Control system for assisting with lane changes of a truck and trailer combination, taking into account received information about the dimensions of a trailer of the truck and trailer combination.

Abstract

Disclosed is a control system (1) with a control unit (2) for a vehicle (3) with a trailer hitch (4) for attaching a trailer (5) to assist a driver of the vehicle (3) in changing lanes, wherein the control unit (2) is configured to receive information about the dimensions of the trailer (10) and, depending on the dimensions of the trailer (10) and received signals (100) generated by means of a monitoring system (30) of the vehicle (3), to determine a control instruction (200) to assist the driver in changing lanes and to output it at a first interface (11) of the control unit (2).

Description

AREA OF TECHNOLOGY

[0001] The invention relates to a control unit for assisting a driver of a vehicle during a lane change. The invention further relates to a method for assisting a driver of a vehicle during a lane change. STATE OF THE ART

[0002] It is known that driver assistance systems are used to assist a driver during lane changes. These systems can scan a vehicle's blind spot for other vehicles and send appropriate warnings to the driver to assist with the lane change. SUMMARY

[0003] It is an object of the invention to provide an improved method and an improved control system for assisting a driver during a lane change. The objects underlying the invention are solved by the features of the independent claims.

[0004] In one aspect, a control system with a control unit for a vehicle equipped with a trailer hitch for assisting the driver during lane changes is disclosed. The trailer hitch is suitable for attaching a trailer. The control unit is configured to receive information about the trailer's dimensions. Furthermore, the control unit is configured, based on the trailer's dimensions and received signals generated by a vehicle monitoring system, to determine a control instruction for assisting the driver during the lane change and to output this instruction at a first interface of the control unit.

[0005] In another aspect, a method for assisting a driver of a vehicle with a trailer hitch during a lane change using a control system is disclosed. The method includes receiving information about the dimensions of the trailer using a control unit of the control system. Furthermore, the method includes determining a control instruction to assist the driver during the lane change, depending on the dimensions of the trailer and received signals generated by the vehicle's monitoring system. The method also includes outputting the control instruction at a first interface of the control unit.

[0006] It is understood that one or more of the aforementioned embodiments can be combined with each other, as long as the embodiments do not exclude each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The following examples are explained in more detail using the drawings. They show: Fig. 1 a control system with a control unit for assisting a driver of a vehicle in Fig. 3. Vehicle shown with a trailer during a lane change, Fig. 2. A flowchart for calculating a control instruction to assist the driver during lane changes. Fig. 3 a vehicle with a trailer attached and the one in Fig. 1 shown control system, Fig. 4 a variant of the in Fig. 3 vehicles shown are equipped with a radar system, Fig. 5 areas of a blind spot of the in Fig. 3 vehicles shown, Fig. 6 areas of a blind spot of the in Fig. 3 vehicle shown with the attached trailer, Fig. 7 areas of a collision warning zone of the in Fig. 3 vehicles shown, Fig. 8 areas of a collision warning zone of the in Fig. 3 vehicles shown with the attached trailer. DETAILED DESCRIPTION

[0008] In the following, similar elements are marked with the same reference symbols.

[0009] As described above, a control system with a control unit for a vehicle with a trailer hitch is proposed to assist the driver during lane changes. In this context, the control instruction, according to a first variant, can be configured as an instruction for the driver, hereinafter referred to as the driver instruction. In this variant, the control system can include an output unit for issuing the driver instruction. The output unit could be, for example, a display or a speaker. According to one possible configuration, the driver instruction could, for example, indicate whether to perform the lane change, abort the lane change, or not initiate it at all. In the latter case, the driver instruction could be issued as a warning signal via the output unit.The warning signal can, for example, be displayed as a red exclamation mark on a display of the output unit or be emitted as a beeping sound.

[0010] According to a second variant, the control instruction can be in the form of one or more commands for another control unit of the vehicle. The control instruction according to the second variant is referred to below as the device instruction. If the control instruction is in the form of a device instruction, the first interface of the control unit can be connected to the other control unit via a communication link of the vehicle, such as a CAN bus. The device instruction can, for example, include a first input for controlling or regulating a steering angle of the vehicle and / or a second input for controlling or regulating longitudinal acceleration of the vehicle.

[0011] If the control instruction is in the form of a driver instruction, then assisting the driver during lane changes can be understood as assisting with semi-autonomous driving. If the control instruction is in the form of a device instruction, then assisting the driver during lane changes can also include autonomous driving of the vehicle. In this case, the vehicle can be autonomously controlled or regulated using the device instruction.

[0012] Because the control unit is configured to receive information about the trailer's dimensions, it can adapt the driver's lane-change assistance accordingly. The size of the trailer determines the overall size of the vehicle and trailer combination. The larger, and especially the longer, the combination, the more space is generally required for lane changes. The control unit can then take this required space into account and determine it based on the trailer's dimensions.

[0013] According to one possible configuration, the information about the trailer's dimensions includes its length. In this configuration, the control unit can be set up to determine, based on the trailer's length, at least a portion of the blind spot area adjacent to the vehicle combination. A blind spot is also generally referred to as a "blind spot." Determining the control instruction based on the trailer's dimensions can include determining the control instruction based on the blind spot area. Furthermore, according to this configuration, the control unit can be set up to perform an initial check, based on the received signals, to determine whether another vehicle is located within the blind spot area.

[0014] Furthermore, the control unit can be configured to determine the control instruction based on the result of the initial check. For example, if the other vehicle is in the blind spot, the driver instruction can specify not to initiate a lane change. In this case, the driver instruction can take the form of the aforementioned warning signal. The device instruction in this application can, for example, specify that the steering angle should remain unchanged.

[0015] According to one possible configuration, the control unit can be set up to define the blind spot area next to the vehicle combination such that the area extends from the vehicle's cab along the side of the combination, for example, the right or left side, to a rear zone behind the combination. This rear zone can extend, for example, up to 3 meters from the rear of the combination. The blind spot area can be set at a distance of, for example, 0.5 meters from one side, such as the right or left side, of the vehicle. According to one variant, the outer edge of the blind spot area can be 3.5 meters from the side of the combination, and the inner edge can be half a meter from the side.

[0016] The described designs now take into account that the size of the blind spot area in practice depends on the length of the trailer. This dependency is considered when generating the control instruction using the proposed control system. This could, in particular, increase the safety of the control system and especially the vehicle.

[0017] According to a further embodiment, the control unit can be configured to determine at least one area behind the vehicle combination, depending on the length of the trailer. In this embodiment, determining the control instruction based on the trailer's dimensions can include determining the control instruction based on the area behind the vehicle combination.

[0018] Furthermore, according to this configuration, the control unit can be set up to perform a second check, depending on the received signals, to determine whether another vehicle is in the area behind the vehicle combination, its relative speed, and its distance from the vehicle combination. The control unit can then be configured to determine the control instruction based on the result of this second check.

[0019] Performing the second check can, for example, include calculating the time to collision (TTC) between the other vehicle and the vehicle combination. If the time to collision is below a predetermined threshold, such as 3.5 seconds or less, the control instruction can specify that the lane change should not be performed or should be aborted. The result of the second check can be expressed in binary form. A result of zero could mean that no vehicle is in the area behind the vehicle combination or that the time to collision is greater than the predetermined threshold. A result of one could mean that the other vehicle is positioned and moving in the area behind the vehicle combination in such a way that the time to collision is below the predetermined threshold.In the latter case, the result of the second review can be described as negative, and in the other case as positive.

[0020] If the second check is successful, the driver instruction can be displayed, for example, as a green arrow on the output unit. The control unit typically only generates such a driver instruction if the first check has determined that there is no object in the blind spot next to the vehicle combination. In the event of a positive result from the second check, the device instruction might, for example, specify a change in the vehicle's steering angle, causing the vehicle to initiate a lane change.

[0021] It goes without saying that to ensure a high level of vehicle safety, the time until a collision should be calculated as accurately as possible. This can now be achieved with the proposed control system by receiving information about the dimensions, particularly the length of the trailer, and allowing the control unit to determine the control command based on this information.

[0022] According to one possible configuration, the control unit is set up to determine the length of the blind spot area based on the length of the trailer and a length measurement of the vehicle, and / or to determine the distance between the beginning of the blind spot area behind the vehicle combination and the rear of the vehicle, also based on the length of the trailer. This allows the blind spot area and / or the distance between the beginning of the blind spot area behind the vehicle combination and the rear of the vehicle to be adjusted as precisely as possible to the total length of the vehicle combination. The more accurate this adjustment, the greater the safety of the steering system when assisting during lane changes.

[0023] Receiving information about the dimensions of the trailer means that the information about the dimensions of the trailer can be supplied to the control unit from outside the control unit.

[0024] In one possible configuration, the control system can include a human-machine interface for inputting information about the trailer's dimensions. In this configuration, the human-machine interface is connected to the control unit for transmitting this information. The human-machine interface can be mounted on, or be mounted to, the vehicle's dashboard. The human-machine interface (HMI) can, for example, be in the form of a touchscreen. In one possible configuration, the HMI is designed so that the driver can input the trailer's length. In another possible configuration, the HMI can provide the driver with several options for selecting from predefined dimensions of a possible trailer.This could be achieved, for example, by displaying several possible length intervals for the trailer on the touchscreen, such as three or five. For instance, the first interval for selecting the trailer length could be 1 to 2 meters, the second 3 to 4 meters, the third 4 to 6 meters, and the fifth 7 to 10 meters. This could have the advantage that the driver does not have to enter the exact length of the trailer to input information about its dimensions. The information about the trailer's dimensions, particularly its length, could therefore also include an indication of the length range within which the trailer's length falls.

[0025] In another variant, the MMS can be configured so that the driver can enter the width and / or height of the trailer. With this variant, the control unit can be configured to determine the blind spot area to the side of the vehicle combination and / or the area behind it, depending on the trailer's width. In this case, the information about the trailer's dimensions includes its width.

[0026] In a further embodiment, the control unit can be configured to store information about the trailer's dimensions in the form of a vehicle combination profile and make it available for subsequent use of the combination. This has the advantage that the driver does not have to re-enter the trailer's length, width, and / or height each time to adjust the vehicle to the trailer for a safe lane change.

[0027] Following further training, the control system can be programmed to activate the control unit upon receiving information. This can further enhance vehicle safety. An active state of the control unit can specifically refer to a state in which the control unit can intervene in the vehicle's control functions.

[0028] Fig. Figure 1 shows a control system 1 with a control unit 2 for a Fig. Vehicle 3, as depicted, has a trailer hitch 4 for attaching a trailer 5. The control system 1 is designed to assist the driver of vehicle 3 during a lane change. The control unit 2 is configured to receive information about the dimensions of the trailer 10, hereinafter referred to as dimension information 10. Furthermore, the control unit 2 is configured, based on the dimension information 10 and received signals 100, to determine a control instruction 200 for controlling or regulating vehicle 3 to assist the driver during a lane change.

[0029] The received signals 100 can be detected using a monitoring system, in particular receiving antennas of a [system / device]. Fig. The radar system 30, lidar system, ultrasound system, or camera system of vehicle 3, as shown in Figure 3, is generated. Without limiting generality, it is assumed below that the monitoring system is configured as radar system 30. Furthermore, control unit 2 is configured to output the control instruction 200 at a first interface 11 of control unit 2. The control instruction 200 can be configured as a driver instruction or as a device instruction, as described above.

[0030] Fig. Figure 3 shows the vehicle 3 and the trailer 5, with the trailer 5 coupled to the vehicle 3 by means of the vehicle 3's coupling device 4. The vehicle 3 can be understood as the towing vehicle, and the vehicle 3 has a drive unit (not shown in the figures) for propelling the vehicle 3 and the trailer 5. Fig. Figure 3 further shows a variant of the control system 1, in which the control system 1 includes a human-machine interface 20 (HMI) for inputting information about the dimensions 10 of the trailer 5. The HMI 20 is connected to the control unit 2 for transmitting the information about the dimensions 10 via a communication link 21. The communication link 21 can, for example, be in the form of a CAN bus.

[0031] Another possible variant involves transmitting the information about dimensioning 10 to control unit 2 via radio signals. Fig. Figure 3 shows an embodiment in which the MMS 20 is connected to the control unit 2 via the first interface 11. In principle, it could be advantageous for the control unit to receive the dimensioning information 10 via the first interface 11 and to output the control instruction 200 via the first interface 11. However, it is also possible for the control unit 2 to receive the dimensioning information 10 via another interface, not shown in the figures, which is configured differently from the first interface 11.

[0032] Fig. Figure 4 shows the radar system 30 of vehicle 3. During the Fig. In the variant of radar system 30 shown in Figure 4, radar system 30 has four radar units, namely a first radar unit 31, a second radar unit 32, a third radar unit 33, and a fourth radar unit 34. The radar units 31, 32, 33, and 34 can be, as shown in Figure 4, Fig. Figure 4 shows that each element is located at a corner of the vehicle 3. This could make it possible to monitor the area 40 around the vehicle 3 particularly well using the radar system 30.

[0033] The first radar unit 31 can be located at a right front corner of the vehicle 3, the second radar unit 32 at a left front corner of the vehicle 3, the third radar unit 33 at a right rear corner of the vehicle 3, and the fourth radar unit 34 at a rear left corner of the vehicle 3. Fig. 3 and Fig. Figure 4 shows a front side 41 of vehicle 3 and a rear side 42 of vehicle 3.

[0034] Radar units 31, 32, 33, and 34 are each configured to transmit radar signals and receive reflected radar signals, converting them into the received signals 100. The reflected radar signals result from reflections of the transmitted radar signals off [unclear text] Fig. 4 objects not shown in the vicinity 40 of the vehicle 3. According to one possible embodiment, the received signals 100 can be in the form of electrical signals that can be generated by the respective receiving antennas of the radar units 31, 32, 33, 34 by receiving the reflected radar signals. In this case, the control unit 2 can be configured to evaluate the received signals 100. An evaluation of the received signals 100 can, for example, include determining the distance of each object in the vicinity 40 from the vehicle 3 and / or determining the speed of each object.

[0035] According to another possible configuration, radar units 31, 32, 33, 34 each have a Fig. 4. Evaluation unit not shown. In this variant, the respective evaluation unit can be configured to determine the distance and / or speed of the respective object. In this case, the received signals can include the relative distance and relative speed of the respective object.

[0036] Fig. Figure 5 shows vehicle 3 without trailer 5. To assist the driver when vehicle 3 changes lanes without trailer 5, the control unit can store two dimensions of a right-hand blind spot area of ​​vehicle 51. The right-hand blind spot area of ​​vehicle 51 can be rectangular. The right-hand blind spot area of ​​vehicle 51 can therefore be bounded by a front 51.1, a right side 51.2, a rear 51.3, and a left side 51.4, each at a right angle to the other. The left side 51.4 can have a right distance 92 from a right side 3.1 of vehicle 3. This right distance 92 can be, for example, 0.5 meters. The rear 51.3 can have a rear distance 91 from the rear 42 of vehicle 3. The rear distance of 91 can, for example, be 3 meters. The front distance is 51.1 can be aligned with a boundary line 50, which limits a driver's cab 36 in the direction of the rear 42 of the vehicle 3. The width of the right-hand area of ​​the blind spot of the vehicle 51 is measured between the right side 51.2 and the left side 51.4 of the right-hand area of ​​the blind spot of the vehicle 51 and can be equal to a predefined blind spot width 94. The predefined blind spot width 94 can, for example, be 3 meters.

[0037] Similarly, the control unit can store two dimensions of a left-hand area of ​​the blind spot of vehicle 52. The left-hand area of ​​the blind spot of vehicle 52 can be rectangular. The left-hand area of ​​the blind spot of vehicle 52 can therefore be bounded by a front 52.1, a right side 52.2, a rear 52.3, and a left side 52.4, each at a right angle to the others. The right side 52.2 can have a left distance 93 to a left side line 3.2 of vehicle 3. This left distance 93 can, for example, be 0.5 meters. The rear 52.3 can have a rear distance 91 to the rear 42 of vehicle 3. The front 52.1 can be aligned with the boundary line 50. The width of the left area of ​​the blind spot of vehicle 52 is measured between the right side 52.2 and the left side 52.4 of the left area of ​​the blind spot of the vehicle 52. The width of the left area of ​​the blind spot of the vehicle 52 can, for example, be 3 meters and is in most applications equal to the blind spot width 94 and, in particular, equal to the width of the right area of ​​the blind spot of the vehicle 51.

[0038] Fig. Figure 6 shows the vehicle 3 with the trailer 5 coupled to it by means of the coupling device 4. The vehicle 3 and the coupled trailer 5 form a vehicle combination 35. The vehicle combination 35 is shown in the figures as an example of a truck and trailer combination. The coupling device 4 can be a ball coupling, a hook coupling, or a so-called "jaw coupling." It goes without saying that the vehicle combination 35 can also be a semi-trailer truck. If the vehicle combination 35 is configured as a semi-trailer truck, the vehicle 3 is shown as a tractor unit with a semi-trailer. In this case, the semi-trailer forms the coupling device 4.

[0039] In the following, it is assumed that the information about the dimensioning 10 includes at least a specification for the length 7 of the trailer 5. The length 7 can, for example, be entered directly via the MMS 20. According to another variant, the MMS 20 can be configured such that different vehicle combination types can be selected. For example, the MMS 20 can display the different vehicle combination types on the screen and make them available to the driver for selection. Depending on which vehicle combination type the driver selects, the control unit 2 can be configured to determine the length 7 of the trailer 5 based on the selected vehicle combination type. In this variant, the control system 1 is configured such that the information about the dimensioning 10, such as the length 7, can be determined indirectly, namely by selecting the vehicle combination type using the MMS 20.

[0040] It is also possible that the control system 1 can be connected to a control unit of the trailer 5. Such a connection between the control unit of the trailer 5 and the control unit 2 can be established, for example, when the trailer 5 is coupled using the trailer hitch 4. In this case, the control system 1, in particular the control unit 2, can receive the information about the dimensioning 10 via the communication link between the control unit of the trailer 5 and the control unit 2.

[0041] The control unit 2 can be configured to determine, depending on the length 7 of the trailer 5, at least one dimension, such as the length, of a right-hand area of ​​the blind spot of the vehicle combination 61. Determining the control instruction 200 based on the information about the dimension 10, such as the length 7, can include determining the control instruction 200 based on the right-hand area of ​​the blind spot of the vehicle combination 61.

[0042] The right-hand blind spot of the vehicle combination 61 can be rectangular. The right-hand blind spot of the vehicle combination 61 can therefore be bounded by a front 61.1, a right side 61.2, a rear 61.3, and a left side 61.4, each at a right angle to the others. The left side 61.4 can be at a right distance 92 from a right side line 35.1 of the vehicle combination 35. The right distance 92 can be, for example, 0.5 meters. The rear 61.3 can be at a rear distance 95 from a rear 6 of the trailer 5. The rear distance 95 can be, for example, 3 meters. The front 61.1 can be aligned with the boundary line 50. The width of the right-hand area of ​​the blind spot of the vehicle combination 61 can be equal to the specified blind spot width 94 and is measured between the right-hand side 61.2 and the left-hand side 61.4 of the right-hand area of ​​the blind spot of the vehicle combination 61.The width of the right-hand area of ​​the blind spot of the vehicle combination 61 can, for example, be 3 meters.

[0043] Similarly, the control unit 2 can be configured to determine, depending on the length 7 of the trailer 5, a dimension, such as the length, of a left-hand area of ​​a blind spot of the vehicle combination 62. Determining the control instruction 200 based on the information about the dimension 10 can include determining the control instruction 200 based on the left-hand area of ​​the blind spot of the vehicle combination 62.

[0044] The left area of ​​the blind spot of the vehicle combination 62 can be rectangular. The left area of ​​the blind spot of the vehicle combination 62 can therefore be bounded by a front 62.1, a right side 62.2, a rear 62.3, and a left side 62.4, each at a right angle to the others. The right side 62.2 can have a left distance 93 to a left side line 35.2 of the vehicle combination 35. The left distance 93 can, for example, be 0.5 meters. The rear 62.3 can have a rear distance 95 to the rear 6 of the trailer 5. The front 62.1 can be aligned with the boundary line 50. The width of the left area of ​​the blind spot of the vehicle combination 62 can be equal to the specified blind spot width 94 and is measured between the right side 61.2 and the left side 61.4 of the left area of ​​the blind spot of the vehicle combination 62.The width of the left side of the blind spot of the vehicle combination 62 can, for example, be 3 meters.

[0045] According to one possible embodiment, the control unit 2 is configured to determine the left side line 35.2 and the right side line 35.1 of the combination 35 depending on the width of the trailer.

[0046] When comparing the Fig. 5 and Fig. Figure 6 shows that the right-hand blind spot of the vehicle combination 61 is larger in a direction parallel to a longitudinal axis 300 of the vehicle 3 compared to the right-hand blind spot of the vehicle 51. In particular, the right-hand blind spot of the vehicle combination 61 is larger in a direction parallel to a longitudinal axis 300 of the vehicle 3 compared to the right-hand blind spot of the vehicle 51 by the length 7 of the trailer 5.

[0047] The same applies to the left-hand blind spot of the vehicle combination 62. Thus, the left-hand blind spot of the vehicle combination 62, in the direction parallel to a longitudinal axis 300 of the vehicle 3, can be increased by the length 7 of the trailer 5 compared to the left-hand blind spot of the vehicle 52.

[0048] Furthermore, the control unit 2 can be configured to perform an initial check based on the received signals 100. Performing this initial check can include verifying whether an object, such as another vehicle, is located in the right-hand blind spot of the vehicle combination 61. The control unit 2 performs such a check particularly when the driver indicates that they intend to change lanes by moving vehicle 3 into a right-hand lane. For example, the driver can indicate such a lane change by activating the turn signal lever of vehicle 3. If the driver indicates that they intend to change lanes by moving vehicle 3 into a left-hand lane, the initial check can also include verifying whether an object is located in the left-hand blind spot of the vehicle combination 62.

[0049] Furthermore, the control unit 2 can be configured to determine the control instruction 200 depending on a result of the first check. For example, if the result of the first check contains information that an object is located in the right or left area of ​​the blind spot of the vehicle combination 61, 62, the control unit 2 can generate the control instruction 200 in such a way that the control instruction 200 exhibits the aforementioned warning signal.

[0050] According to one possible embodiment, the control unit 2 is configured to determine the length 161 of the right-hand blind spot of the vehicle combination 61 by adding the length 151 of the right-hand blind spot of the vehicle 51 to the length 7 of the trailer 5. Thus, in most applications, the length 161 of the right-hand blind spot of the vehicle combination 61 is 7 greater than the length 151 of the right-hand blind spot of the vehicle 51. The same applies to the length 162 of the left-hand blind spot of the vehicle combination 62. In many applications, the control unit 2 determines the length of the left or right-hand blind spot of the vehicle combination 61, 62 as a function of the length 7 of the trailer 5 by calculating the length of the left or right-hand blind spot of the vehicle combination 61, 62 as a function of the length 7.This is because in most cases the lateral distances of the left or right area of ​​the blind spot of the vehicle combination 61, 62 to the vehicle 3 are the same as the lateral distances of the left or right area of ​​the blind spot of the vehicle 51, 52 to the vehicle 3.

[0051] To warn the driver of approaching vehicles from behind when changing lanes, if vehicle 3 is moving without trailer 5, the control unit can store two dimensions of a right-hand collision warning zone for vehicle 71. The right-hand collision warning zone of vehicle 71 can be rectangular, bounded by a front 71.1, a right side 71.2, a rear 71.3, and a left side 71.4. The front 71.1 of the right-hand collision warning zone of vehicle 71 can have a longitudinal distance 103 from the rear boundary line 70 of vehicle 3. The left side 71.4 of the right-hand collision warning zone of vehicle 71 can have a right lateral distance 101 from the right side line 3.1 of vehicle 3. The width of the right collision warning area of ​​vehicle 71 is measured as a distance between the left side 71.4 and the right side 71.2 and can be, for example, 3 meters.

[0052] The right collision warning zone of vehicle 71 begins, viewed longitudinally, that is, parallel to the vehicle's longitudinal axis 300, at a distance from the rear 42 of vehicle 3 corresponding to the longitudinal distance 103. The length of the right collision warning zone of vehicle 71, measured parallel to the longitudinal axis of vehicle 300, can be, for example, 50 to 200 meters. The length of the right collision warning zone of vehicle 71 can depend, in particular, on the range of the monitoring system, for example, the range of the radar system 30, especially the rear radar units 33, 34.

[0053] Similarly, the control unit can store two dimensions of a left collision warning zone for vehicle 72. The left collision warning zone of vehicle 72 can be rectangular, bounded by a front 72.1, a right side 72.2, a rear 72.3, and a left side 72.4. The front 72.1 of the left collision warning zone of vehicle 72 can have a longitudinal distance 103 from the rear boundary line 70 of vehicle 3. The right side 72.2 of the left collision warning zone of vehicle 72 can have a left lateral distance 102 from the left side line 3.2 of vehicle 3. The width of the left collision warning zone of vehicle 72 is measured as the distance between the left side 72.4 and the right side 72.2 and can, for example, be 3 meters.

[0054] To warn the driver of approaching vehicles from behind when changing lanes, in the event that vehicle 3 is moving with the attached trailer 5, the control unit 2 can be configured to determine at least one dimension, such as the length, of an area behind the vehicle combination 35, depending on the length 7. Determining the control instruction 200 based on the information about the dimension 10 includes determining the control instruction 200 based on the area behind the vehicle combination 35.

[0055] The area behind the vehicle combination 35 may include a right collision warning area of ​​the vehicle combination 81 and / or a left collision warning area of ​​the vehicle combination 82.

[0056] The right collision warning area of ​​the vehicle combination 81 can be in the form of a rectangle, bounded by a front 81.1, a right side 81.2, a rear 81.3, and a left side 81.4. The front 81.1 of the right collision warning area of ​​the vehicle combination 81 can have a longitudinal distance 103 from a rear boundary line 80 of the vehicle combination 35. The left side 81.4 of the right collision warning area of ​​the vehicle combination 81 can have a right lateral distance 101 from the right side line 35.1 of the vehicle combination 35. The width of the right collision warning area of ​​the vehicle combination 81 is measured as the distance between the left side 81.4 and the right side 81.2 and can, for example, be 3 meters.

[0057] The left collision warning zone of the vehicle combination 82 can be in the form of a rectangle, bounded by a front 82.1, a right side 82.2, a rear 82.3, and a left side 82.4. The front 82.1 of the left collision warning zone of the vehicle combination 82 can have a longitudinal distance 103 from the rear boundary line 80 of the vehicle combination 35. The right side 82.2 of the left collision warning zone of the vehicle combination 82 can have a left lateral distance 102 from the left side line 35.2 of the vehicle 3. The width of the left collision warning zone of the vehicle combination 82 is measured as the distance between the left side 82.4 and the right side 82.2 and can, for example, be 3 meters.

[0058] As by comparing the Fig. 7 and Fig.As can be seen in Figure 8, the beginning of the right collision warning zone of the vehicle combination 81 has a corrected longitudinal distance 181 to the rear 42 of the vehicle 3, which is greater than the longitudinal distance 103. The corrected longitudinal distance 181 is conveniently increased by the length 7 of the trailer 5 compared to the initial longitudinal distance 103. The same applies to the left collision warning zone of the vehicle combination 82.

[0059] According to one possible embodiment, the control unit 2 can be configured to determine the distances of the objects to the vehicle 3 and the relative velocities of the objects using range Doppler maps. In another variant, the control unit 2 can be configured to determine the range Doppler maps based on the received signals 100. The range Doppler maps can assign a respective intensity value to each pair, which represents the respective distance of a possible object in the environment 40 from the vehicle 3 and the respective relative velocity of the possible object with respect to the vehicle 3. The control unit 2 can, for example, be configured to detect the objects in the environment 40 by checking whether a respective intensity value of the range Doppler maps exceeds a predefined threshold.If this is the case, the respective object, along with its associated relative speed and distance to vehicle 3, can be considered detected.

[0060] Dividing the environment 40 into blind spot areas, such as the right blind spot of vehicle 51, the right blind spot of vehicle combination 61, and the left blind spot of vehicle combination 62, and collision warning areas, such as the right collision warning area of ​​vehicle 71, the right collision warning area of ​​vehicle combination 81, and the left collision warning area of ​​vehicle combination 82, could have the advantage that the speeds of objects in the blind spot areas do not need to be checked to assist the driver during lane changes. In principle, it would of course be possible to determine the relative speeds and distances of the objects in the entire environment 40 and derive the control instruction 200 from this. However, the computational effort can be reduced by dividing the environment 40 into blind spot areas and collision warning areas.It goes without saying that the speeds of objects in the blind spot areas are irrelevant for determining control instruction 200. It is sufficient to simply check whether the objects are located within the blind spot areas.

[0061] Furthermore, it is generally sufficient to search for objects with which the vehicle combination 35 could collide during a lane change in those rear areas of the vehicle combination 35 that are adjacent to the current lane in which the vehicle combination 35 is located. Because the collision warning areas of the vehicle combination 81, 82 are located further back than the collision warning areas of the vehicle 71, 71, the required computing power of the control unit 2 can be reduced, since the area in the immediate vicinity of the vehicle combination 35 within which the objects must be examined for their relative speed is reduced.

[0062] To further increase the safety of the vehicle combination 35, the control unit 2 can use enlarged blind spot areas of the vehicle combination 261, 262 instead of the blind spot areas of the vehicle combination 61, 62 for generating the control instruction 200. The enlarged blind spot areas of the vehicle combination 261, 262 extend further towards the front 41 of the vehicle 3 compared to the blind spot areas of the vehicle combination 61, 62 and can also be wider than the blind spot areas of the vehicle combination 61, 62.

[0063] Similarly, for generating the control instruction 200, the control unit 2 can use enlarged collision warning areas of the vehicle combination 281, 282 instead of the collision warning areas of the vehicle combination 81, 82. The enlarged collision warning areas of the vehicle combination 281, 282 extend further towards the front 41 of the vehicle 3 compared to the collision warning areas of the vehicle combination 81, 82 and can also be wider than the collision warning areas of the vehicle combination 81, 82.

[0064] Although the invention is illustrated and described in detail in the drawings and the preceding description, this illustration and description is to be regarded as exemplary and not limiting; the invention is not limited to the disclosed embodiments.

Claims

[1] Control system (1) with a control unit (2) for a vehicle (3) with a trailer hitch (4) for attaching a trailer (5) for assisting a driver of the vehicle (3) in changing lanes, wherein the control unit (2) is configured, - to receive information about the dimensions of the trailer (10), - depending on the dimensions of the trailer (10) and received signals (100) generated by means of a monitoring system (30) of the vehicle (3), to determine a control instruction (200) to assist the driver in changing lanes and to output it at a first interface (11) of the control unit (2). [2] Control system (1) according to claim 1, wherein the control system (1) comprises a human-machine interface (20) for inputting the information about the dimensioning of the trailer (10) and the human-machine interface (20) is connected to the control unit (2) for transmitting the information about the dimensioning, wherein in particular the control system (1) is configured to activate the control unit (2) as a result of the input of the information. [3] Control system (1) according to one of the preceding claims, wherein the information on the dimensioning of the trailer (10) includes a specification of a length (7) of the trailer (5) and the control unit (2) is configured, - depending on the length (7) of the trailer (5) to determine at least one area of ​​a blind spot next to a vehicle combination (61, 62) comprising the vehicle (3) and the trailer (5), wherein determining the control instruction (200) depending on the dimensions of the trailer (10) includes determining the control instruction (200) depending on the area of ​​the blind spot next to the vehicle combination (61, 62), - depending on the received signals (100) to carry out an initial check to see if another vehicle (3) is in the blind spot area next to the vehicle combination (61, 62), and if the control unit (2) is set up to determine the control instruction (200) depending on the result of the initial check. [4] Control system (1) according to one of the preceding claims, wherein the information on the dimensioning of the trailer (10) includes a specification of a length (7) of the trailer (5) and the control unit (2) is configured, - to determine at least one area behind the vehicle combination (81, 82) depending on the length (7) of the trailer (5), wherein determining the control instruction (200) depending on the dimensioning of the trailer (10) includes determining the control instruction (200) depending on the area behind the vehicle combination (81, 82), - depending on the received signals (100), a second check is to be carried out to determine whether another vehicle (3) is in the area behind the vehicle combination (81, 82) and at what relative speed the other vehicle (3) is moving to the vehicle (3) and what distance the other vehicle (3) has to the vehicle combination (35), wherein the control unit (2) is configured to determine the control instruction (200) depending on a result of the second check. [5] Control system (1) according to claim 3 or 4, wherein the control unit (2) is configured to determine a length (161, 162) of the blind spot area next to the vehicle combination (61, 62) depending on the length (7) of the trailer (5) and a length dimension (8) of the vehicle (3) and / or to determine a distance between a beginning of the area behind the vehicle combination (81, 82) and a rear of the vehicle (3) depending on the length (7) of the trailer (5). [6] Control system (1) according to claim 4 or 5, wherein the blind spot area next to the vehicle combination (61, 62) is formed in the form of a first rectangle and / or the area behind the vehicle combination (81, 82) is formed in the form of a second rectangle. [7] Control system (1) according to one of the preceding claims, wherein the information on the dimensioning of the trailer (10) includes a specification of a width (9) of the trailer (5). [8] Control system (1) according to one of the preceding claims, wherein the control unit (2) is configured to store the dimensioning information (10) in the form of a vehicle combination profile and to make it available for reuse of the vehicle combination. [9] Radar system comprising receiving antennas and the control system (1) according to any of the preceding claims. [10] Vehicle (3) with a radar system according to claim 9 or a control system (1) according to any one of the preceding claims 1 to 8. [11] Method for assisting a driver of a vehicle (3) with a trailer hitch (4) for attaching a trailer (5) during a lane change using a control system (1), the method comprising: - Receiving information about the dimensioning of the trailer (10) using a control unit (2) of the control system (1), - Determining a control instruction (200) to assist the driver during lane changes depending on the dimensions of the trailer (10) and received signals (100) generated using the monitoring system (30) of the vehicle (3), - Output of the control instruction (200) at a first interface (11) of the control unit (2). [12] Computer program product comprising instructions executable by a processor, wherein the execution of the instructions causes the processor to carry out the method according to claim 11.

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