Method, system and computer program product for automatically adapting at least one driver assistance function of a vehicle to a trailer operating state

Abstract

Method for automatically adapting at least one driver assistance function of a vehicle (10) to a trailer operating state of the vehicle (10), wherein in the trailer operating state a trailer (20) is connected to the vehicle (10), comprising the following method steps: - recording (S10) data (40) in a recording area in which a trailer (20) could be located, by at least one camera (32) of a sensor and camera device (30); - transmitting (S20) the data (40) to an evaluation module (50); - evaluating (S30) the data (40) by means of evaluation algorithms of the evaluation module (50) in order to determine whether a trailer (20) is connected to the vehicle (10) and thus a trailer operating state is present; - transmitting (S40) a trailer operating state from the evaluation module (50) to at least one driver assistance module (70, 72, 74) with at least one driver assistance function if a trailer operating state has been determined; - Calculating (S50) a mode of the respective driving assistance function adapted to the trailer operating state by the driving assistance module (70, 72, 74); wherein the driving assistance function comprises at least one control parameter for at least one control device for at least one component of the vehicle (10), wherein the component of the vehicle (10) is in particular an engine (14) and / or a braking system (16) and / or a steering system (18); wherein the driving assistance module (70, 72, 74) comprises a driving assistance function for speed and distance control, and / or for lane keeping and lane changing, and / or for calculating optimal acceleration and deceleration values based on navigation data for the next few kilometers of the route, and wherein the driving assistance module (74) automatically selects a different mode for calculating the optimal acceleration and deceleration values upon detecting trailer operation.

Description

[0001] The invention relates to a method, a system and a computer program product for automatically adapting at least one driver assistance function of a vehicle to a trailer operating state of the vehicle.

[0002] Modern vehicles are equipped with a variety of driver assistance systems and functions to support the driver while driving and increase safety. Parking assistance systems, for example, support the driver with visual and acoustic signals when parking and maneuvering. Ultrasonic sensors and camera systems are used in particular for this purpose. The camera system can include a rear-view camera or several individual cameras mounted on the front, sides, and rear of the vehicle, from which an all-round view is calculated. The image is displayed on a screen in the vehicle. Optionally, guide lines can be drawn in the image to indicate the distance to an object such as a wall or another vehicle.

[0003] In addition, driver assistance systems for cruise control and distance control, as well as lane keeping and lane change assistants, are known. These systems allow a specific maximum speed to be set, which will not be exceeded as long as the speed limit function is activated. For distance control, which sets a specific distance, particularly to a vehicle ahead, radar sensors and camera systems are used. This allows the distance to vehicles ahead, as well as to vehicles to the side, to be monitored. This can increase driving comfort and safety, especially when driving on the highway and during overtaking maneuvers.

[0004] In addition, driver assistance systems are known that calculate optimal acceleration and deceleration values for the next few kilometers of the route based on navigation data and activate the vehicle's engine and braking systems accordingly using a control device. Since the route is known from the navigation data, data on road conditions and topography, such as any curves and gradients, can be retrieved and used for the calculation. In addition, data on the current traffic situation, recorded by the vehicle's radar and camera system, can be taken into account. This can increase safety, especially when driving on country roads, and also optimize fuel consumption.

[0005] However, the currently available driver assistance systems are designed only for the vehicle itself and do not take into account the vehicle's trailer operating mode, in which the vehicle is connected to a trailer, such as a cargo trailer, caravan, or horsebox, via a trailer hitch, thus forming a combination. However, since trailer operation changes the vehicle's condition and thus also its driving characteristics, the driver assistance systems are not optimally designed for trailer operation.

[0006] DE 44 18 044 A1 describes an electronically controlled speed limiter for a towed vehicle that is activated by coupling a trailer. When a trailer is coupled to a motor vehicle otherwise registered without a speed limit, a contact in the electronic connection socket of the towing vehicle activates a cruise control system located in the towing vehicle, which electronically limits the legally permitted maximum speed of 80 km / h to a maximum achievable 100 km / h.

[0007] DE 10 2012 016 941 A1 describes a method for operating a motor vehicle with a trailer, wherein it is determined whether a connection exists between the motor vehicle and at least one transport device via the trailer coupling. If a connection exists, predetermined different speed limit values are defined for the driving operation of the motor vehicle.

[0008] DE 102 42 112 A1 describes a method and a device for monitoring the speed of a vehicle as a function of a state variable of the vehicle, such as trailer operation.

[0009] DE 10 2015 122 328 A1 describes a vehicle with a cruise control system. If the vehicle is coupled to a trailer and a brake temperature is higher than a specified threshold, the vehicle's speed is reduced to lower the brake temperature.

[0010] DE 10 2018 200 381 A1 relates to a method for adapting a motor vehicle to a specific situation. Sensor data is acquired and evaluated using a sensor. A component of the motor vehicle, in particular the powertrain, is adapted depending on the control signal.

[0011] DE 10 2017 218 075 A1 relates to a method for identifying a lane of a vehicle, wherein the vehicle has a camera system of a digital rearview mirror replacement system. The camera system determines the boundaries of the lane.

[0012] DE 10 2017 211 026 A1 relates to a device for enabling automatic driving mode for a vehicle. A detection device detects whether a person is present in the vehicle and whether the vehicle is carrying a load. Depending on the detected signals, a signal for enabling automatic driving mode is generated and forwarded to a vehicle control device.

[0013] US 2009 / 0 271 078 A1 concerns a system for operating a vehicle with a trailer. A camera captures an image of the trailer's front surface. Image recognition software evaluates the area and shape of the trailer's front surface.

[0014] An object of the present invention is therefore to provide a method, a system and a computer program product for automatically adapting at least one driver assistance function of a vehicle to a trailer operating state of the vehicle, so that the safety and comfort when driving the vehicle with a trailer are increased.

[0015] This object is achieved according to the invention with regard to a method by the features of patent claim 1, with regard to a system by the features of patent claim 6, and with regard to a computer program product by the features of patent claim 11. The further claims relate to preferred embodiments of the invention.

[0016] According to a first aspect, the invention relates to a method for automatically adapting at least one driver assistance function of a vehicle to a trailer operating state of the vehicle, wherein in the trailer operating state a trailer is connected to the vehicle, comprising the following method steps: Recording data in a recording area in which a trailer could be located, from at least one camera of a sensor and camera device; Transmitting the data to an evaluation module; Evaluating the data using evaluation algorithms of the evaluation module to determine whether a trailer is connected to the vehicle and thus whether a trailer operating state exists; Transmitting a trailer operating state from the evaluation module to at least one driver assistance module with at least one driver assistance function if a trailer operating state has been determined;Calculating a mode of the respective driver assistance function adapted to the trailer operating state by the driver assistance module. The driver assistance function comprises at least one control parameter for at least one control device for at least one component of the vehicle, wherein the vehicle component is in particular an engine and / or a braking system and / or a steering system. The driver assistance module comprises a driver assistance function for speed and distance control, and / or for lane keeping and lane changing, and / or for calculating optimal acceleration and deceleration values based on navigation data for the next few kilometers of the route, wherein the driver assistance module automatically selects a different mode for calculating the optimal acceleration and deceleration values upon detecting trailer operation.

[0017] In particular, the evaluation algorithms of the evaluation module include neural networks, in particular a convolutional neural network.

[0018] Advantageously, the sensor and camera device comprises optical RGB cameras, and / or action cameras, and / or LIDAR (light detection and ranging) systems with optical distance and speed measurement, and / or stereoscopic optical camera systems, and / or ultrasound systems, and / or radar systems, and / or infrared cameras.

[0019] In a further embodiment, it is provided that the evaluation module is connected to a cloud computing infrastructure via a mobile radio connection.

[0020] In a further development, it is planned to equip the trailer with a retrofittable sensor and camera module that is connected to the evaluation module via a mobile phone connection.

[0021] According to a second aspect, the invention relates to a system for automatically adapting at least one driver assistance function of a vehicle to a trailer operating state of the vehicle, wherein a trailer is connected to the vehicle in the trailer operating state. The system comprises a sensor and camera device, an evaluation module, and at least one driver assistance module. The sensor and camera device is designed to record data in a recording area in which a trailer could be located and to transmit it to the evaluation module. The evaluation module is designed to evaluate the data using evaluation algorithms in order to determine whether a trailer is connected to the vehicle and thus a trailer operating state exists, and if a trailer operating state has been determined, to transmit the trailer operating state to at least one driver assistance module.The driver assistance module is designed to calculate a mode of the respective driver assistance function adapted to the trailer operating state. The driver assistance function comprises at least one control parameter for at least one control device for at least one component of the vehicle, wherein the vehicle component is in particular an engine and / or a braking system and / or a steering system. The driver assistance module comprises a driver assistance function for speed and distance control, and / or for lane keeping and lane changing, and / or for calculating optimal acceleration and deceleration values based on navigation data for the next few kilometers of the route, wherein the driver assistance module is designed to automatically select a different mode for calculating the optimal acceleration and deceleration values upon detection of trailer operation.In a further embodiment, it is provided that the evaluation algorithms of the evaluation module comprise neural networks, in particular a convolutional neural network.

[0022] Advantageously, the sensor and camera device comprises optical RGB cameras, and / or action cameras, and / or LIDAR (light detection and ranging) systems with optical distance and speed measurement, and / or stereoscopic optical camera systems, and / or ultrasound systems, and / or radar systems, and / or infrared cameras.

[0023] In particular, the evaluation module is connected to a cloud computing infrastructure via a mobile network connection.

[0024] In a further development, it is provided that the trailer is equipped with a retrofittable sensor and camera module that is connected to the evaluation module via a mobile phone connection.

[0025] According to a third aspect, the invention relates to a computer program product comprising an executable program code which is configured to carry out the method according to the first aspect when executed.

[0026] The invention is explained in more detail below using an embodiment shown in the drawing.

[0027] It shows: Fig. 1 a schematic representation of a vehicle with a trailer; Fig. 2 a schematic representation of a system according to the invention for automatically adapting at least one driver assistance function of a vehicle to a trailer operating state; Fig. 3 a flow chart to explain the individual method steps of a method according to the invention; Fig. 4 a computer program product according to an embodiment of the third aspect of the invention.

[0028] Additional features, aspects and advantages of the invention or its embodiments will become apparent from the detailed description taken in conjunction with the claims.

[0029] Fig. 1 shows a schematic representation of a vehicle 10 in a trailer operating mode. The vehicle 10 is connected to a trailer 20, such as a transport trailer, a caravan, or a horsebox, by means of a trailer coupling 12. Furthermore, the vehicle 10 comprises a sensor and camera device 30 comprising various sensor systems and cameras 32, 34, 36, 38 arranged at various positions in or on the vehicle 10. The cameras 32, 34, 36, 38 are designed, in particular, as RGB cameras in the visible range with the primary colors blue, green, and red. However, UV cameras in the ultraviolet range and / or IR cameras in the infrared range, in particular as night vision devices, can also be provided. The cameras, which differ in their recording spectrum, can thus depict different lighting conditions in their respective recording ranges.

[0030] Furthermore, the recording frequency of the cameras 32, 34, 36, 38 can be designed for high speeds of the motor vehicle 10 and record image data at a high image recording frequency. Furthermore, it can be provided that the cameras 32, 34, 36, 38 automatically start the image recording process when a significant change in area occurs in the recording field of the respective camera 32, 34, 36, 38, for example, when an object such as another vehicle or a road boundary such as a marking strip appears in the recording field. This enables a selective data acquisition process, and only relevant image data is recorded. This allows computing capacity to be used more efficiently.

[0031] In particular, it can be provided to use weatherproof action cameras for cameras 32, 34, 36, 38, which can be arranged in particular outside the vehicle 10. Action cameras have wide-angle fisheye lenses, making it possible to achieve a visible radius of over 90°. In particular, the recording radius can reach 180°, so that two cameras are sufficient to record the surroundings of the vehicle 10 within a radius of 360°. Action cameras can usually record videos in Full HD (1,920 x 1,080 pixels), but action cameras can also be used in Ultra HD or 4K (at least 3,840 x 2,160 pixels), resulting in a significant increase in image quality. The image recording frequency is typically 60 frames per second in 4K and up to 240 frames per second in Full HD. An integrated image stabilizer may also be provided.In addition, action cameras are often equipped with an integrated microphone, allowing additional acoustic signals to be recorded. Differential signal processing techniques can also be used to selectively suppress background noise.

[0032] Furthermore, LIDAR (Light Detection and Ranging) systems with optical distance and speed measurement, stereoscopic optical camera systems, ultrasound systems and / or radar systems can be used as sensors.

[0033] Thus, when a trailer 20 is connected to the vehicle, the trailer 20 is detected by the sensor and camera device 30.

[0034] In Fig.2 shows a system 100 according to the invention for automatically adapting at least one driver assistance function. The data 40 recorded by the sensor and camera device 30 is forwarded to an evaluation module 50. The evaluation module 50 comprises an integrated or associated processor 52 and / or one or more memory units 54.

[0035] In the context of the invention, a "module" can therefore be understood as, for example, a processor and / or a memory unit for storing program instructions. For example, the module is specifically configured to execute the program instructions in such a way as to implement or realize the method according to the invention or a step of the method according to the invention.

[0036] In the context of the invention, a "processor" can be understood to mean, for example, a machine, an electronic circuit, or a powerful computer. A processor can be, in particular, a central processing unit (CPU), a microprocessor, or a microcontroller, for example, an application-specific integrated circuit or a digital signal processor, possibly in combination with a memory unit for storing program instructions. A processor can also be understood to mean a virtualized processor, a virtual machine, or a soft CPU.For example, it may also be a programmable processor that is equipped with configuration steps for executing the aforementioned method according to the invention or is configured with configuration steps such that the programmable processor implements the inventive features of the method, the component, the modules, or other aspects and / or sub-aspects of the invention. Furthermore, highly parallel computing units and powerful graphics modules may be provided. Furthermore, it may be provided that the processor 52 is not arranged in the vehicle 10, but is integrated into a cloud computing infrastructure 60.

[0037] In the context of the invention, a "storage unit" or "storage module" and the like can be understood to mean, for example, a volatile memory in the form of random-access memory (RAM) or a permanent memory such as a hard drive or data storage device, or, for example, a removable storage module. However, the storage module can also be a cloud-based storage solution.

[0038] In the context of the invention, the recorded data 40 is understood to mean both the raw data and already processed data from the recording results of the sensor and camera device 30.

[0039] In particular, the data 40 is image data, with the data formats of the image data preferably being embodied as tensors. However, other image formats may also be used.

[0040] In particular, the sensor and camera device 30 and / or a control device associated with it and / or the evaluation module 50 can have mobile communications modules of the 5G standard. 5G is the fifth-generation mobile communications standard and, compared to the 4G mobile communications standard, is characterized by higher data rates of up to 10 Gbit / sec, the use of higher frequency ranges such as 2100, 2600, or 3600 megahertz, increased frequency capacity and thus increased data throughput, and real-time data transmission, since up to one million devices per square kilometer can be addressed simultaneously. Latency times range from a few milliseconds to less than 1 ms, enabling real-time transmission of data and calculation results. The image data 40 recorded by the sensor and camera device 30 can be sent in real time to the cloud computing infrastructure 60, where the corresponding analysis and calculation are performed.The analysis and calculation results can be sent back to the vehicle 10 in real time and thus quickly integrated into driver instructions or automated driving functions. This data transmission speed is necessary if cloud-based solutions are to be used to process the image data 40. Cloud-based solutions offer the advantage of high and therefore fast computing power. To protect the connection to a cloud computing infrastructure 60 via a mobile network connection, cryptographic encryption methods are provided.

[0041] When the evaluation module 50 is integrated into the vehicle 10, AI hardware acceleration such as the Coral Dev Board is advantageously used for the processor 52 to enable real-time processing. This is a microcomputer with a tensor processing unit (TPU), which allows a pre-trained software application to evaluate up to 70 images per second.

[0042] To evaluate the data 40, the processor 52 uses one or more evaluation algorithms to determine from the recorded data 40 whether a trailer 20 is connected to the vehicle 10. In particular, artificial intelligence algorithms such as neural networks can be used for image processing.

[0043] A neural network consists of neurons arranged in multiple layers and connected to one another in various ways. A neuron is able to receive information at its input from outside or from another neuron, evaluate the information in a specific way, and then pass it on in a modified form to another neuron at the neuron output or output it as the final result. Hidden neurons are arranged between the input neurons and output neurons. Depending on the network type, there may be multiple layers of hidden neurons. They ensure the forwarding and processing of information. Output neurons ultimately deliver a result and transmit it to the outside world. The arrangement and connection of the neurons gives rise to different types of neural networks, such as feedforward networks, recurrent networks, or convolutional neural networks.The networks can be trained through unsupervised or supervised learning.

[0044] The convolutional neural network has multiple convolutional layers and is highly suitable for machine learning and artificial intelligence (AI) applications in the field of image recognition. The functionality of a convolutional neural network is modeled to some extent on biological processes, and its structure is comparable to the visual cortex of the brain. The individual layers of the CNN are the convolutional layer, the pooling layer, and the fully connected layer. The pooling layer follows the convolutional layer and can be present multiple times in this combination. Because the pooling layer and the convolutional layer are locally connected subnetworks, the number of connections in these layers remains limited and manageable, even with large input volumes. The final layer is a fully connected layer.The convolutional layer is the actual convolutional layer and is capable of detecting and extracting individual features from the input data. In image processing, these can be features such as lines, edges, or specific shapes. The input data is processed in the form of tensors such as a matrix or vectors.

[0045] The convolutional neural network (CNN) therefore offers numerous advantages over conventional non-convolutional neural networks. It is suitable for machine learning and artificial intelligence applications with large amounts of input data, such as image recognition. The network operates reliably and is insensitive to distortions or other optical changes. The CNN can process images captured under different lighting conditions and from different perspectives, yet still recognizes the typical features of an image. Because the CNN is divided into several local partially connected layers, it requires significantly less memory than fully connected neural networks. The convolutional layers drastically reduce memory requirements. The training time of the convolutional neural network is also significantly reduced. With the use of modern graphics processors, CNNs can be trained very efficiently.

[0046] If the evaluation module 50 detects a trailer operating state of the vehicle 10, this result is forwarded to one or more driver assistance modules 70, 72, 74. Thus, a driver assistance module 70 can have a driver assistance function for speed and distance control, which is connected via control devices to the engine 14, the braking system 16 and / or the steering system 18 and / or other vehicle components. Upon detecting trailer operation, the driver assistance module 70 automatically selects a speed limit corresponding to the maximum speed permitted for a trailer 20, for example, 80 km / h or 100 km / h, and forwards this to the corresponding control devices.Since the invention provides that the evaluation module 50, based on the algorithms it uses, can distinguish between different types of trailers 20, such as a simple transport trailer for transporting bicycles, a caravan, or a horsebox, each of which has different maximum speeds, the correct maximum speed can be selected automatically. This maximum speed is preferably displayed to the driver on a user interface 80. The user interface 80 is designed, in particular, as a display with a touchscreen.

[0047] Another driver assistance module 72 includes a lane keeping and lane changing function. It is known that changing lanes on multi-lane highways represents a risky situation. This risk increases even further when towing a trailer, as the dimensions of the combination consisting of vehicle 10 and trailer 20 have increased, thus changing the driving characteristics. Upon detecting trailer towing, the driver assistance module 72 automatically selects, for example, a different steering assistance mode and / or issues acoustic or visual warning signals. Since the driver assistance module 72 with a lane keeping and lane changing function is advantageously also connected to a rain sensor, an additional speed limit can be provided when towing a trailer in wet conditions or during heavy rainfall.In particular, the distance to other vehicles, both to a vehicle ahead and to vehicles in the adjacent lanes on multi-lane roads, can be modified in trailer operation, since the collision behavior would change due to the increased mass and thus the weight of the trailer. A visual or acoustic warning can be issued via the user interface 80, but also through warnings in the exterior mirror on the driver's side of the vehicle 10.

[0048] Furthermore, the driver assistance module 74 can be configured to calculate optimal acceleration and deceleration values for the next few kilometers of the route based on navigation data and to activate the engine 14 and the braking system 16 accordingly using a control device. Since the route is known from the navigation data, data on the road conditions and topography, such as any curves and gradients, can be retrieved and used for the calculation. In addition, data on the current traffic situation, recorded by the sensor and camera device 30 of the vehicle 10, can be taken into account. Upon detecting trailer operation, the driver assistance module 74 automatically selects a different mode for calculating the optimal acceleration and deceleration values, since the additional trailer 20 is now taken into account.This can increase safety, especially when driving on country roads, and also optimise fuel consumption.

[0049] These driver assistance modules 70, 72, 74 can also apply artificial intelligence algorithms to calculate the corresponding driver assistance functions. In particular, algorithms with optimization functionalities, such as genetic and evolutionary algorithms, can be used.

[0050] Furthermore, it can be provided that the image signal from the trailer 20, which is recorded by the sensor and camera device 30, in particular by the camera 32, is displayed on the screen of the user interface 80. This allows the driver of the vehicle 10 to have the trailer 20 in view while driving. This can be particularly useful if the trailer 20 is designed as a transport trailer and is loaded with bulky goods such as building materials. Since it often happens that objects become detached from transport trailers, the driver can thereby observe the position of the objects on the transport trailer and, for example, drive to a parking position if he gets the impression that the objects should be lashed down more securely. This significantly increases safety when transporting objects using a transport trailer.In a further development, it may also be provided that changes in the position of the objects transported by the transport trailer are detected by the evaluation module 50 using appropriate image processing algorithms, and an alert signal is output to the driver, in particular via the user interface 80. For example, in this case, the image of the trailer 20 can be automatically displayed on the screen.

[0051] In a further development, the camera 32 can be configured as a night vision assistant and include a thermal imaging camera. This allows the position of the objects transported by the transport trailer to be monitored even at night, significantly increasing safety during nighttime driving with a trailer 20. This can be useful, for example, for horse trailers, since the behavior of the horses on the trailer 20 can be observed if the trailer is partially open.

[0052] In a further development of the invention, it can be provided that the trailer 20 itself can be equipped with a sensor and camera module 22. The sensor and camera module 22 is designed in particular as a mobile, retrofittable module that can be connected to the trailer 20 as needed, for example via a magnetic connection. In particular, the sensor and camera module 22 is mounted in the rear area of the trailer 20 and can thus record data from the traffic behind. The recorded data is transmitted to the evaluation module 50 via a mobile radio connection, and the evaluation result is forwarded to the driver assistance modules 70, 72, 74.

[0053] In particular, in the case of closed trailers 20, such as horse transporters, provision can be made for a sensor and camera module 22 to be mounted inside the trailer 20. The sensor and camera module 22 can transmit a continuous video signal from inside the trailer 20, which is displayed on the screen of the user interface 80. This can be particularly useful during long journeys involving competition horses, as it allows the driver to determine how the horse is behaving in the trailer. It can also be useful to additionally provide a temperature sensor, as the temperature in the horse transporter can change during the journey and is an important factor for the horse's well-being. The data from the temperature sensor is also transmitted to the evaluation module 50.

[0054] In a further development, the trailer coupling 12 may be provided with pressure sensors, the data from which are also transmitted to the evaluation module 50. This makes it possible to estimate the weight of the trailer 20, which, in addition to the dimensions (length, width, height) of the trailer 20, influences the driving characteristics and maneuverability of the combination consisting of vehicle 10 and trailer 20.

[0055] A method for automatically adapting at least one driver assistance function of a vehicle 10 to a trailer operating state of the vehicle 10, wherein in the trailer operating state a trailer 20 is connected to the vehicle 10, comprises the following method steps: In a step S10, data 40 are recorded in a recording area in which a trailer 20 could be located by at least one camera 32 of a sensor and camera device 30. In a step S20, the data 40 are transmitted to an evaluation module 50. In a step S30, the evaluation module 50 evaluates the data 40 using evaluation algorithms to determine whether a trailer 20 is connected to the vehicle 10 and thus a trailer operating state is present. In a step S40, the evaluation module 50 transmits a trailer operating state to at least one driver assistance module 70, 72, 74 with at least one driver assistance function if a trailer operating state has been determined. In a step S50, the driver assistance module 70, 72, 74 calculates a mode of the respective driver assistance function adapted to the trailer operating state.

[0056] The present invention can significantly increase safety when driving a combination consisting of a vehicle 10 and a trailer 20, since the driver assistance functions are automatically adapted with regard to their control parameters to the changed driving characteristics of the combination. For this purpose, the vehicle's existing sensor and camera system 30 is used to record data 40 from the trailer 20. The data is evaluated in the evaluation module 50 to determine whether a trailer 20 is connected to the vehicle. In the case of a trailer operating state, the driver assistance modules 70, 72, 74 are informed that the vehicle 10 is connected to a trailer 20. The driver assistance modules 70, 72, 74 modify their respective driver assistance functions such that they are optimally adapted to the trailer operating state.This automatic adjustment significantly increases both the comfort and safety when driving a vehicle 10 with a trailer 20. Reference symbol 10 vehicles 12 trailer hitch 14 Engine 16 Braking system 18 Steering system 20 followers 22 Sensor and camera module 30 Sensor and camera setup 32 Camera, Sensor 34 Camera, Sensor 36 Camera, Sensor 38 Camera, Sensor 40 data 50 Evaluation module 52 processor 54 storage unit 60 Cloud Computing Infrastructure 70 Driver assistance module 72 Driver assistance module 74 Driver assistance module 80 User interface 100 systems 200 computer program product 250 program code

Claims

[1] Method for automatically adapting at least one driver assistance function of a vehicle (10) to a trailer operating state of the vehicle (10), wherein in the trailer operating state a trailer (20) is connected to the vehicle (10), comprising the following method steps: - recording (S10) data (40) in a recording area in which a trailer (20) could be located, by at least one camera (32) of a sensor and camera device (30); - transmitting (S20) the data (40) to an evaluation module (50); - evaluating (S30) the data (40) by means of evaluation algorithms of the evaluation module (50) in order to determine whether a trailer (20) is connected to the vehicle (10) and thus a trailer operating state is present; - transmitting (S40) a trailer operating state from the evaluation module (50) to at least one driver assistance module (70, 72, 74) with at least one driver assistance function if a trailer operating state has been determined; - Calculating (S50) a mode of the respective driving assistance function adapted to the trailer operating state by the driving assistance module (70, 72, 74); wherein the driving assistance function comprises at least one control parameter for at least one control device for at least one component of the vehicle (10), wherein the component of the vehicle (10) is in particular an engine (14) and / or a braking system (16) and / or a steering system (18); wherein the driving assistance module (70, 72, 74) comprises a driving assistance function for speed and distance control, and / or for lane keeping and lane changing, and / or for calculating optimal acceleration and deceleration values based on navigation data for the next few kilometers of the route, and wherein the driving assistance module (74) automatically selects a different mode for calculating the optimal acceleration and deceleration values upon detecting trailer operation. [2] Method according to claim 1, wherein the evaluation algorithms of the evaluation module (50) comprise neural networks, in particular a convolutional neural network. [3] Method according to claim 1 or 2, wherein the sensor and camera device (30) comprises optical RGB cameras (32, 34, 36, 38), and / or action cameras, and / or LIDAR (light detection and ranging) systems with optical distance and speed measurement, and / or stereoscopic optical camera systems, and / or ultrasound systems, and / or radar systems, and / or infrared cameras. [4] Method according to one of claims 1 to 3, wherein the evaluation module (50) is connected to a cloud computing infrastructure (60) via a mobile radio connection. [5] Method according to one of claims 1 to 4, wherein the trailer (20) is provided with a retrofittable sensor and camera module (22) which is connected to the evaluation module (50) by means of a mobile radio connection. [6] System (100) for automatically adapting at least one driver assistance function of a vehicle (10) to a trailer operating state of the vehicle (10), wherein in the trailer operating state a trailer (20) is connected to the vehicle (10), comprising a sensor and camera device (30), an evaluation module (50) and at least one driver assistance module (70, 72, 74), wherein the sensor and camera device (30) is designed to record data (40) in a recording area in which a trailer (20) could be located and to transmit said data to the evaluation module (50); wherein the evaluation module (50) is designed to evaluate the data (40) by means of evaluation algorithms in order to determine whether a trailer (20) is connected to the vehicle (10) and thus a trailer operating state is present, and if a trailer operating state has been determined, to transmit the trailer operating state to at least one driver assistance module (70, 72, 74);wherein the driver assistance module (70, 72, 74) is configured to calculate a mode of the respective driver assistance function adapted to the trailer operating state; wherein the driver assistance function comprises at least one control parameter for at least one control device for at least one component of the vehicle (10), wherein the component of the vehicle (10) is in particular an engine (14) and / or a braking system (16) and / or a steering system (18);wherein the driver assistance module (70, 72, 74) comprises a driver assistance function for speed and distance control, and / or for lane keeping and lane changing, and / or for calculating optimal acceleration and deceleration values based on navigation data for the next kilometers of the route, and the driver assistance module (74) is designed to automatically select a different mode of calculating the optimal acceleration and deceleration values upon detection of trailer operation; [7] System (100) according to claim 5, wherein the evaluation algorithms of the evaluation module (50) comprise neural networks, in particular a convolutional neural network. [8] System (100) according to claim 6 or 7, wherein the sensor and camera device (30) comprises optical RGB cameras (32, 34, 36, 38), and / or action cameras, and / or LIDAR (light detection and ranging) systems with optical distance and speed measurement, and / or stereoscopic optical camera systems, and / or ultrasound systems, and / or radar systems, and / or infrared cameras. [9] System (100) according to one of claims 6 to 8, wherein the evaluation module (50) is connected to a cloud computing infrastructure (60) via a mobile radio connection. [10] System (100) according to one of claims 6 to 9, wherein the trailer (20) is provided with a retrofittable sensor and camera module (22) which is connected to the evaluation module (50) by means of a mobile radio connection. [11] A computer program product (200) comprising an executable program code (250) configured to carry out the method according to any one of claims 1 to 5 when executed.

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