Method and assistance system for supporting a driver in a slip situation and correspondingly equipped motor vehicle

Abstract

The invention relates to a method and an assistance system (12) for controlling a motor vehicle (3). The invention also relates to a correspondingly configured motor vehicle (3). In the method, a current slipping situation is detected in which a boat trailer (6) attached to a towing device (5) of the motor vehicle (3) is to be driven into the water (2) while the motor vehicle (3) is reversing. Subsequently, all rear parking sensors (7) of the motor vehicle (3) or corresponding outputs of warning signals for objects (6) detected by the rear parking sensors (7) are automatically deactivated for the slipping situation in accordance with a predefined slipping operating mode.

Description

[0001] The present invention relates to a method and an assistance system for assisting a driver of a motor vehicle in a slip situation, for example, when launching a boat using a boat trailer or generally when driving on a slipway. The invention also relates to a correspondingly configured motor vehicle.

[0002] When launching a boat from a boat trailer attached to a motor vehicle, the boat trailer is typically driven backward into the water at a slipway or slip ramp until the boat transported on it begins to float and can be lowered completely into the water. This can be a particularly demanding, stressful or even dangerous situation for drivers. For many drivers, maneuvering with a trailer is already a challenge in itself, with the boat limiting all-round visibility, the slipway may be slippery due to algae growth, for example, and the water may obscure the view of the end of the boat trailer and the exact route of the slipway or slip ramp. In such situations, driver support through assistance systems and sensors can be particularly helpful and useful.

[0003] As one approach, US 2018 0 319 470 A1 describes a system for transferring a watercraft to control an autonomous vehicle with a trailer. This system includes a module for detecting a launch ramp and a control module for automatically controlling the autonomous vehicle to drive to the position of the launch ramp and move the trailer into the water above it.

[0004] As a further approach, DE 10 2021 101 380 A1 describes a remote-controlled trailer maneuvering assistance system or a method for controlling a vehicle to position a trailer at a target position. In this system, a target location for parking the trailer is determined based on an image of a trailer parking environment. Based on the image, a trailer maneuvering path for the vehicle and the trailer to the target location is generated. By sending a corresponding configuration message to the vehicle, a controller of the autonomous vehicle is then caused to maneuver the trailer to the target position based on the trailer maneuvering path.

[0005] As another approach, US 2021 / 0 229 589 A1 describes a system for monitoring a water level near a vehicle. The system uses sensors to determine the inclination angle of a trailer coupled to the vehicle and the height of the water surface near the trailer. Representations of the trailer, its inclination angle, and the water surface near the trailer are then shown on a display.

[0006] The object of the present invention is to make it easier for a driver to perform slipping maneuvers with a motor vehicle.

[0007] This object is achieved by the subject matter of the independent claims. Further possible embodiments of the invention are disclosed in the subclaims, the description, and the figures. Features, advantages, and possible embodiments presented in the description for one of the subject matter of the independent claims are to be regarded at least analogously as features, advantages, and possible embodiments of the respective subject matter of the other independent claims, as well as any possible combination of the subject matter of the independent claims, optionally in conjunction with one or more of the subclaims.

[0008] The method according to the invention is used to control or operate a motor vehicle having a towing device for attaching a trailer, in particular a boat trailer, and at least one rear parking sensor or rear parking sensor system. Such a rear parking sensor can be a distance sensor or object or obstacle detection sensor system for monitoring a distance between the rear of the motor vehicle or for monitoring obstacles located to the rear of the motor vehicle, in particular in a close range, i.e., within a few meters of the motor vehicle. The parking sensor or parking sensor system can, for example, comprise an ultrasonic sensor. Likewise, the parking sensor or parking sensor system can be or comprise—additionally or alternatively—a camera. The rear parking sensor can therefore be part of a conventional parking assistance system.The motor vehicle is thus configured to automatically activate at least one rear parking sensor when the motor vehicle is reversing in a normal operating mode of the motor vehicle.

[0009] In normal operating mode, automatic obstacle detection can be carried out using the rear parking sensor or the corresponding parking or collision avoidance aid system. If an obstacle is detected at the rear of the motor vehicle, for example within a predetermined distance from the motor vehicle, a corresponding warning signal or warning tone can be issued. If a boat trailer is attached to the motor vehicle with a boat transported on it, the trailer and / or the boat could then conventionally be detected as an obstacle by the parking sensor, particularly since during a slipping maneuver or in a slipping situation the electrical connection between the motor vehicle and the trailer is or will be disconnected to prevent short circuits and damage, thus making the presence of the trailer, as an intended part of the corresponding vehicle combination, impossible for the motor vehicle or vehicle to recognize.The parking assistance system can no longer detect the vehicle electrically. A corresponding warning tone emitted by the parking assistance system can irritate the driver and cause additional stress or strain. Furthermore, this can limit or disrupt the driver's awareness of the situation, which can further increase the risk of an accident in a skid situation.

[0010] However, this can now be avoided by applying the method according to the invention. In one method step of the method according to the invention, a current slipping situation is detected, in particular automatically or semi-automatically, in which the boat trailer attached to the trailer hitch of the motor vehicle is being driven or is intended to be driven at least partially into water, i.e. into a body of water, while the motor vehicle is reversing. A slipping maneuver that is currently in progress or is expected to occur can therefore be automatically detected by a suitably configured assistance system. This can, for example, be a driving maneuver to slip a boat transported on the boat trailer, i.e. to launch it into the water, or to load a boat from the water onto the boat trailer and thus pull it out of the water.

[0011] Upon detection of such a slipping situation, in a further method step of the method according to the invention, the at least one rear parking sensor, i.e. in particular all rear parking sensors of the motor vehicle and / or corresponding outputs of warning signals for objects or obstacles detected by the at least one rear parking sensor, in particular within the predetermined distance, i.e. within the immediate vicinity of the motor vehicle, are then automatically deactivated for the slipping situation in accordance with a predefined slipping operating mode that is different from normal operation. In the slipping operating mode, therefore, unlike in the normal operating mode, the rear parking sensors of the motor vehicle are not automatically activated even when reversing and / or at least when the motor vehicle is reversing, even if there is an object in the detection orIf there is an object or obstacle in the warning area of ​​the rear parking sensors, no corresponding warning signals are issued. The corresponding deactivation can remain or be maintained during the slipping situation or for the duration of the slipping situation or until the slipping mode is ended automatically or manually. After that, for example, the vehicle can be switched back to normal operating mode. If the rear parking sensors include one or more ultrasonic sensors, these can be deactivated, which then automatically prevents the output of corresponding warning signals. If the rear parking sensors include at least one camera, such as a reversing camera, this can remain activated in the slipping mode and only the output of the corresponding warning signals can be deactivated. This can enable the driver to use the camera or the camera without being distracted.camera images of the surroundings provided by this enable orientation and / or simplified execution of the slipping maneuver.

[0012] The slip situation can be detected, for example, when the driver of the vehicle performs a corresponding control action to indicate the slip situation or to activate the slip mode, i.e., based on a corresponding user input. Automatic detection of the slip situation and subsequent automatic activation of the slip mode is also possible.

[0013] The present invention can prevent driver distraction and a restriction or obstruction of the driver's situational or environmental perception due to warning signals regarding obstacles in the detection or warning range of the at least one rear parking sensor. This can reduce the sensory or cognitive strain on the driver and thus also their stress level, thus contributing to increased user comfort and increased safety in slipping situations. In particular, this is typically possible without significant disadvantage, since the trailer or boat trailer attached to the motor vehicle in the slipping situation prevents any other obstacle from entering the detection or warning range of the at least one rear parking sensor.Another advantage is that the present invention can be implemented in conventional, appropriately equipped motor vehicles without additional hardware or components, and thus in a particularly simple and cost-effective manner.

[0014] Even in the slip operating mode proposed here, a combination with other assistance systems or assistance functions is possible, such as the so-called trailer assistant to support the driver in maneuvering the combination consisting of the vehicle and the trailer or boat trailer.

[0015] It can additionally be provided, in particular automatically, that in a detected slipping situation or in the slipping operating mode the drive system of the motor vehicle is controlled in such a way that when driving on the slipway, in particular when pulling the trailer out of the water and possibly when negotiating the slip ramp, spinning of the wheels of the motor vehicle, i.e. a corresponding loss of traction, is prevented or minimized. For this purpose, a corresponding drive or transmission mode of the motor vehicle can be activated as part of the slipping operating mode, for example. The motor vehicle can thus be set to adjust or control the drive system, i.e. for example a drive power curve and / or transmission, clutch or differential control and / or tire pressure and / or inclination angle of the motor vehicle, in such a way that traction is maximized with increased trailer load and when driving uphill.

[0016] In one possible embodiment of the present invention, the slip situation is automatically detected - at least also - based on vehicle data that originate from a sensor system of the motor vehicle and indicate, i.e. describe or characterize, a current state of the motor vehicle.For example, the sensors can detect and provide as part of the vehicle data whether a trailer is attached to the towing device and / or whether there is an electrical connection to the trailer and / or whether such an electrical connection was recently severed, for example within a specified period of time or during the current maneuver of the motor vehicle or at the current position or in the current surrounding area of ​​the motor vehicle and / or whether and, if applicable, to what extent the motor vehicle itself is inclined relative to the local gravity vector and / or whether and, if applicable, to what extent the boat trailer is inclined relative to the motor vehicle or its ground plane. The ground plane of the motor vehicle can be the plane spanned by its longitudinal direction and transverse direction.To detect the inclination of the motor vehicle, the sensor system can, for example, comprise a corresponding inclination sensor for detecting a current angle of inclination of the motor vehicle. The inclination or angle of inclination of the boat trailer relative to the motor vehicle or its ground plane can, for example, be determined using a camera. For this purpose, camera images from one of the cameras mentioned elsewhere or a reversing camera of the motor vehicle, in which the boat trailer is depicted, can be evaluated accordingly. For example, it can be automatically checked whether the detected angle of inclination of the boat trailer and / or the motor vehicle is consistent with a position of the motor vehicle and / or the boat trailer on a slipway or slip ramp. For this purpose, a corresponding angle of inclination range, which is typical for slipways orSlip ramps can be specified and compared with the determined current inclination angle of the motor vehicle and / or boat trailer. The automatic detection of slip situations proposed here can relieve the driver of the corresponding input or operator action, thus further increasing comfort and further reducing the driver's workload. Automatic detection of the slip situation based on vehicle data can be particularly robust, as it is not influenced by, for example, unfavorable environmental conditions or the availability or data rate of a wireless data connection, for example to a server device external to the vehicle or the like.

[0017] In a further possible embodiment of the present invention, the slip situation is automatically detected - at least also - based on environmental data that characterizes the current surroundings of the motor vehicle. The environmental data can be or include sensor data from an environmental sensor system of the motor vehicle, in particular camera data or image data from an environmental observation camera of the motor vehicle. This can be processed by means of appropriate automatic data or image processing, for example based on segmentation and / or object recognition carried out by means of a machine learning device, in order to determine whether the motor vehicle is currently on or in the area of ​​a slipway. Additionally or alternatively, the environmental data can be or include, for example, geodata, for example map data and position data of the motor vehicle.This can be used to determine whether the current position of the motor vehicle, which can be determined or ascertained, for example, using a satellite-based positioning system, coincides with the position of a slipway according to the map data. This typically makes it possible to determine or check particularly accurately, reliably, and robustly whether the motor vehicle is located in the area of ​​a slipway, at least when corresponding map data is available. Likewise, spatially resolved historical data or a spatially resolved driving history of the driver and / or the motor vehicle and / or other vehicles - for example, corresponding swarm data from a backend or cloud server or data center - can be taken into account as part of the geodata. This can indicate the positions or locations at which slipping maneuvers were carried out in the past.To detect slip situations, the current position of the vehicle can be compared with historical data or the driving history. This allows a current slip situation to be detected based on its position, even if no correspondingly accurate map data is available. Likewise, several different data types or different parts of the environmental data and / or other data, such as the vehicle data mentioned elsewhere, can be combined to perform or ensure the detection of the slip situation. The automatic detection of the slip situation proposed here can reduce the driver's workload and thus improve comfort and safety in slip situations.

[0018] In a further possible embodiment of the present invention, once the slipping situation has been automatically detected, a query or request is automatically issued to the driver of the motor vehicle to activate the slipping mode or to confirm the automatic activation of the slipping mode. The slipping mode is only activated or remains activated if the driver confirms the query accordingly. This ensures particularly reliably that the slipping mode is actually only active or used in real slipping situations or with the knowledge of the driver. This in turn can, for example, prevent the driver from relying on the rear parking sensors to detect obstacles, which could then lead to collisions or damage if the slipping situation is incorrectly detected and the rear parking sensors are automatically deactivated.The query or request for confirmation can be issued, for example, acoustically and / or via a display device on the motor vehicle, i.e., optically or visually. In the latter case, the query can be presented, for example, in text form and / or symbolic form.

[0019] Regardless of the specific design, different data and / or different sensors can be combined to automatically detect the slip situation or to secure or verify the plausibility of automatic detection.

[0020] In a further possible embodiment of the present invention, front and / or side parking sensors of the motor vehicle are automatically activated in slip mode. These driver-side and / or side parking sensors then remain activated in slip mode regardless of the direction of travel of the motor vehicle. Since in a slip situation, maneuvering maneuvers are often carried out with changing directions of travel and / or there are no clearly marked lanes or road or path markings and / or other vehicles, objects, or people can move unpredictably in the vicinity of the motor vehicle, i.e., on the respective slipway or in its vicinity, safety can be significantly improved in a particularly simple and reliable manner through the automatic activation and continuous operation of the front and / or side parking sensors of the motor vehicle in slip mode.The front and / or side parking sensors, like the at least one rear parking sensor, can be part of the same parking assistance system of the motor vehicle. A driver-side parking sensor can be arranged in front of the front of the motor vehicle to detect obstacles in a detection or warning area. A side parking sensor can be arranged to detect obstacles in a predetermined detection or warning area on at least one side, i.e., in the transverse direction of the motor vehicle.

[0021] In a further possible embodiment of the present invention, the motor vehicle has a reversing camera. This can therefore be an environmental observation camera of the motor vehicle, which is set up and arranged to observe or record the rear or rear surroundings of the motor vehicle. This reversing camera can be the rear parking sensor or one of the rear parking sensors of the motor vehicle or can be present in addition thereto. The reversing camera is automatically activated or left activated in the slip operating mode or with activation of the slip operating mode and is left activated or kept activated regardless of the direction of travel of the motor vehicle as long as the slip operating mode is active. The reversing camera orthe display of their camera image by means of a display device of the motor vehicle is therefore left active or kept activated, even if the motor vehicle is driving forwards in the slip mode, for example, or if the reverse gear of the motor vehicle is not engaged. This allows the driver particularly simple and complete monitoring of the area surrounding the motor vehicle in the slip situation. This can relieve the driver and improve safety during the slip situation. If the reversing camera is at least part of the rear parking sensors, then in the slip mode only the output of warning signals for objects or obstacles detected by the reversing camera within the specified distance from the motor vehicle can be deactivated, without recording camera images of the rear or rear parking sensors.rear surroundings of the motor vehicle by means of the reversing camera and its displays by means of a display device of the motor vehicle.

[0022] In a further possible embodiment of the present invention, the position-dependent immersion depth of the boat trailer in the water is automatically monitored by sensors in the slip operating mode. In other words, the water level or the change in water level on the boat trailer can be monitored while the motor vehicle is reversing. This makes it possible to determine how far or how deep the boat trailer has already entered or been immersed in the water. For this purpose, for example, the reversing or environmental observation camera of the motor vehicle mentioned elsewhere as well as a correspondingly configured or trained automatic image processing system can be used. Additionally or alternatively, waterproof or water-resistant water level or immersion sensors or buoyancy sensors or the like arranged on the boat trailer can be used.These can, for example, have an encapsulated power supply, for example battery-based, and be configured for wireless data transmission to the motor vehicle, for example via a Bluetooth, WLAN, Car2X connection, or the like. This means that such sensors can also be used with a separate electrical connection between the motor vehicle and the boat trailer. In the embodiment of the present invention proposed here, a recommendation for at least one end position for the reversing of the motor vehicle is determined and output to the driver of the motor vehicle, corresponding to the detected position-dependent immersion depth and adapted to the respective situation, i.e., dependent on the respective local situation or the angle or inclination of the slipway or slip ramp.Such an end position can be determined, for example, as a minimum position that is at least likely to be sufficient for the boat transported on the boat trailer to float up or for loading the boat onto the boat trailer and / or a position that is optimized for launching or loading the boat and / or a maximum position.

[0023] A sufficient or minimum position can be a position in which the boat trailer is retracted or submerged in the water only as far as is necessary for launching or loading the boat. An optimised position can be a position in which the boat trailer is retracted or submerged in the water further than the sufficient or minimum position, which can facilitate launching or loading the boat, but still maintaining a predetermined safety distance between the motor vehicle, in particular an exhaust or a predetermined device or location of the motor vehicle that is not to be submerged in the water for safety reasons, and the water, for example to the edge or surface of the relevant body of water.The maximum position can be a position in which, if the boat trailer continues to reverse, i.e. if it enters or submerges the water even further or deeper, the exhaust or the non-submersible device or part of the motor vehicle would be submerged, for example, meaning that the safety distance mentioned in connection with the optimized position is completely or almost completely exhausted.

[0024] To determine the at least one end position, it is possible, for example, to monitor how far the boat trailer is submerged in the water for each distance traveled when the motor vehicle is reversing, i.e. how far the water level or water level rises on the boat trailer. From this, for example, the gradient of the slipway or slip ramp can be determined or estimated. This can also be used to calculate or estimate when the sufficient or minimum position and / or the optimized position and / or the maximum position is likely to be reached or where these positions are likely to be. The driver can then orient himself particularly easily and conveniently at the at least one end position determined in this way in order to avoid, for example, the boat trailer not entering or submerging sufficiently or too far into the water.This can further reduce the driver's stress levels during a slip, especially when the driver cannot easily monitor the water level in the area of ​​the boat trailer and / or relative to the rear of the vehicle from the driver's seat. This can also improve safety, as the driver may then have more cognitive capacity to assess other hazards and, for example, avoid sudden or dangerous maneuvers.

[0025] It can also be provided that the at least one end position or the corresponding recommendation is determined by means of a correspondingly trained machine learning device. Such a machine learning device, for example a correspondingly trained artificial neural network, can be part of the motor vehicle or of the aforementioned assistance system for the method according to the invention. The machine learning device can be trained or taught, for example, using one or more slipways or slip ramps and at least one slipping process or slipping maneuver carried out there, in particular successfully, for example, also taking into account feedback or an evaluation from the driver. Likewise, a corresponding training or teaching process can be carried out, for example, by the manufacturer.

[0026] In a further possible embodiment of the present invention, the water level, i.e. the position or height of the water level or water surface relative to the motor vehicle, is automatically monitored by sensors in the slipping mode. When a predetermined water level threshold is reached, the motor vehicle is then automatically stopped. This can prevent the motor vehicle from driving too far or too deeply into the water, which could, for example, lead to damage or prevent the motor vehicle from driving out of the water independently. This can support and relieve particularly inexperienced or technically unskilled drivers during slipping maneuvers or in slipping situations. Since this can prevent damage to or an accident to the motor vehicle as well as possible panic reactions on the part of the driver, this can also result in improved safety.The respective water level threshold can correspond to a water level relative to the motor vehicle, i.e., a depth of entry or immersion of the motor vehicle into the water, at which damage, an operational disruption, or an accident to the motor vehicle does not yet occur and a predefined safety margin is still present. This safety margin can, for example, be designed such that a complete automatic stop of the motor vehicle is possible within it at typical motor vehicle speeds in slip situations.

[0027] The present invention also relates to an assistance system for a motor vehicle for assisting the driver of the motor vehicle when driving a boat trailer attached to the motor vehicle or to a towing device of the motor vehicle into the water, i.e. in a corresponding slipping situation or during a corresponding slipping maneuver. The assistance system according to the invention has an input interface, a data processing device, and an output interface. The input interface can serve or be configured to acquire data and / or signals indicating a slipping situation. The data processing device can be configured to process these acquired data and / or signals. The output interface can serve or be configured to output at least one control signal for deactivating a rear parking sensor or all rear parking sensors of the motor vehicle.

[0028] The assistance system according to the invention is thus configured to carry out the method according to the invention, in particular automatically or semi-automatically. For this purpose, the data processing device can have, for example, a processing device, such as a microchip, microprocessor, or microcontroller, and a computer-readable data memory connected thereto. An operating or computer program can then be stored in this data memory, which codes or implements the method steps, measures, or sequences described in connection with the method according to the invention, or corresponding control instructions. This operating or computer program can then be executable by means of the processing device in order to carry out the corresponding method or to effect its execution. The assistance system according to the invention can in particular be the assistance system mentioned in connection with the method according to the invention, or correspond to it.The assistance system according to the invention can be configured, for example, as a control unit for a motor vehicle or as a module of a more comprehensive vehicle system. The input interface and the output interface can be separate or integrated into a common or combined, in particular bidirectional, interface. The input interface and / or the output interface can each be configured entirely or partially in hardware and / or software.

[0029] The present invention also relates to a motor vehicle having a towing device for attaching trailers, in particular a boat trailer, and at least one rear parking sensor. The motor vehicle according to the invention is configured to automatically activate the rear parking sensor when reversing in a normal operating mode. Furthermore, the motor vehicle according to the invention is configured to carry out the method according to the invention, in particular automatically or semi-automatically, and / or is equipped with the assistance system according to the invention. The motor vehicle according to the invention can in particular be the motor vehicle mentioned in connection with the method according to the invention and / or in connection with the assistance system according to the invention or correspond thereto.

[0030] Further features of the invention can be derived from the following description of the figures and from the drawings. The features and combinations of features mentioned above in the description, as well as the features and combinations of features shown below in the description of the figures and / or in the figures alone, can be used not only in the respective combinations specified, but also in other combinations or on their own, without departing from the scope of the invention.

[0031] The drawing shows in the only figure a schematic representation of a slip situation in which a driver of a motor vehicle drives a boat trailer into a body of water.

[0032] Fig.1 shows a schematic diagram illustrating a method for driver assistance or driver support in a slip situation. A side view of a slipway 1 or its slip ramp, which partially extends or protrudes into an indicated body of water 2, and a motor vehicle 3 are shown here. The motor vehicle 3 is driven by a driver 4 to perform a slip maneuver. For this purpose, the motor vehicle 3 has a towing device 5, to which a boat trailer 6 is attached. The motor vehicle 3 also has a parking assistance system with at least one rear parking sensor, referred to here as a rear parking sensor 7, at least one side parking sensor 8, and at least one front parking sensor 9, as well as an output device 10 connected thereto. The output device 10 can be used to output warning signals upon detection of an obstacle within the detection range of one of the parking sensors 7, 8, 9.In addition, the motor vehicle 3 is equipped with a rear-view camera 11. This rear-view camera 11 is arranged at the rear of the motor vehicle 3 and can, for example, at least partially capture the boat trailer 6, its surroundings, and the body of water 2.

[0033] To illustrate the slipping maneuver, a direction of travel v of the motor vehicle 3 or the combination consisting of the motor vehicle 3 and the attached boat trailer 6 is also indicated here.

[0034] The boat trailer 6 may be located within the detection range of the rear parking sensor 7. Accordingly, in normal operating mode, a corresponding warning signal would then be output to the driver 4 via the output device 10. In the present case, however, the motor vehicle 3 is equipped with an assistance system 12 to prevent disruptions to the driver 4 caused by such a warning signal, which is unnecessary in the slipping situation shown. The assistance system 12 is connected or coupled to the other aforementioned devices via an interface 13. Furthermore, the assistance system 12 has a processor 14 and a data memory 15 for data and signal processing, as indicated schematically here.

[0035] The assistance system 12 is configured to automatically detect slipping situations, i.e. a corresponding operation of the motor vehicle 3 on a slipway 1 for the reversing insertion of the boat trailer 6 into the respective body of water 2, on the basis of currently available or recorded data and / or signals and, if applicable, by means of a corresponding evaluation according to a predetermined logic. Such a slipping situation can, for example, be detected based on the logical linking of the presence of a trailer, in this case the boat trailer 6, with the absence of an electrical connection between the motor vehicle 3 and the attached trailer or boat trailer 6. Detection can also be carried out via an image analysis of image data from the reversing camera 11, in particular linked to a consideration or evaluation of the current angle of inclination of the motor vehicle 3, since typical slipways 1 orSlip ramps have a significant inclination, for example in the range of 10% to 20%.

[0036] The assistance system 12 is further configured to automatically activate a slipping mode of the motor vehicle 3 when a slipping situation is detected. This slipping mode can also be manually activated by the driver 4 through a corresponding user input.

[0037] In the slip mode, the rear view camera 11, the side parking sensors 8, and the front parking sensor 9 can be automatically activated and remain activated. Furthermore, in the slip mode, the rear parking sensor 7 is automatically deactivated and / or the output of warning signals by the output device 10 regarding objects present in the detection range of the rear parking sensor 7 is suppressed or prevented.

[0038] Based on the detection of a particular environmental and driving situation, namely the slip situation depicted here, a specially adapted operating mode of the motor vehicle, namely the aforementioned slip operating mode, is set or used. This enables the driver 4 to perform the corresponding slip maneuver in a particularly safe, comfortable, and stress-free manner.

[0039] Furthermore, the assistance system 12 can determine or monitor the current entry or immersion depth of the boat trailer 6 into the body of water 2 via the rear view camera 11, i.e. based on corresponding sensor data. Based on this, the assistance system 12 can then, taking into account the gradient or ramp angle of the slipway 1, determine and issue a recommendation to the driver 4 as to how far the boat trailer 6 must, should, or may be reversed into the body of water 2 or the motor vehicle 3. The corresponding travel distance, for example from the edge of the body of water 2 or relative thereto, can vary with the ramp angle of the respective slipway 1. A corresponding function or functionality or a device or component of the machine learning of the assistance system 12 provided for this purpose could, for example, be learned or trained on a slip ramp with a successful slipping process or slipping maneuver.This would then make it possible to calculate, determine or estimate how far the boat trailer 6 must, should or may drive into the respective body of water 2 for other slip ramps or other slipways 1 which have different gradients or angles of inclination.

[0040] Likewise, upon or after detection of the slipping situation or activation of the slipping operating mode by the assistance system 12, a driving mode of the motor vehicle 3 can be automatically activated, which, when the boat trailer 6 is pulled out, in particular with a boat transported on it, i.e. with a correspondingly large trailer load, acts in such a way that spinning or loss of traction of the wheels of the motor vehicle 3 is prevented as far as possible.

[0041] Likewise, in the slip operating mode, it can be provided that - for example also by the assistance system 12 - based on a detection of the current water level or water level of the body of water 2 on the motor vehicle 3, the latter is automatically braked or stopped if a corresponding predetermined threshold value is reached or exceeded or if it is predicted that the motor vehicle 3 would otherwise drive too far into the respective body of water 2 or immerse itself.

[0042] Overall, the examples described show how a method and a function of an operating mode for slipping trailers or boats transported with them via slip ramps can be realized and applied. List of reference symbols 1 slipway 2 bodies of water 3 Motor vehicle 4 drivers 5 Tow bar 6 boat trailers 7 Rear parking sensor 8 side parking sensor 9 Front parking sensor 10 Output device 11 Rear view camera 12 Assistance system 13 Interface 14 processor 15 data storage v Direction of travel QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 2018 0 319 470 A1

[0003] DE 10 2021 101 380 A1

[0004]

Claims

[1] Method for controlling a motor vehicle (3) which has a towing device (5) for attaching a boat trailer (6) and at least one rear-side parking sensor and is designed to automatically activate the rear-side parking sensor (7) when the motor vehicle (3) is reversing in a normal operating mode of the motor vehicle (3), wherein in the method - a current slipping situation is detected in which the boat trailer (6) attached to the towing device (5) is to be driven into the water while the motor vehicle (3) is reversing, and - then all rear parking sensors (7) of the motor vehicle (3) or outputs of warning signals to objects (6) detected by the rear parking sensors (7) are automatically deactivated for the slip situation according to a predefined slip operating mode different from normal operation. [2] Method according to claim 1, characterized bythat the slip situation is automatically detected on the basis of vehicle data which originate from a sensor system of the motor vehicle (3) and indicate a current state of the motor vehicle (3). [3] Method according to one of the preceding claims, characterized by that the slip situation is automatically detected based on environmental data that characterizes the environment of the motor vehicle (3). [4] Method according to one of the preceding claims, characterized by that when the slip situation has been automatically detected, a query is issued to the driver (4) of the motor vehicle (3) to activate the slip mode or to confirm the automatic activation of the slip mode, and the slip mode is only activated or left activated if the driver (4) confirms the query accordingly. [5] Method according to one of the preceding claims, characterized bythat in the slip operating mode, front parking sensors (9) and / or side parking sensors (8) of the motor vehicle (3) are automatically activated and remain activated in the slip operating mode regardless of the direction of travel of the motor vehicle (3). [6] Method according to one of the preceding claims, characterized by that the motor vehicle (3) has a rear view camera (11) and this is automatically activated in the slip operating mode and remains activated in the slip operating mode regardless of the direction of travel of the motor vehicle (3). [7] Method according to one of the preceding claims, characterized by that in the slip operating mode, the position-dependent immersion depth of the boat trailer (6) into the water (2) is automatically monitored by sensors and a corresponding, situation-adapted recommendation for an end position for the reversing of the motor vehicle (3) is determined and output to the driver (4) of the motor vehicle (3). [8] Method according to one of the preceding claims, characterized by that in the slip operating mode the water level relative to the motor vehicle (3) is automatically monitored by sensors and when a predetermined water level threshold value is reached the motor vehicle (3) is automatically stopped. [9] Assistance system (12) for a motor vehicle (3) for assisting a driver (4) of the motor vehicle (3) when driving a boat trailer (6) attached to the motor vehicle (3) into the water (2), wherein the assistance system (12) has an input interface (13), a data processing device (14, 15) and an output interface (13) and is set up to carry out the method according to one of the preceding claims. [10] Motor vehicle (3), comprising a towing device (5) for attaching a boat trailer (6) and at least one rear parking sensor (7), wherein the motor vehicle (3) is configured to automatically activate the rear parking sensor (7) when reversing in a normal operating mode and is configured to carry out the method according to one of claims 1 to 8 and / or is equipped with the assistance system (12) according to claim 9.

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