Method and system for supporting the coupling process of a motor vehicle to a trailer

Abstract

Method for supporting a coupling process of a motor vehicle (1) to a trailer (3), in which a trailer coupling assistant (4) detects the position of a trailer-side coupling element (5) and, based on this, maneuvers the motor vehicle (1) at least semi-autonomously into a target position in which a trailer coupling (6) of the motor vehicle (1) is arranged in a predetermined coupling position to the trailer-side coupling element (5), wherein a rear monitoring area (B) of the motor vehicle (1) is monitored by means of a parking aid (7) during the maneuvering process, characterized in that - the parking aid (7) is operated in a standard mode when the trailer coupling assistant (4) is deactivated; - the parking aid (7) is operated in a coupling mode when the trailer coupling assistant (4) is activated, in which obstacle warnings relating to the rear area (B) are issued by means of the parking aid (7) differently than in the standard mode; and - in coupling mode: • the position of the trailer-side coupling element (5) is transmitted to the parking aid (7), whereby if an object is located in the rear monitoring area (B) and within a specified radius around the position of the trailer-side coupling element (5), the parking aid (7) refrains from issuing an obstacle warning, which would otherwise be issued in standard mode; or • the position of the trailer-side coupling element (5) is transmitted to the parking aid (7) and a lower distance value to an object, from which a highest warning level is reached in the standard mode of the parking aid (7), is reduced with respect to the trailer-side coupling element (5) so that the highest warning level in coupling mode is only reached when the motor vehicle (1) has reached the target position.

Description

[0001] The invention relates to a method and system for assisting a coupling process of a motor vehicle to a trailer of the type specified in the preambles of the independent patent claims. Furthermore, the invention also relates to a motor vehicle with such a system.

[0002] Methods and systems for assisting the coupling process of a motor vehicle to a trailer are already known. For example, DE 2009 045 284 A1 describes an automated system for assisting the coupling process of a motor vehicle to a trailer. The automated system automatically performs the necessary steering interventions to maneuver the motor vehicle to the trailer, with the driver's sole task being to assume the longitudinal control of the motor vehicle, i.e., to accelerate or decelerate the vehicle appropriately. Furthermore, the distance between the motor vehicle and the trailer can be displayed visually and acoustically.

[0003] Further methods and systems for supporting a coupling process of a motor vehicle to a trailer are shown, for example, in DE 10 2005 052 238 A1, DE 10 2009 030 452 A1, DE 10 2010 004 920 A1, DE 10 2004 008 928 A1, DE 10 2011 011 144 A1, DE 10 2009 034 106 A1 and in EP 2 682 329 A1.

[0004] It is the object of the present invention to provide a solution by means of which a user is particularly well supported during the coupling process of a motor vehicle to a trailer.

[0005] This object is achieved by a method and a system for assisting the coupling process of a motor vehicle to a trailer having the features of the independent patent claims. Advantageous embodiments with expedient and non-trivial refinements of the invention are specified in the remaining claims.

[0006] In the method according to the invention for assisting a coupling process of a motor vehicle to a trailer, a trailer coupling assistant detects the position of a trailer-side coupling element. Based on this, the motor vehicle is maneuvered at least semi-autonomously into a target position in which a trailer coupling of the motor vehicle is arranged in a predetermined coupling position relative to the trailer-side coupling element. For example, a rearview camera can be used in combination with image processing to detect the position of the trailer-side coupling element, for example in the form of a trailer claw or the like.Based on this detected position of the trailer-side coupling element and knowing the relative positioning of the motor vehicle's trailer coupling to the trailer-side coupling element, the trailer coupling assistant can plan a trajectory along which the motor vehicle must travel in order to reach the said target position.

[0007] During the maneuvering process, a parking aid monitors the rear monitoring area of ​​the vehicle. The parking aid can, for example, have ultrasonic sensors, radar sensors, or the like to monitor the rear monitoring area of ​​the vehicle during the maneuvering process. The trailer coupling assistant can perform the maneuvering process semi-autonomously or fully autonomously. For example, it is possible for the driver of the vehicle to only have to operate the accelerator and brake, with the trailer coupling assistant performing all steering movements to reach the target position fully automatically. Alternatively, it is also possible for the trailer coupling assistant to perform the entire maneuvering process fully automatically. The driver can, for example, be sitting in the vehicle.Alternatively, it is also possible for a user to remotely control the motor vehicle and thus the trailer coupling assistant, for example, using their smartphone, whereby the trailer coupling assistant carries out the maneuvering process fully automatically until the target position is reached, as long as it is detected that the user has, for example, placed their finger on a specific mechanical or merely displayed control button on the smartphone.

[0008] The method according to the invention is characterized in that the parking aid operates in a standard mode when the trailer coupling assistant is deactivated, whereas the parking aid operates in a coupling mode when the trailer coupling assistant is activated. In this mode, obstacle warnings related to the rear area are issued differently than in the standard mode by means of the parking aid. In other words, the invention provides for the parking aid to operate differently during the maneuvering process using the trailer coupling assistant than would normally be the case when simply reversing or, more generally, when maneuvering with the parking aid activated.

[0009] The invention is based on the finding that a purely conventional mode of operation of the parking aid with the trailer coupling assistant activated simultaneously can result in contradictory obstacle warnings for a motor vehicle user. If the parking aid were to operate in the aforementioned standard mode with both the trailer coupling assistant activated and deactivated, it could happen, for example, that when reversing the motor vehicle toward the trailer, a continuous warning tone is emitted if the distance to the trailer, particularly to the trailer-side coupling element, falls below a certain distance. This typically represents the highest warning level for common parking aids and indicates to the driver that they should stop driving.However, if the detected obstacle is the trailer coupling element, the driver must continue driving despite the continuous warning tone, as they have not yet reached the target position, in which the vehicle's trailer coupling is positioned in the specified coupling position to the trailer coupling element. Despite the highest warning level, the driver would therefore have to continue driving, as the target position is still, for example, 10 to 15 centimeters away from the moment the continuous warning tone sounds.

[0010] The solution according to the invention addresses precisely this problem. Because the parking aid operates in the aforementioned coupling mode when the trailer coupling assistant is activated, in which obstacle warnings related to the rear area are issued differently than in standard mode by the parking aid, consistent obstacle warnings can be issued when the vehicle is maneuvered closer to the trailer using the trailer coupling assistant. When maneuvering closer to the trailer, the parking aid therefore issues different obstacle warnings than it would when simply reversing, for example, when the vehicle approaches a wall or the like.

[0011] This is achieved by informing the parking aid whether the trailer coupling assistant is currently active or not, and in particular whether the trailer coupling assistant is currently maneuvering the vehicle at least semi-autonomously towards the target position. A warning strategy of the parking aid can thus be adapted to the activated trailer coupling assistant, so that a driver or user of the vehicle is not irritated by potentially contradictory obstacle warnings from the parking aid during the maneuvering process into the target position. This is because during the coupling process to the trailer, it is precisely necessary for the vehicle to remain below a usual minimum distance from the trailer-side coupling element, at which the highest warning level of the parking aid is reached in stationary mode.

[0012] The invention further provides that in coupling mode, the position of the trailer-side coupling element is transmitted to the parking aid. If an object is located in the rear monitoring area and within a predetermined radius around the position of the trailer-side coupling element, the parking aid refrains from issuing an obstacle warning, which would otherwise be issued in standard mode. In other words, a type of masking of the trailer-side coupling element is provided. The parking aid can adapt the output of obstacle warnings based on knowledge of the position of the trailer-side coupling element. If objects are detected in the vicinity of the trailer-side coupling element to which the parking aid would normally react with obstacle warnings, the warning strategy of the parking aid is adapted in coupling mode such that no obstacle warnings related to these objects are issued.The driver of the motor vehicle or the user of the motor vehicle is therefore not irritated by the parking aid during the maneuvering process using the trailer coupling assistant towards the target position, since the parking aid ignores in particular the approach to the trailer-side coupling element in that no obstacle warnings are issued in this regard.

[0013] Alternatively, the invention provides that in coupling mode, the position of the trailer-side coupling element is transmitted to the parking aid, and a lower distance value to an object, at which the highest warning level is reached in the standard mode of the parking aid, is reduced relative to the trailer-side coupling element to such an extent that the highest warning level is only reached in coupling mode when the motor vehicle has reached the target position. For example, in the standard mode of the parking aid, it can be provided that as soon as a certain area of ​​the motor vehicle falls below a distance of 30 centimeters from an object external to the vehicle, the highest warning level is reached.It is now provided that this lower distance value, for example of 30 centimeters, is reduced to such an extent, at least in relation to the trailer-side coupling element, that the highest warning level in coupling mode is only reached when the motor vehicle has reached the target position. For example, it can be provided that as the distance to the position of the trailer-side coupling element decreases, the pauses between an issued acoustic obstacle warning are reduced, with the acoustic obstacle warning being issued as a continuous warning tone as soon as the motor vehicle has reached the target position. Alternatively or additionally, it can also be provided that as the distance to the position of the trailer-side coupling element decreases, an optical obstacle warning is displayed, first in green, then in yellow, and finally in red, as soon as the motor vehicle has reached the target position.In other words, a threshold for the highest acoustic warning level as well as the highest visual warning level is preferably shifted to the target position of the motor vehicle in which the trailer coupling of the motor vehicle is arranged in the predetermined coupling position to the trailer-side coupling element. Upon approaching the target position, the acoustic and / or visual nature of the obstacle warnings changes. In this way, a user or driver of the motor vehicle is not irritated by contradictory obstacle warnings during the at least partially autonomous maneuvering of the motor vehicle into the target position in which the trailer coupling of the motor vehicle is arranged in the predetermined coupling position to the trailer-side coupling element.

[0014] An advantageous embodiment of the invention provides that if an object is located in the rear monitoring area and within the specified radius around the position of the trailer-side coupling element, the parking aid refrains from issuing an acoustic obstacle warning, in particular a continuous warning tone, which would otherwise be issued in standard mode. Alternatively or additionally, if an object is located in the rear monitoring area and within the specified radius around the position of the trailer-side coupling element, the parking aid refrains from displaying an optical obstacle warning, in particular in yellow and / or red signal colors, which would otherwise be displayed in standard mode.If, for example, the motor vehicle with a rear bumper falls below a distance of 30 centimeters from the trailer-side coupling element, the parking aid could be set in standard mode to emit a continuous tone and, for example, display corresponding red warning bars on a vehicle-side display. In coupling mode of the parking aid, i.e. when the trailer coupling assistant is activated, however, such obstacle warnings, which relate to a fall below a certain distance to the trailer-side coupling element, are omitted. A driver or user of the motor vehicle will therefore not be irritated by acoustic and / or visual obstacle warnings, which relate to a fall below a certain distance to the trailer-side coupling element, during the at least partially autonomous maneuvering of the motor vehicle to the target position.

[0015] In a further advantageous embodiment of the invention, the obstacle warning is issued in the motor vehicle and, in the case of a maneuvering process remotely controlled by a remote control, the obstacle warning is issued via the remote control. For example, it is possible for a user of the motor vehicle to remotely control the coupling process via their smartphone. In this case, the obstacle warnings described above are preferably also issued via the smartphone. In this case, the parking aid, with the trailer coupling assistant activated, is also operated in the aforementioned coupling mode, in which obstacle warnings relating to the rear area are issued by the parking aid differently than in the standard mode.Even when the vehicle is remotely controlled using a smartphone, the acoustic and / or visual obstacle warning provided by the parking aid during the maneuvering process into the target position is issued differently than when, for example, a remote parking maneuver is performed using a smartphone. This means that if a driver or user of the vehicle is standing outside the vehicle while the vehicle is being maneuvered toward the trailer, the user will not be confused by contradictory obstacle warnings issued via the smartphone thanks to an adapted warning strategy from the parking aid.

[0016] The system according to the invention for assisting a coupling process of a motor vehicle to a trailer comprises a trailer coupling assistant which is designed to detect a position of a trailer-side coupling element and, based thereon, to maneuver the motor vehicle at least partially autonomously into a target position in which a trailer coupling of the motor vehicle is arranged in a predetermined coupling position to the trailer-side coupling element, wherein the system has a parking aid which is designed to monitor a rear monitoring area of ​​the motor vehicle during the maneuvering process.The system is configured to operate the parking aid in a standard mode when the trailer coupling assistant is deactivated, and the parking aid in a coupling mode when the trailer coupling assistant is activated. In this mode, obstacle warnings related to the rear area are issued by the parking aid in a different way than in the standard mode. Furthermore, the system is configured to transmit the position of the trailer-side coupling element to the parking aid in the coupling mode. If an object is located in the rear monitoring area and within a predetermined radius around the position of the trailer-side coupling element, the parking aid is configured to refrain from issuing an obstacle warning, which would otherwise be issued in the standard mode.Alternatively, the system is configured to transmit the position of the trailer-side coupling element to the parking aid in coupling mode and to reduce a lower distance value to an object, above which a highest warning level is reached in the standard mode of the parking aid, relative to the trailer-side coupling element to such an extent that the highest warning level is only reached in coupling mode when the motor vehicle has reached the target position. Advantageous embodiments of the method according to the invention are to be regarded as advantageous embodiments of the system according to the invention and vice versa, wherein the system in particular comprises means for carrying out the method steps.

[0017] The motor vehicle according to the invention comprises the system according to the invention or an advantageous embodiment of the system according to the invention for supporting a coupling process of a motor vehicle to a trailer.

[0018] Further advantages, features, and details of the invention will become apparent from the following description of preferred embodiments and from the drawings. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective specified combinations, but also in other combinations or on their own, without departing from the scope of the invention.

[0019] The drawing shows: Fig. 1 a schematic representation of a coupling process of a motor vehicle to a trailer; Fig. 2 a representation of a display of the motor vehicle, by means of which optical obstacle warnings are issued during the coupling process to the trailer; and in Fig. 3 a further representation of the display of the motor vehicle, by means of which, according to a second variant, optical obstacle warnings are issued while approaching the trailer.

[0020] In the figures, identical or functionally identical elements are provided with the same reference symbols.

[0021] A motor vehicle 1 having a system 2 for supporting a coupling process of the motor vehicle 1 to a trailer 3 is shown in a schematic representation in Fig. 1. The system 2 comprises a trailer coupling assistant 4, which is designed to detect a position of a trailer-side coupling element 5 and, based thereon, to maneuver the motor vehicle 1 at least semi-autonomously into a target position in which a trailer coupling 6 of the motor vehicle is arranged in a predetermined coupling position relative to the trailer-side coupling element 5. The trailer coupling 6 of the motor vehicle 1 can be, for example, a ball coupling, and the trailer-side coupling element 5 can be, for example, a trailer claw. Other embodiments of the trailer-side coupling element 5 and the trailer coupling 6 of the motor vehicle 1 are also possible.

[0022] The system 2 1 also includes a parking aid 7, which is designed to monitor a rear monitoring area B (not shown here) of the motor vehicle 1 during the maneuvering process. The system 2 is configured to operate the parking aid 7 in a standard mode when the trailer coupling assistant 4 is deactivated and to operate the parking aid 7 in a coupling mode when the trailer coupling assistant 4 is activated, in which obstacle warnings relating to the rear area B are output by means of the parking aid 7 in a different manner than in the standard mode.

[0023] The trailer coupling assistant 4 can, for example, be coupled to a reversing camera (not shown here), whereby the trailer coupling assistant 4 itself can, for example, perform image processing to detect the trailer-side coupling element 5. Based on the detected trailer-side coupling element 5, the trailer coupling assistant 4 can, for example, determine the position of the trailer-side coupling element 5 and, based thereon, maneuver the motor vehicle 1 semi-autonomously or fully autonomously into the said target position, in which the trailer coupling 6 of the motor vehicle 1 is arranged in a predetermined coupling position to the trailer-side coupling element 5.

[0024] In the target position, it may be provided, for example, that the trailer coupling 6 of the motor vehicle 1 must be arranged in a specific position below the trailer-side coupling element 5. Once this target position is reached, the trailer 3 can be easily coupled to the motor vehicle 1, for example by lowering a drawbar (not described in more detail here) of the trailer 3 together with the trailer-side coupling element 5 until the trailer-side coupling element 5 encloses the trailer coupling 6 of the motor vehicle 1.

[0025] The parking aid 7 can, for example, have a plurality of sensors (not shown here), for example in the form of ultrasonic sensors, radar sensors, and / or the like, distributed around the motor vehicle 1, by means of which a wide variety of objects in the vicinity of the motor vehicle 1 can be detected. In order not to irritate a driver or user of the motor vehicle 1 during the maneuvering process into the said target position, it is provided that the parking aid operates differently when the trailer coupling assistant is deactivated than when the trailer coupling assistant is activated. In the latter case, the parking aid 7 is operated in the aforementioned coupling mode, in which obstacle warnings relating to the rear area B are issued by the parking aid 7 differently than in the standard mode.

[0026] The trailer coupling assistant 4 is not limited to performing the aforementioned maneuvering process into the target position while the driver is seated in the motor vehicle 1. Alternatively or additionally, it can also be provided that a user or driver of the motor vehicle 1 can activate the trailer coupling assistant 4 with their smartphone 8, so that the trailer coupling assistant 4 performs the maneuvering process fully automatically, so that the motor vehicle 1 moves fully autonomously to the aforementioned target position in which the trailer coupling 6 of the motor vehicle 1 is arranged in the predetermined coupling position to the trailer-side coupling element 5. When controlled by means of the smartphone 8, it can be provided that warnings or obstacle warnings are transmitted from the parking aid 7 to the smartphone 8 and output visually and acoustically by means of the smartphone.In this case too, it is intended that the parking aid 7 is operated differently when the trailer coupling assistant 4 is deactivated than when the trailer coupling assistant 4 is activated, namely in the latter case in the aforementioned coupling mode.

[0027] In Fig. 2 shows a display 9 of the motor vehicle 1, by means of which an image 10 of the motor vehicle 1 is shown. The display 9 can, for example, be arranged in the area of ​​a center console of the motor vehicle 1. During the maneuvering or maneuvering process towards the trailer 3, the display 9, controlled by the parking aid 7, shows various visual warnings in the form of respective warning bars 11. In a manner known per se, during normal maneuvering with the motor vehicle 1, the warning bars 11 can be displayed in different colors, from green to yellow to red, depending on the respective distances between objects in the vicinity of the motor vehicle 1 and the motor vehicle 1.

[0028] In the embodiment shown here, it is provided that in the coupling mode the position of the trailer-side coupling element 5 is transmitted to the parking aid 7, wherein if an object is located in the rear monitoring area B and within a predetermined radius around the position of the trailer-side coupling element 5, the parking aid 7 refrains from issuing an obstacle warning, which would otherwise be issued in the standard mode.

[0029] For example, in standard mode, it could be provided that the parking aid 7 would display the warning bars 11 in the rear area of ​​the image 10 of the motor vehicle, for example, in red when reversing if a certain distance to a certain object is undershot. However, if the trailer coupling assistant 4 is active, the parking aid 7 is provided to virtually ignore, in particular, the immersion of the trailer-side coupling element 5 into the monitoring area B. If, for example, a bumper of the motor vehicle 1 falls within a distance of less than 30 centimeters from the trailer-side coupling element 5, neither a visual nor an acoustic warning is issued by the parking aid 7, which is operated in coupling mode.Therefore, if an object is located in the rear monitoring area B and within the specified radius around the position of the trailer-side coupling element 5, the parking aid 7 refrains from issuing both an acoustic and a visual obstacle warning, which would otherwise be issued in standard mode. Therefore, neither a continuous warning tone nor the display of warning bars 11 in the rear area of ​​the image of the motor vehicle 1 via the display 9 is emitted. A specific area around the trailer-side coupling element 5 is thus masked or ignored by the parking aid 7 as long as the trailer coupling assistant 4 is active, in particular if it maneuvers the motor vehicle 1 into the said target position semi-automatically or fully automatically.

[0030] In Fig. 3, the display 9 of the motor vehicle 1 is shown again, wherein in the case shown here it is provided that in the coupling mode of the parking aid 7 the position of the trailer-side coupling element 5 is transmitted to the parking aid 7 and a lower distance value to an object, from which a highest warning level is reached in the standard mode of the parking aid 7, is reduced so much in relation to the trailer-side coupling element 5 that the highest warning level in the coupling mode is only reached when the motor vehicle 1 has reached the target position.

[0031] It can be provided that, as the distance to the position of the trailer-side coupling element 5 decreases, the pauses between an emitted acoustic obstacle warning are reduced, with the acoustic obstacle warning being emitted as a continuous warning tone as soon as the motor vehicle has reached the target position. In contrast, the parking aid 7 in standard mode would, for example, already emit this continuous warning tone if the distance between a rear bumper of the motor vehicle 1 and an object located in the rear monitoring area B were less than 30 centimeters.

[0032] In addition, it can also be provided that with decreasing distance to the position of the trailer-side coupling element 5, an optical obstacle warning, for example in the form of the warning bar 11 in the rear area of ​​the image 10 of the motor vehicle 1, is displayed by means of the display 9, initially in green, then in yellow and finally in red, as soon as the motor vehicle 1 has reached the target position. Fig. In other words, in the exemplary embodiment described in Figure 3, it is provided to shift a threshold for the highest acoustic and visual warning level to the target position of the motor vehicle 1, in which the trailer coupling 6 of the motor vehicle 1 is arranged in the predetermined coupling position to the trailer-side coupling element 5. Upon reaching the target position, a continuous tone sounds, since only then is the highest warning level reached. The same applies to the visual display. Thus, the warning bar 11 in the rear area of ​​the image 10 of the motor vehicle 1 is displayed in red by means of the display 9 when the motor vehicle 1 has been maneuvered into the target position in which the trailer coupling 6 of the motor vehicle 1 is arranged in the predetermined coupling position to the trailer-side coupling element 5.

[0033] By means of both in connection with the Fig. 2 and Fig.3, it can be ensured that a user or driver of the motor vehicle 1 is not irritated by contradictory warnings by means of the parking aid 7 during an at least partially autonomous coupling process to the trailer 3. List of reference symbols 1 motor vehicle 2 systems 3 trailers 4 Trailer coupling assistant 5 trailer-side coupling element 6 Trailer coupling of the motor vehicle 7 Parking aid 8 smartphones 9 Vehicle display 10 Image of the motor vehicle 11 warning bars B rear surveillance area

Claims

[1] Method for supporting a coupling process of a motor vehicle (1) to a trailer (3), in which a position of a trailer-side coupling element (5) is detected by means of a trailer coupling assistant (4) and, based thereon, the motor vehicle (1) is maneuvered at least partially autonomously into a target position in which a trailer coupling (6) of the motor vehicle (1) is arranged in a predetermined coupling position to the trailer-side coupling element (5), wherein a rear monitoring area (B) of the motor vehicle (1) is monitored by means of a parking aid (7) during the maneuvering process, characterized by , that - the parking aid (7) is operated in a standard mode when the trailer coupling assistant (4) is deactivated; - the parking aid (7) is operated in a coupling mode when the trailer coupling assistant (4) is activated, in which obstacle warnings relating to the rear area (B) are issued by means of the parking aid (7) differently than in the standard mode; and - in docking mode: • the position of the trailer-side coupling element (5) is transmitted to the parking aid (7), wherein if an object is located in the rear monitoring area (B) and within a predetermined radius around the position of the trailer-side coupling element (5), the parking aid (7) refrains from issuing an obstacle warning, which would otherwise be issued in standard mode; or • the position of the trailer-side coupling element (5) is transmitted to the parking aid (7) and a lower distance value to an object, from which a highest warning level is reached in the standard mode of the parking aid (7), is reduced so much in relation to the trailer-side coupling element (5) that the highest warning level is only reached in the coupling mode when the motor vehicle (1) has reached the target position. [2] Method according to claim 1, characterized by that if an object is located in the rear monitoring area (B) and within the specified radius around the position of the trailer-side coupling element (5), the parking aid (7) refrains from issuing an acoustic obstacle warning, in particular a continuous warning tone, which would otherwise be issued in standard mode. [3] Method according to claim 1 or 2, characterized bythat if an object is located in the rear monitoring area (B) and within the specified radius around the position of the trailer-side coupling element (5), the parking aid (7) refrains from displaying an optical obstacle warning (11), in particular in yellow and / or red signal colors, which would otherwise be displayed in standard mode. [4] The method of claim 1, wherein the lower distance value is reduced, characterized by that as the distance to the position of the trailer-side coupling element (5) decreases, pauses between an emitted acoustic obstacle warning are reduced, wherein the acoustic obstacle warning is emitted as a continuous warning tone as soon as the motor vehicle (1) has reached the target position. [5] Method according to claim 1 or 4, wherein the lower distance value is reduced, characterized bythat as the distance to the position of the trailer-side coupling element (5) decreases, an optical obstacle warning (11) is displayed first in green, then in yellow and finally in red as soon as the motor vehicle (1) has reached the target position. [6] Method according to one of the preceding claims, characterized by that the obstacle warning is issued in the motor vehicle (1) and in the case of a manoeuvring process remotely controlled by means of a remote control (8), the obstacle warning is issued by means of the remote control (8). [7] System (2) for assisting a coupling process of a motor vehicle (1) to a trailer (3), comprising a trailer coupling assistant (4) which is designed to detect a position of a trailer-side coupling element (5) and, based thereon, to maneuver the motor vehicle (1) at least partially autonomously into a target position in which a trailer coupling (6) of the motor vehicle (1) is arranged in a predetermined coupling position to the trailer-side coupling element (5), wherein the system (2) has a parking aid (7) which is designed to monitor a rear monitoring area (B) of the motor vehicle (1) during the maneuvering process, characterized by that the system is set up to - to operate the parking aid (7) in a standard mode when the trailer coupling assistant (4) is deactivated; - to operate the parking aid (7) in a coupling mode when the trailer coupling assistant (4) is activated, in which obstacle warnings relating to the rear area (B) are issued by means of the parking aid (7) differently than in the standard mode; and - in docking mode: • to transmit the position of the trailer-side coupling element (5) to the parking aid (7), wherein if an object is located in the rear monitoring area (B) and within a predetermined radius around the position of the trailer-side coupling element (5), the parking aid (7) is designed to refrain from issuing an obstacle warning, which would otherwise be issued in standard mode; or • to transmit the position of the trailer-side coupling element (5) to the parking aid (7) and to reduce a lower distance value to an object, from which a highest warning level is reached in the standard mode of the parking aid (7), in relation to the trailer-side coupling element (5) so much that the highest warning level is only reached in the coupling mode when the motor vehicle (1) has reached the target position. [8] Motor vehicle (1) with a system according to claim 7.

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