A further advantageous design of the method provides that an environmental model is additionally output, which describes the surroundings of the towing vehicle and based on which the target position of the turning maneuver is preset and / or confirmed by the user of the towing vehicle.

[0028] Generally, the towing vehicle detects its surroundings by means of environmental sensors. Radar sensors, lidar sensors, ultrasonic sensors, and / or cameras are usually used as environmental sensors. The sensor data detected by means of the environmental sensors can then be fused by the towing vehicle into an environmental model. The environmental model can be used for trajectory planning and thus for performing various assistance functions of the towing vehicle.

[0029] Here, the environment model can describe the surroundings of the vehicle. For example, the environment model can be shown to the driver or user of the towing vehicle by means of a display. If the user activates the assistance system to perform a turning maneuver, a preset target position can be suggested to the user, for example, which is shown to the user on a display in the environment model. By means of a touch control, the driver or user of the towing vehicle can change the preset target position (optionally including a preset turning angle) in the environment model. The preset target position can thus be described according to the environment model. In other words, the preset target position can be described relative to the own position or the position of the towing vehicle or relative to objects in the surroundings of the towing vehicle. Thus, for the user of the towing vehicle, a simple operation of the assistance system for performing a turning maneuver can be achieved. The user of the towing vehicle can orient the assistance system for performing a turning maneuver by means of the environment model and thus preset the desired position in which the turning maneuver should end. This enables intuitive operation and thus reduces the anxiety of the user of the towing vehicle in anyway challenging situations.

[0030] Furthermore, it can be advantageous to additionally output a target position suggestion, wherein the target position suggestion describes an initial suggestion for a predefined target position and / or an initial suggestion for a predefined turning angle of a predefined target position for a turning maneuver. If, for example, a user of the towing vehicle activates an assistance system for executing a turning maneuver, suggestions for possible predefined target positions for the turning maneuver can be output to the user of the towing vehicle.

[0031] Such suggestions for a preset target position are known, for example, from parking assistance. Here, after driving past a parking space, the parking space is suggested to the driver or user of the vehicle as a possible target position. If the user or vehicle of the towing vehicle is on a two-lane road, a target position suggestion can be output, for example, describing a preset target position on an adjacent lane. In addition, the target position suggestion can include a suggestion for a preset turning angle. In the simplest case, the execution of the turning maneuver can be started directly by confirmation. The user of the towing vehicle is thus additionally supported in challenging situations, saves time, and does not have to make unnecessary efforts in operations or operating inputs.

[0032] It may also be advantageous in this case to describe the preset target position and / or the preset corner of the preset target position by means of a change in the target position suggestion. By changing or modifying the initial suggestion for the preset target position or the preset corner of the preset target position, the orientation within the environmental model can be facilitated for the user of the towing vehicle and thus the operation input can be facilitated. In addition, changing the target position suggestion or the preset corner of the preset target position can increase the intuitiveness of the overall system. If, for example, the environmental model is output on a touch screen, the user of the towing vehicle can be encouraged to interact with the touch screen and thus change the target position suggestion.

[0033] A further advantageous design of the method according to the invention provides that an initial reachability test is carried out before the execution of the turning maneuver, wherein it is checked whether the preset target position can be reached taking into account the applicable traffic rules. In addition, the advantageous design provides that an indication is output based on the initial reachability test (to the user of the towing vehicle). When performing a turning maneuver with a towing vehicle together with a trailer, certain situations need to be noted in road traffic. If the applicable turning rules are not observed in this case, high fines may be faced. If the preset target position is, for example, on an adjacent lane to the current lane (the towing vehicle is on this current lane) and the two lanes are separated from each other by a solid line, then the lane boundary must be crossed illegally in order to perform the turning maneuver. This results in a fine, which may be even higher in case of danger.

[0034] Lane boundaries or road markings are usually part of the environmental model and are usually detected by means of cameras or lidar sensors. Within the scope of the initial reachability test, it is therefore possible to test whether the possible planned trajectory violates the applicable traffic rules. In particular, the danger to other road users, possible lane boundaries, the driving direction specified by arrows / signs and possible prohibited areas are taken into account here. If the preset target position cannot be reached without violating the applicable traffic rules, an indication can be output. This ensures that the user is always involved in the current functional process and is thus informed about possible system limitations.

[0035] It is advantageous here that the turning maneuver can still be carried out after a corresponding confirmation by the user of the towing vehicle. This is particularly beneficial when the user of the towing vehicle is in an exceptional situation. Such a confirmation can be achieved, for example, by lightly pressing the accelerator pedal or by a simple confirmation of another operation input. Thus, on the one hand, it can be ensured that the applicable traffic rules are observed by the assistance system, and on the other hand, the user of the towing vehicle can also use the assistance system in exceptional situations.

[0036] Another advantageous design of the method according to the invention provides that during the execution of the turning maneuver, a continuous reachability test is performed, in which it is checked whether the preset target position can still be reached. If the preset target position is not reachable, the corrected target position can be used as the preset target position for the turning maneuver. Turning maneuvers are mostly carried out in multiple stages and in completely changing scenarios. It may happen that due to changes in the positions of other traffic participants or objects in the surrounding environment during the execution of the turning maneuver, a situation that needs to be re-judged is generated. For example, during the execution of the turning maneuver, other traffic participants may suddenly block the preset target position. Therefore, the turning maneuver can be terminated or suspended.

[0037] Alternatively, however, the turning maneuver can also be continued with the corrected target position. In this case, it may be necessary to plan a new trajectory and shift gears. In the simplest case, however, the turning maneuver can be performed as far as possible based on the newly generated situation. This can increase the comfort of the user of the towing vehicle. In addition, system crashes can be prevented. In addition, a form of artificial intelligence can be imparted to the user of the towing vehicle.

[0038] In this case, it can be advantageous to detect and characterize objects in the surroundings of the towing vehicle, which predefined target positions are not achievable due to these objects, and to determine a corrected target position based on the detected and characterized objects. If another road user blocks the predefined target position of a turning maneuver, for example due to a brief traffic jam, it can be advantageous to detect the other road user as a merely temporary obstacle. Thus, for example, the turning maneuver can be suspended. As soon as the brief traffic jam has been resolved and the other road user no longer blocks the predefined target position, the turning maneuver can be continued.

[0039] It is therefore advantageous in this case to characterize the detected and characterized object at least as temporary or permanent. Due to the characterization as temporary or permanent, the turning maneuver can be suspended or continued with a corrected target position. If the object detected and characterized in the surroundings of the vehicle is, for example, an (illegally) parked vehicle, the corrected target position before, after or next to the detected and characterized object can be used as the preset target position. The turning maneuver can therefore be performed despite the presence of obstacles that only appear as obstacles during the execution of the turning maneuver. Overall, the comfort of the user of the towing vehicle and thus the use of the assistance system can therefore be improved overall. Complex situations in which the towing vehicle or vehicle group needs to be turned can therefore be removed from the user of the towing vehicle. Overall, anxiety can therefore also be reduced in complex situations.

[0040] The computing device according to the invention for a towing vehicle of a vehicle train is set up to carry out the method according to the invention and its advantageous embodiments. The computing device can for example be configured as an electronic control device which includes one or more programmable processors.

[0041] A computer-readable storage medium according to the invention includes instructions which, when executed by a computing device, cause the computing device to carry out the method according to the invention and its advantageous embodiments.

[0042] An auxiliary system according to the invention for a towing vehicle of a vehicle train includes a computing device according to the invention. Furthermore, the auxiliary system according to the invention includes a display operating device for the towing vehicle, which is designed to display an environmental model output by the computing device and to detect operating inputs of a user of the towing vehicle, wherein the operating input describes a preset target position for a turning maneuver.

[0043] A towing vehicle according to the invention includes a trailer coupling and an auxiliary system according to the invention. The vehicle can in particular be configured as a passenger car. The trailer coupling can be a pivotable, detachable and / or rigid trailer coupling. It can also relate to a device for accommodating the trailer coupling.

[0044] Another aspect of the invention relates to a computer program including instructions which, when the program is executed by a computing device according to the invention, cause the computing device to carry out the method according to the invention and its advantageous embodiments.

[0045] The preferred embodiments and their advantages proposed with respect to the method according to the invention apply correspondingly to the computing device according to the invention, the computer-readable storage medium according to the invention, the auxiliary system according to the invention and the towing vehicle according to the invention. Furthermore, the preferred embodiments and their advantages proposed with respect to the method according to the invention also apply to the computer program according to the invention.

[0046] The further features of the invention result from the claims, the drawings and the description of the drawings. The features and combinations of features mentioned above in the description and those mentioned and / or shown individually in the description of the drawings below can be used not only in the respectively given combinations, but also in other combinations or individually, without departing from the scope of the invention. Description of the Drawings

[0047] The invention will now be explained in detail on the basis of preferred embodiments and with reference to the drawings. Here:

[0048] Figure 1 A schematic view of a vehicle train consisting of a towing vehicle and a trailer is shown, wherein the towing vehicle includes an auxiliary system for carrying out a turning maneuver,

[0049] Figure 2 shows a schematic view of a display operating device by means of which a user of a towing vehicle can preset a target position for a turning maneuver.

[0050] Figure 3 shows according to Figure 2 a schematic view of a display operating device by means of which a user of a towing vehicle can additionally preset an angle of rotation for a preset target position of a turning maneuver, and

[0051] Figure 4 shows a schematic view of performing a turning maneuver.

[0052] In the figures, identical or functionally identical elements are provided with the same reference signs. Detailed description of the preferred embodiments

[0053] Figure 1 shows a schematic view of a vehicle combination consisting of a towing vehicle 1 and a trailer 2, wherein the towing vehicle 1 includes an assistance system 3 for performing a turning maneuver 10. The assistance system 3 includes a computing device 4 and a display operating device 5 here. The computing device 4 in turn includes a computer-readable storage medium 6 on which a computer program is stored. The towing vehicle 1 finally includes an environment sensor 7.

[0054] The user 8 of the towing vehicle 1 can make an operation input by means of the display operating device 5. Here, the operation input can describe a preset target position 9 for the turning maneuver 10.

[0055] The computing device 4 can receive the operation input of the user 8 of the towing vehicle 1. Subsequently, the assistance system 3 or the computing device 4 can plan a trajectory for the turning maneuver 10 including possible changes in the driving direction. Finally, the turning maneuver 10 can be performed at least semi-automatically according to the operation input. The turning maneuver 10 can end at the preset target position 9 here.

[0056] By means of the environment sensor 7 and optionally additional environment sensors (the data of which can be fused), an environment model 11 can be provided. The environment model 11 can be shown by means of the display operating device 5.

[0057] The computing device 4 can be an electronic control device of the towing vehicle 1, the electronic control device including one or more programmable processors. The computing device 4 can also be a central computing device of the towing vehicle 1 here. The computing device 4 can also be designed to control corresponding actuators to perform longitudinal guidance and / or lateral guidance of the towing vehicle 1.

[0058] Figure 2The figure shows a schematic diagram of the display operating device 5 by means of which a user 8 of the towing vehicle 1 can preset a preset target position 9 for the turning maneuver 10. The display operating device can be embodied as a touch screen here. On the display of the display operating device 5, an environmental model 11 of the towing vehicle 1 is shown in Figure 2 . The environmental model 11 can describe road markings 12 and other traffic participants 13, for example. In addition, the environmental model 11 can describe the roadside edge 14.

[0059] If the user 8 of the towing vehicle 1 activates the assistance system 3 to perform the turning maneuver 10, a target position suggestion 15 can be output or shown on the display of the display operating device 5. The user 8 of the towing vehicle 1 can receive the target position suggestion 15 (which describes an initial suggestion for the preset target position 9 and / or an initial suggestion for the preset corner angle φ of the preset target position 9 for the turning maneuver 10) as the preset target position 9 or describe the preset target position 9 according to a change 16 of the target position suggestion 15 based on the environmental model 11. The preset corner angle φ can describe the angle between the longitudinal axis 17 of the towing vehicle and the longitudinal axis 18 of the trailer here.

[0060] In Figure 2 the arrow 9' of the preset target position 9 in the embodiment serves to show the driving direction after the turning maneuver 10 is performed. Here, after the turning maneuver 10 is performed, the driving direction usually deviates from the original driving direction of the towing vehicle 1 by 180°. However, it is advantageous that the yaw angle can be preset, for example, by a rotational movement of two fingers on the touch screen of the display operating device 5, such that the turning maneuver 10 describes a turn of the towing vehicle 1 such that after the turning maneuver 10 is performed, the orientation of the towing vehicle 1 differs from the initial position by, for example, 150°, 160°, 170°, 180°, 190°, 200° or 210°. Corresponding intermediate steps with a step size of one degree or five degrees are also conceivable.

[0061] Figure 3 The figure shows a schematic diagram of the display operating device 5 according to Figure 2 , in which the user 8 of the towing vehicle 1 additionally presets the corner angle φ for the preset target position 9 of the turning maneuver 10. Here, the user 8 can, for example, preset the corner angle φ for the preset target position 9 of the turning maneuver 10 by a rotational / flipping movement of two fingers after actually presetting the preset target position 9. Overall, the preset target position 9 together with the corner angle φ can thus be described according to the environmental model 11. In other words, the preset target position 9 can be described relative to its own position or the position of the towing vehicle 1 or relative to an object in the surroundings of the towing vehicle 1.

[0062] Figure 4 The figure shows according to Figure 2Schematic diagram of the display operating device 5. Trajectories 19, 20, 21 can be planned according to a preset target position 9. In order to prepare the user 8 of the towing vehicle 1 for the upcoming turning maneuver 10, the turning maneuver 10 can be (animatedly) visualized on the display operating device 5.

Claims

1. A method for operating an auxiliary system (3) for a towing vehicle (1) of a vehicle combination to perform a turning maneuver (10), comprising the following steps: - Detecting an operation input of a user (8) of the towing vehicle (1), wherein an indication for the turning maneuver (10) is provided by means of the operation input, and - Performing the turning maneuver (10) at least semi-automatically according to the operation input, characterized in that - The operation input describes a preset target position (9) for the turning maneuver (10).

2. The method according to claim 1, wherein The preset target position (9) of the turning maneuver (10) includes a preset corner angle wherein the preset corner angle describes the angle between the towing vehicle (1) and the trailer (2) coupled to the towing vehicle (1).

3. The method according to claim 1, characterized in that Detect the coupling of the trailer (2) to the towing vehicle (1), and as long as the coupling is detected, a preset target position (9) of the steering maneuver (10) includes a preset angle of rotation The angle of rotation describes the angle between the towing vehicle (1) and the trailer (2) coupled to the towing vehicle (1).

4. The method according to claim 2 or 3, characterized in that, Output environment model (11), which describes the surrounding environment of the towing vehicle (1) and describes a preset target position (9) and / or a preset corner angle for the turning maneuver (10) according to the environment model 5. The method according to any one of claims 2 to 4, characterized in that, Additionally output a target position suggestion (15), where the target position suggestion (15) describes an initial suggestion for a preset target position (9) and / or a preset corner angle of the preset target position (9) for the turning maneuver (10). The initial suggestion.

6. The method according to claim 5, characterized in that Describe the preset target position (9) and / or the preset rotation angle of the preset target position (9) by means of the change of the target position suggestion (15).

7. The method according to any one of the preceding claims, characterized in that - Performing an initial reachability test before performing the turning maneuver (10), wherein it is checked whether the preset target position (9) can be reached taking into account applicable traffic rules, and - Outputting an indication according to the initial reachability test.

8. The method according to any one of the preceding claims, characterized in that - Performing a continuous reachability test during the execution of the turning maneuver (10), wherein it is checked whether the preset target position (9) can still be reached, and - If the preset target position (9) cannot be reached, then using a corrected target position as the preset target position (9) for the turning maneuver (10).

9. The method according to claim 6, characterized in that - Detecting and characterizing an object in the surroundings of the towing vehicle (1), the preset target position (9) being unreachable in view of the object, and - Determining the corrected target position according to the detected and characterized object.

10. The method according to claim 7, wherein Characterizing the detected and characterized object as at least temporary or persistent.

11. A computing device (4) for a towing vehicle (1) of a vehicle combination, the computing device being arranged to implement the method according to any one of the preceding claims.

12. A computer-readable storage medium (6), comprising instructions which, when implemented by a computing device (4), cause the computing device to implement the method according to any one of claims 1 to 10.

13. An auxiliary system (3) for a towing vehicle (1) of a vehicle combination, comprising: - The computing device (4) according to claim 9, and - A display operation device (5) for the towing vehicle (1), the display operation device being arranged to display an environmental model (11) output by the computing device (4) and to detect an operation input of a user (8) of the towing vehicle (1), wherein the operation input describes a preset target position (9) for a turning maneuver (10).

14. A towing vehicle (1), in particular a passenger car, comprising a trailer coupling and the auxiliary system (3) according to claim 13.

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