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

Abstract

Method for controlling a motor vehicle (3) which has a trailer hitch (5) for attaching a boat trailer (6) and at least one rear parking sensor (7) and is designed to automatically activate the rear 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 slipway situation is detected in which the boat trailer (6) attached to the trailer hitch (5) is to be driven into the water (2) by reversing the motor vehicle (3), characterized in that - based on vehicle data originating from sensors of the motor vehicle (3) and indicating the current state of the motor vehicle (3), the slipway situation is automatically detected when a boat trailer (6) is attached and an electrical connection between the motor vehicle (3) and the boat trailer (6) has been disconnected within a specified past time period or in the current vicinity of the motor vehicle (3), and a detected tilt angle of the motor vehicle (3) and / or the boat trailer (6) is consistent with a position of the motor vehicle (3) and / or the boat trailer (6) on a slipway (1), and - upon detection of a current slip situation, all rear parking sensors (7) of the motor vehicle (3) or outputs of warning signals on objects (6) detected by means of the rear parking sensors (7) are automatically deactivated for the slip situation according to a predefined slip operating mode different from normal operation.

Description

[0001] The present invention relates to a method and an assistance system for supporting a driver of a motor vehicle in a slipway situation, for example, when launching a boat using a boat trailer or generally when driving at a slipway. The invention also relates to a suitably equipped motor vehicle.

[0002] Launching a boat from a trailer attached to a vehicle typically involves reversing the trailer into the water at a slipway or ramp until the boat begins to float and can be fully lowered into the water. This can be a particularly demanding, stressful, or even dangerous situation for drivers. Maneuvering with a trailer is challenging enough for many drivers, but the boat itself restricts all-around visibility, the slipway may be slippery due to algae growth, and the water can obscure the view of the end of the trailer and the exact course of the slipway or ramp. In such situations, driver assistance systems and sensors can be especially helpful and beneficial.

[0003] As one approach, DE 10 2019 126 543 A1 describes a method and a device for determining a vehicle's reset position for launching or loading a boat. The device includes a data analyzer to determine the vehicle's reset position for launching a boat based on the trailer load of the vehicle coupled to a trailer. At the vehicle's reset position, a boat coupled to the trailer is floating on a body of water. The device also includes an instruction generator to instruct the vehicle's braking system to stop the vehicle at the reset position.

[0004] US Patent 2005 / 0068197 A1 describes a parking assistance system for a vehicle with a transmitter and sensor arrangement for transmitting energy and detecting the energy reflected by an obstacle. The parking assistance system also includes a controller for determining the obstacle status and for detecting the attachment of a trailer. Furthermore, it provides a warning device connected to the controller, which is activated based on the trailer being attached.

[0005] DE 10 2012 017 668 A1 describes a method for operating an ultrasonic sensor device with ultrasonic sensors arranged in the rear of a motor vehicle while a trailer is coupled. Based on distance measurements obtained by the ultrasonic sensors, the device checks whether the distance measurement of at least one ultrasonic sensor belongs to a separate obstacle and not to the trailer. If so, corresponding information about the obstacle is then output.

[0006] US patent 2018 / 0319470A1 describes a system for transferring a watercraft to control an autonomous vehicle with a trailer. It includes a module for detecting a launch ramp and a control module for automatically guiding the autonomous vehicle to the launch ramp's position and moving the trailer into the water above it.

[0007] As a further approach, DE 10 2021 101 380 A1 describes a remotely controlled trailer maneuvering assistance system, or a method for controlling a vehicle to position a trailer at a target location. In this system, a destination for parking the trailer is determined based on an image of the trailer parking environment. Based on this image, a trailer maneuvering path is generated for the vehicle and trailer to reach the destination. By sending a corresponding configuration message to the vehicle, the autonomous vehicle's control system then maneuvers the trailer to the target position based on this trailer maneuvering path.

[0008] As another approach, US patent 2021 / 0229589A1 describes a system for monitoring water levels near a vehicle. This system uses sensors to determine the tilt angle of a trailer coupled to the vehicle and the height of the water surface near the trailer. Representations of the trailer, its tilt angle, and the water surface near the trailer are then displayed on a screen.

[0009] The object of the present invention is to make it easier for a driver to perform slip maneuvers with a motor vehicle.

[0010] This problem is solved by the subject matter of the independent claims. Further possible embodiments of the invention are disclosed in the dependent claims, the description, and the figures. Features, advantages, and possible embodiments set forth 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 of any possible combination of the subject matter of the independent claims, optionally in conjunction with one or more of the dependent claims.

[0011] The method according to the invention serves to control or operate a motor vehicle that has a trailer hitch for attaching a trailer, in particular a boat trailer, and at least one rear-facing parking sensor or rear-facing parking sensor system. Such a rear-facing parking sensor can be a distance sensor or an object or obstacle detection sensor for monitoring the distance between the rear of the motor vehicle or for monitoring for obstacles located behind it, particularly in a close proximity, 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 also be or comprise a camera, additionally or alternatively. The rear-facing parking sensor can therefore be part of a conventional parking assistance system.The motor vehicle is thus equipped to automatically activate at least one rear parking sensor when reversing in a normal operating mode.

[0012] In normal operating mode, automatic obstacle detection can be performed using the rear parking sensor or the corresponding parking or collision avoidance system. If an obstacle is detected behind the vehicle, for example, within a predetermined distance, a corresponding warning signal or tone is emitted. With a boat trailer attached to the vehicle and a boat being transported on it, the trailer and / or the boat could conventionally be detected as obstacles by the parking sensor. This is particularly relevant because, during a launching maneuver, the electrical connection between the vehicle and the trailer is disconnected to prevent short circuits and damage, thus ensuring that the presence of the trailer as an intended part of the vehicle combination is not detected by the vehicle.The parking assistance system can no longer detect the vehicle electrically. The resulting warning tone from the parking assistance system can irritate, further burden, or stress the driver. Furthermore, this can impair or disrupt the driver's perception of the situation, which can further increase the risk of an accident in skidding situations.

[0013] However, this can now be avoided by applying the method according to the invention. In one step of the method according to the invention, a current launching situation is detected, particularly automatically or semi-automatically, in which the boat trailer attached to the towing device of the motor vehicle is being, or is about to be, driven at least partially into water, i.e., into a body of water, while the motor vehicle is reversing. Thus, a launching maneuver that is in progress or is expected to occur can be automatically detected by a suitably configured assistance system. This could, for example, be a driving maneuver to launch a boat transported on the boat trailer, i.e., to put it into the water, or to load a boat from the water onto the boat trailer and thus pull it out of the water.

[0014] In the present invention, the slipway situation is automatically detected – at least in part – based on vehicle data originating from sensors in the motor vehicle, which indicate, i.e., describe or characterize, the current state of the motor vehicle. Specifically, a slipway situation is detected when a boat trailer is attached and an electrical connection between the motor vehicle and the boat trailer has been disconnected within a predetermined time period or in the current vicinity of the motor vehicle, and a detected tilt angle of the motor vehicle and / or the boat trailer is consistent with a position of the motor vehicle and / or the boat trailer on a slipway.Sensors can detect, for example, whether a trailer is attached to the tow hitch and / or whether an electrical connection to the trailer exists and / or whether such an electrical connection was recently disconnected, for example, within a predefined time period, during the current maneuver of the vehicle, at the current position, or in the immediate vicinity of the vehicle, and / or whether and, if so, to what extent the vehicle itself is tilted relative to the local gravity vector, and / or whether and, if so, to what extent the boat trailer is tilted relative to the vehicle or its ground plane. The ground plane of the vehicle can be the plane defined by its longitudinal and transverse directions.To detect the vehicle's tilt, the sensor system can, for example, include a tilt sensor to detect the vehicle's current tilt angle. The tilt or tilt angle of the boat trailer relative to the vehicle or its ground plane can be determined using cameras. For this purpose, camera images from one of the aforementioned cameras or the reversing camera of the vehicle, in which the boat trailer is visible, can be analyzed. To determine whether the detected tilt angle of the boat trailer and / or the vehicle is consistent with the position of the vehicle and / or the boat trailer on a slipway or ramp, a corresponding tilt angle range, typical for slipways or ramps, can be predefined and compared with the determined current tilt angle of the vehicle and / or the boat trailer.The automatic slip detection proposed here can relieve the driver of the need to provide information or perform corresponding operations, thus further increasing comfort and reducing driver workload. Automatic slip detection based on vehicle data can be particularly robust, as it is not affected by unfavorable environmental conditions or the availability or data rate of a wireless data connection, for example, to an external server or similar device.

[0015] Upon detection of such a slip situation, in a further process step of the inventive method, the at least one rear parking sensor, i.e., in particular all rear parking sensors of the motor vehicle and / or corresponding warning signal outputs are automatically deactivated for the slip situation according to a predefined slip operating mode different from normal operation. This applies to objects or obstacles detected by the at least one rear parking sensor, particularly within the specified distance, i.e., within the immediate vicinity of the motor vehicle. In the slip operating mode, unlike in the normal operating mode, the rear parking sensors of the motor vehicle are therefore not automatically activated even when reversing, and / or, at least when reversing, warning signals are not issued even if objects or obstacles are within the detection range.If an object or obstacle is detected within the warning area of ​​the rear parking sensors, no corresponding warning signals will be issued. This deactivation can remain in effect during the slippage situation, for the duration of the slippage situation, or until the slippage mode is automatically or manually terminated. Afterwards, the vehicle can, for example, return to its normal operating mode. If the rear parking sensors include one or more ultrasonic sensors, these can be deactivated, which will then automatically prevent the issuance of corresponding warning signals. If the rear parking sensors include at least one camera, such as a reversing camera, this can remain activated in slippage mode, and only the output of the corresponding warning signals can be deactivated. This allows the driver to use the camera without distraction.The camera images of the surroundings provided by this camera can be used for orientation and / or to simplify the execution of the slip maneuver.

[0016] The slip situation can also be detected, for example, if the driver of the vehicle performs a corresponding action to display the slip situation or to activate the slip mode, i.e., based on a corresponding user input. Following automatic detection of the slip situation, automatic activation of the slip mode is possible.

[0017] The present invention prevents driver distraction and avoids any restriction or impairment of the driver's situational or environmental perception by warning signals regarding obstacles in the detection or warning range of the at least one rear parking sensor. This can reduce the sensory and cognitive strain on the driver, and thus also their stress level, thereby contributing to increased user comfort and safety in launching situations. In particular, this is typically possible without significant disadvantage, since no other obstacle can enter the detection or warning range of the at least one rear parking sensor due to the trailer or boat trailer attached to the vehicle in the launching situation.It is also advantageous that the present invention can be implemented in conventional, appropriately equipped motor vehicles without additional hardware or components, and therefore in a particularly simple and cost-effective manner.

[0018] Even in the slipway 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 of the motor vehicle and the trailer or boat trailer.

[0019] It can also be provided, particularly automatically, that in a detected slipway situation or in slipway operating mode, the vehicle's drive system is controlled in such a way that wheel spin, and thus a corresponding loss of traction, is prevented or minimized when driving on the slipway, especially when pulling the trailer out of the water and, if necessary, when traversing the slipway ramp. For this purpose, a corresponding drive or transmission mode of the vehicle can be activated as part of the slipway operating mode. This allows the vehicle to be configured to adjust or control the drive system—for example, the drive power curve and / or the transmission, clutch, or differential control and / or tire pressure and / or the vehicle's tilt angle—in such a way as to maximize traction when carrying an increased trailer load and driving uphill.

[0020] In a further possible embodiment of the present invention, the slipway situation is automatically detected based on environmental data that characterizes the current environment of the vehicle. This environmental data can be or include sensor data from the vehicle's environmental sensors, in particular camera data or image data from a vehicle's environmental monitoring camera. This data can be processed by means of appropriate automatic data or image processing, for example, by means of segmentation and / or object recognition performed by a machine learning device, to determine whether the vehicle is currently on or in the vicinity of a slipway. Additionally or alternatively, the environmental data can be or include, for example, geodata, such as map data and position data of the vehicle.This allows for the determination of whether the current position of the vehicle, which can be determined using a satellite-based positioning system, corresponds to the position of a slipway according to the map data. This typically allows for a particularly accurate, reliable, and robust determination or verification of whether the vehicle is within the vicinity of a slipway, at least when appropriate map data is available. Similarly, geodata can include, for example, location-resolved historical data or a location-resolved driving history of the driver and / or the vehicle and / or other vehicles – such as corresponding swarm data from a backend, cloud server, or data center. This data can indicate the positions or locations where slipway maneuvers were performed in the past.To detect slippage situations, the vehicle's current position can be compared with historical data or driving history. This allows for position-based detection of a current slippage situation even when precise map data is unavailable. Furthermore, several different data types, various environmental data, and / or other data, such as the vehicle data mentioned elsewhere, can be combined to perform or confirm slippage detection. The proposed automatic slippage detection system can relieve the driver of this burden, thereby improving comfort and safety in slippage situations.

[0021] In a further possible embodiment of the present invention, once a slipping situation has been automatically detected, a prompt or request is automatically issued to the driver of the motor vehicle to activate the slipping mode or to confirm its automatic activation. The slipping mode is only activated or remains activated if the driver confirms the prompt accordingly. This ensures with particular reliability that the slipping mode is only active or used in actual slipping situations or with the driver's knowledge. This, in turn, can prevent, for example, the driver from relying on the rear parking sensors to detect obstacles, and thus avoid collisions or damage resulting from a faulty automatic detection of the slipping situation and the corresponding automatic deactivation of the rear parking sensors.The confirmation request can be issued, for example, audibly and / or via a vehicle display system, i.e., visually. In the latter case, the request can be in text form and / or symbol form.

[0022] Regardless of the specific design, various data and / or different sensors can be combined to automatically detect the slip situation or to secure or validate automatic detection.

[0023] In a further possible embodiment of the present invention, the front and / or side parking sensors of the vehicle are automatically activated in slipway mode. These driver-side and / or side parking sensors then remain activated in slipway mode regardless of the vehicle's direction of travel. Since slipway situations often involve maneuvering with changing directions of travel, and / or the absence of clearly marked lanes or road markings, and / or the possibility of other vehicles, objects, or persons moving unpredictably in the vicinity of the vehicle, i.e., on or around the slipway, the automatic activation and continuous operation of the vehicle's front and / or side parking sensors in slipway mode can significantly and reliably improve safety.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 vehicle. A driver's side parking sensor can be positioned in front of the vehicle to detect obstacles within a detection or warning zone. A side parking sensor can be positioned to detect obstacles within a predefined detection or warning zone on at least one side, i.e., laterally to the vehicle.

[0024] In another possible embodiment of the present invention, the motor vehicle has a reversing camera. This can be a surround-view camera of the motor vehicle, which is set up and arranged to observe or capture 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 be present in addition to them. The reversing camera is automatically activated or remains activated in the slip mode, or upon activation of the slip mode, and remains activated or held regardless of the direction of travel of the motor vehicle as long as the slip mode is active. The reversing camera...The display of the camera image via the vehicle's display unit is therefore kept active, even when the vehicle is moving forward in slipway mode or when reverse gear is not engaged. This allows the driver particularly easy and comprehensive monitoring of the vehicle's surroundings during slipway operations. This can relieve the driver and improve safety during slipway operations. If the reversing camera is at least part of the rear parking sensors, then in slipway mode only the output of warning signals for objects or obstacles detected by the reversing camera within the specified distance of the vehicle can be deactivated, without recording camera images from the rear or...to deactivate the rear surroundings of the motor vehicle using the reversing camera and its displays using a display device of the motor vehicle.

[0025] In another possible embodiment of the present invention, the position-dependent immersion depth of the boat trailer in the water is automatically monitored by sensors during launching. In other words, the water level or changes in the water level at the boat trailer can be monitored while the vehicle is reversing. This allows the system to determine how far or how deep the boat trailer has already entered or submerged in the water. For this purpose, the vehicle's reversing or surround-view camera mentioned elsewhere, as well as a suitably configured or trained automatic image processing system, can be used. Additionally or alternatively, waterproof or water-resistant water level or immersion sensors, buoyancy sensors, or similar devices can be used on the boat trailer.These sensors can, for example, have an encapsulated power supply, such as a battery, and be equipped for wireless data transmission to the vehicle, for example via a Bluetooth, WLAN, or Car2X connection, or the like. This allows such sensors to be used even when the electrical connection between the vehicle and the boat trailer is disconnected. In the embodiment of the present invention proposed here, a situation-adapted recommendation for at least one end position of the vehicle's reversing maneuver is determined and output to the driver of the vehicle, corresponding to the detected position-dependent immersion depth and dependent on the specific local situation or the angle or inclination of the slipway or ramp.Such a final position can be, for example, a position that is at least expected to be sufficient or minimum for the boat transported on the boat trailer to float or for loading the boat onto the boat trailer, and / or a position optimized for launching or loading the boat, and / or a maximum position.

[0026] A sufficient or minimum position can be one in which the boat trailer is only submerged to the extent necessary for launching or loading the boat. An optimized position can be one in which the boat trailer is submerged to a greater extent than the sufficient or minimum position, thereby facilitating launching or loading the boat, while still maintaining a specified safety distance between the vehicle, particularly the exhaust pipe or any other safety-related component or part of the vehicle that must not be submerged, and the water (e.g., the edge or surface of the body of water).The maximum position can be a position in which, with further reversing, i.e., with further or deeper entry or immersion of the boat trailer into the water, for example, the exhaust pipe or the aforementioned non-submersible component or part of the vehicle would become submerged, i.e., the safety distance mentioned in connection with the optimized position is completely or almost completely exhausted.

[0027] To determine at least one end position, one can, for example, monitor how far the boat trailer dips into the water for each distance traveled while the vehicle is reversing—that is, how much the water level rises at the boat trailer. From this, the gradient of the slipway or ramp can be determined or estimated. This also allows for the calculation or estimation of when the sufficient or minimum position, the optimized position, and / or the maximum position are likely to be reached, and where these positions are likely to be located. The driver can then easily and conveniently orient themselves at this at least one end position to avoid, for example, insufficient or excessive entry or immersion of the boat trailer into the water.This can further reduce the driver's stress during launching, especially when the driver cannot easily observe the water level around the boat trailer and / or relative to the rear of the vehicle from the driver's seat. This also improves safety, as the driver may then have more cognitive capacity to recognize other hazards, thus preventing sudden or dangerous maneuvers.

[0028] It can also be provided that at least one end position or the corresponding recommendation is determined by means of a suitably trained machine learning system. Such a machine learning system, i.e., a suitably trained artificial neural network, can, for example, be part of the motor vehicle or the aforementioned assistance system for the method according to the invention. The machine learning system can, for example, be trained or taught using one or more slipways or slip ramps and at least one slip operation or slip maneuver carried out there, particularly successfully, for example also taking into account feedback or an evaluation by the driver. Likewise, a corresponding training or teaching process can, for example, be carried out by the manufacturer.

[0029] In another 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 vehicle, is automatically monitored by sensors during the slipway operation mode. Upon reaching a predetermined water level threshold, the vehicle is automatically stopped. This prevents the vehicle from driving too far or too deep into the water, which could, for example, lead to damage or prevent the vehicle from driving itself out of the water. This can particularly assist and relieve inexperienced or technically unsophisticated drivers during slipway maneuvers or in slipway situations. Since this can prevent damage to or breakdowns of the vehicle, as well as potential panic reactions from the driver, improved safety can also result.The respective water level threshold can correspond to a water level relative to the vehicle, i.e., an entry or immersion depth of the vehicle into the water, at which damage, operational impairment, or a breakdown of the vehicle does not yet occur and a predetermined safety margin is still maintained. This safety margin can, for example, be designed so that a complete automatic stop of the vehicle is possible within it at typical vehicle speeds in slippage situations.

[0030] The present invention also relates to an assistance system for a motor vehicle to support the driver of the motor vehicle when driving a boat trailer attached to the motor vehicle or to a trailer hitch into the water, i.e., in a corresponding launching situation or during a corresponding launching maneuver. The assistance system according to the invention has an input interface, a data processing unit, and an output interface. The input interface can be used to acquire or be configured to acquire data and / or signals indicating a launching situation. The data processing unit can be configured to process this acquired data and / or signals. The output interface can be used to, or be configured to, at least output a control signal to deactivate one or more rear parking sensors of the motor vehicle.

[0031] The assistance system according to the invention is thus configured for the execution of the method according to the invention, in particular automatically or semi-automatically. For this purpose, the data processing device can, for example, comprise a process unit, such as a microchip, microprocessor, or microcontroller, and an associated computer-readable data storage device. This data storage device can then contain an operating or computer program that encodes or implements the process 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 executed by means of the process unit 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, for example, be designed 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 integrated separately or in a common or combined, and in particular bidirectional, interface. The input interface and / or the output interface can each be implemented wholly or partially in hardware and / or in software.

[0032] The present invention also relates to a motor vehicle having a trailer hitch 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 normal operating mode. Furthermore, the motor vehicle according to the invention is configured to execute 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 to it.

[0033] Further features of the invention may become apparent 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 themselves, can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention.

[0034] The drawing shows in the single figure a schematic representation of a slipway situation in which a driver of a motor vehicle uses it to drive a boat trailer into a body of water. Fig.Figure 1 shows a schematic representation illustrating a method for driver assistance or support in a slipway situation. A slipway 1, or its ramp, which partially extends into a suggested body of water 2, and a motor vehicle 3 are shown in a side view. The motor vehicle 3 is driven by a driver 4 to perform a slipway maneuver. For this purpose, the motor vehicle 3 has a tow hitch 5, to which a boat trailer 6 is attached. Furthermore, the motor vehicle 3 has a parking assistance system with at least one rear parking sensor, referred to here as the rear parking sensor 7, at least one side parking sensor 8, and at least one front parking sensor 9, as well as an associated output device 10. The output device 10 can be used to issue warning signals when an obstacle is detected within the detection range of one of the parking sensors 7, 8, or 9.Furthermore, the vehicle 3 is equipped with a reversing camera 11. This reversing camera 11 is located at the rear of the vehicle 3 and can, for example, at least partially capture the boat trailer 6, its surroundings, and the body of water 2.

[0035] To illustrate the slipway maneuver, a direction of travel v of the motor vehicle 3 or of the combination of the motor vehicle 3 and the attached boat trailer 6 is also indicated here.

[0036] 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 be issued to the driver 4 via the output device 10. However, in this case, the vehicle 3 is equipped with an assistance system 12 to prevent the driver 4 from being distracted by such a warning signal, which would be unnecessary in the depicted slipway situation. The assistance system 12 is connected or coupled to the other aforementioned devices via an interface 13. Furthermore, the assistance system 12, shown schematically here, includes a processor 14 and a data storage device 15 for data and signal processing.

[0037] The assistance system 12 is designed to automatically detect slip situations, i.e., the operation of the motor vehicle 3 on a slipway 1 for reversing the boat trailer 6 into the respective body of water 2, based on the currently available or recorded data and / or signals and, if necessary, through a corresponding evaluation according to a predefined logic. Such a slip situation can be detected, for example, by logically linking 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 image analysis of image data from the reversing camera 11, in particular in conjunction with consideration or evaluation of the current tilt angle of the motor vehicle 3, since typical slipways 1 or boat trailers 1 and 1000 have a tilt angle.Slip ramps have a significant incline, for example in the range of 10% to 20%.

[0038] The assistance system 12 is further configured to automatically activate a slip mode of the vehicle 3 when a slip situation is detected. This slip mode can also be manually activated by the driver 4 via a corresponding user input.

[0039] In slipway mode, the reversing camera 11, the side parking sensors 8, and the front parking sensor 9 can be automatically activated and remain activated. Furthermore, in slipway mode, the rear parking sensor 7 is automatically deactivated and / or the output of warning signals via the output device 10 regarding objects present in the detection range of the rear parking sensor 7 is suppressed or prevented.

[0040] Here, based on the detection of a specific environmental and driving situation, namely the slip situation described here, a specially adapted operating mode of the vehicle, namely the aforementioned slip operating mode, is set or used. This allows the driver to execute the corresponding slip maneuver in a particularly safe, comfortable, and stress-free manner.

[0041] Furthermore, the assistance system 12, using the reversing camera 11 and corresponding sensor data, can determine and monitor the current entry or immersion depth of the boat trailer 6 into the body of water 2. Based on this, the assistance system 12, taking into account the gradient or ramp angle of the slipway 1, can then make a recommendation and communicate it to the driver 4 regarding how far the boat trailer 6 must, should, or may be reversed into the body of water 2 or the vehicle 3. The corresponding driving distance, for example, from or relative to the edge of the body of water 2, can vary depending on the ramp angle of the respective slipway 1. A corresponding function or functionality, or a dedicated device or component of the machine learning of the assistance system 12, could, for example, be trained or learned on a slipway during a successful launching or launching maneuver.This would then allow calculations, determinations, or estimates for other slipways or slip facilities 1 that have different gradients or angles of inclination, as to how far the boat trailer 6 must, should, or may drive into the respective body of water 2.

[0042] Likewise, when or after the slipway situation is detected or the slipway operating mode is activated by the assistance system 12, a driving mode of the motor vehicle 3 can be automatically activated which, when pulling out the boat trailer 6, especially with a boat transported on it, i.e. with a correspondingly large trailer load, acts in such a way that wheel spin or loss of traction of the wheels of the motor vehicle 3 is prevented as far as possible.

[0043] Likewise, in the slipway operating mode it may 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, the motor vehicle 3 is automatically braked or stopped if a corresponding predetermined threshold is reached or exceeded, or if it is predicted that the motor vehicle 3 would otherwise enter or submerge too far into the respective body of water 2.

[0044] Overall, the examples described show how a method and a function of an operating mode for launching trailers or boats transported with them via slipways can be realized and applied. Reference symbol list 1 slipway 2 bodies of water 3 Motor vehicle 4 drivers 5 Towing device 6 boat trailers 7 Rear parking sensors 8 side parking sensors 9 Front parking sensors 10 Output device 11 Reversing camera 12 Assistance systems 13 Interface 14 processor 15 Data storage v Direction of travel

Claims

[1] Method for controlling a motor vehicle (3) which has a trailer hitch (5) for attaching a boat trailer (6) and at least one rear parking sensor (7) and is equipped to automatically activate the rear 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 slipway situation is detected in which the boat trailer (6) attached to the towing device (5) is to be driven into the water (2) by reversing the motor vehicle (3), characterized by , that - based on vehicle data originating from sensors of the motor vehicle (3) and indicating the current state of the motor vehicle (3), the slipway situation is automatically detected when a boat trailer (6) is attached and an electrical connection between the motor vehicle (3) and the boat trailer (6) has been disconnected within a specified past time period or in the current vicinity of the motor vehicle (3), and a detected tilt angle of the motor vehicle (3) and / or the boat trailer (6) is consistent with a position of the motor vehicle (3) and / or the boat trailer (6) on a slipway (1), and - upon detection of a current slip situation, all rear parking sensors (7) of the motor vehicle (3) or outputs of warning signals on objects (6) detected by means of 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 any one of the preceding claims, characterized by , that the slip situation is automatically detected based on environmental data that characterize the environment of the motor vehicle (3). [3] Method according to any one of the preceding claims, characterized by, that when the slip situation is automatically detected, a query is issued to the driver (4) of the motor vehicle (3) to activate the slip operation mode or to confirm the automatic activation of the slip operation mode, and the slip operation mode is only activated or left activated if the driver (4) confirms the query accordingly. [4] Method according to any one of the preceding claims, characterized by , that in slipway mode the front parking sensors (9) and / or side parking sensors (8) of the motor vehicle (3) are automatically activated and remain activated in slipway mode regardless of the direction of travel of the motor vehicle (3). [5] Method according to any one of the preceding claims, characterized by, that the motor vehicle (3) has a reversing camera (11) and that this camera is automatically activated in slipway mode and remains activated in slipway mode regardless of the direction of travel of the motor vehicle (3). [6] Method according to any one of the preceding claims, characterized by , that in the slipway operating mode the position-dependent immersion depth of the boat trailer (6) in the water (2) is automatically monitored by sensors and a corresponding situation-adapted recommendation for an end position of the reversing of the motor vehicle (3) is determined and issued to the driver (4) of the motor vehicle (3). [7] Method according to any one of the preceding claims, characterized by , that in the slipway operating mode the water level relative to the motor vehicle (3) is automatically monitored by sensors and when a predetermined water level threshold is reached the motor vehicle (3) is automatically stopped. [8] Assistance system (12) for a motor vehicle (3) to assist 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 configured to carry out the method according to one of the preceding claims. [9] Motor vehicle (3) comprising a trailer hitch (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 perform the method according to one of claims 1 to 7 and / or is equipped with the assistance system (12) according to claim 8.

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