Method for supporting during the coupling process with a towed vehicle, computing device and assistance system for a vehicle

Abstract

It shows a solution how the driver of the vehicle can be supported during the coupling process with the towed vehicle beyond the prior art. [Solution] A method for supporting a driver of a vehicle 1 in the process of coupling the vehicle to a towed vehicle 7 parked parallel to a lane 8, the method including the steps of receiving ambient data from ambient sensors, detecting the towed vehicle 7 using the ambient data, determining a coupling position representing a position of the vehicle 1 for coupling the towed vehicle 7, and providing a coupling position suggestion to the driver, in which an open space 11 representing the space located in front of the towed vehicle 7 is identified using the ambient data, the open space 11 is characterized depending on a length 12 of the identified open space in the towing direction of the towed vehicle 7, and the coupling position is determined depending on the characterized length 12 of the open space.

Description

[Technical field]

[0001] The invention relates to a method for supporting a driver of a vehicle in a process of coupling the vehicle to a towed vehicle parked parallel to the lane.Furthermore, the invention relates to an assistance system for a vehicle, which supports a driver of the vehicle in a process of coupling the vehicle to a towed vehicle parked parallel to the lane.Finally, the invention relates to a computing device for an assistance system of a vehicle. [Background technology]

[0002] Methods and systems for supporting the driver of a vehicle during the coupling process in which a towed vehicle is coupled to the vehicle have been known for some time. Such systems are often also called trailer coupling assistance. Here, the towed vehicle coupling of the towed vehicle is often detected by existing sensors of the vehicle, such as ultrasonic sensors, cameras or the like. The driver can then be supported, when maneuvering the vehicle, towards possible coupling positions so that the towed vehicle can then be coupled to the vehicle.

[0003] Patent document 1 relates to a method for supporting a driver of a motor vehicle in a driving maneuver for coupling an object to be coupled having a coupling point to a towed device of the motor vehicle, in which the object to be coupled is stationary and the motor vehicle moves to the object to be coupled, first the distance and direction of the coupling point relative to the towed device of the motor vehicle are detected by at least one distance sensor, and the distance and direction between the coupling point and the towed device are indicated for the driver.

[0004] Patent Document 2 relates to a device that supports the coupling of a towed vehicle to a towed vehicle coupling part of a motor vehicle, and a method for coupling a towed vehicle to a motor vehicle, in which a device is provided that identifies the relative position of the towed vehicle coupling part of the towed vehicle to the towed vehicle coupling part of the motor vehicle, and controls the relative movement of the towed vehicle coupling part of the motor vehicle to the motor vehicle based on the movement of the motor vehicle and / or the relative position identified by a sensor.

[0005] Patent Document 3 relates to a method for supporting the coupling process of a motor vehicle to a towed vehicle, in which the position of a coupling element on the towed vehicle side is detected using a towed vehicle coupling assist, and based on this, the vehicle is steered at least partially autonomously to a target position where the towed vehicle coupling part of the motor vehicle is arranged at a predetermined coupling point with the coupling element on the towed vehicle side. During the steering process, the monitoring range behind the motor vehicle is monitored using a parking assist. Here, the parking assist is operated in a standard mode when the towed vehicle coupling assist is not activated. Moreover, when the towed vehicle coupling assist is activated, the parking assist is operated in a coupling mode in which an obstacle warning for the rear range is issued using the parking assist, which is different from the standard mode. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] DE 102009045284 A1 [Patent Document 2] DE 102010004920 [Patent Document 3] DE 102018202613 Summary of the Invention [Problem to be solved by the invention]

[0007] The object of the invention is to show how the driver of a vehicle can be supported during the coupling process with a towed load beyond the prior art. [Means for solving the problem]

[0008] This object is achieved according to the invention by a method, a computing device and an assistance system for a vehicle, which have the features of the independent claims. Advantageous developments of the invention are set out in the respective dependent claims.

[0009] A method according to the present invention for supporting a driver of a vehicle in a coupling process with a towed vehicle parked parallel to a lane includes receiving ambient data from at least one ambient sensor. In addition, the method includes detecting a towed vehicle parked parallel to a lane using the ambient data. Furthermore, the method includes determining at least one coupling position representative of a possible position of the vehicle for coupling the towed vehicle parked parallel to a lane. Finally, the method includes providing at least one coupling position suggestion to the driver, the coupling position suggestion being based on the at least one coupling position. In the method, an open space representative of a space located in front of the towed vehicle in the towing direction is identified using the ambient data. In addition, the open space is characterized depending on a length of the identified open space in the towing direction of the towed vehicle. Furthermore, the at least one coupling position is determined depending on a length of the characterized open space.

[0010] The vehicle can be configured as, for example, a passenger car, but may also be a truck, a commercial vehicle, a camper, or the like.

[0011] The towed vehicle can be designed, for example, as a simple car towed vehicle, which can be equipped with an overrun brake as well as with its own service brakes. Furthermore, boat trailers, house trailers, horse trailers, semi-trailers or the like are also conceivable. In this case, the steering technique of the towed vehicle is generally not important, and therefore in particular non-steered towed vehicles (fixed axles). Furthermore, the towed vehicle can also be equipped with pivot steering or turntable steering.

[0012] Here, the concept of coupling process as used in this specification also includes in particular the manual and at least partially automated steering or steering of a vehicle along a track, at the end of which a towed vehicle can be coupled to the vehicle or the vehicle is located in a coupling position.

[0013] The concept of "at least partially automated" driving or steering may be understood herein as driving or steering with automated lateral and / or longitudinal guidance. The concept of "at least partially automated" driving or steering includes automated driving with any degree of automation. Exemplary degrees of automation are (in increasing order of automation) assisted driving, partially automated driving, highly automated driving, fully automated driving and autonomous driving.

[0014] Thus, in the method according to the invention, the driver of the vehicle is supported during a coupling process in which the vehicle is to be coupled to a towed vehicle parked parallel to the lane, the driver can then steer the vehicle at low speed in the vicinity of the towed vehicle, and the surrounding data of at least one surrounding sensor detects or represents the surroundings of the vehicle with the towed vehicle during the maneuver. Such processes are already known from so-called parking assistance.

[0015] Preferably, at least one surrounding sensor is arranged on the vehicle. Here, the at least one surrounding sensor may be, for example, a camera, a radar sensor, a lidar sensor, an ultrasonic sensor or the like. In particular, a combination of different sensor types is therefore also possible. In this case, it is conceivable, in particular, to use ultrasonic sensors as well as cameras. A towed vehicle parked parallel to the lane can be detected using the surrounding data. In addition, an open space in front of the towed vehicle in the towing direction can also be detected and / or identified using the surrounding data. Furthermore, it is also conceivable that at least one surrounding sensor, for example in the form of at least one ultrasonic sensor or a camera, is arranged on the towed vehicle and transmits the surrounding data via a wireless or cable connection. Similarly, the at least one surrounding sensor may be part of an infrastructure system. For example, such an infrastructure system may be a parking space monitoring facility or a traffic monitoring facility. Known keywords in this context are the so-called automated valet parking systems and the so-called smart city systems.

[0016] The detected towed vehicle may be represented by the towed vehicle longitudinal axis, i.e., the orientation of the towed vehicle longitudinal axis, the position of the towed vehicle hitch on the towed vehicle, the axle positions and / or the dimensions of the towed vehicle.

[0017] If the towed vehicle is equipped with pivot steering or turntable steering, it may be advantageous to take into account the rotational movement of the steered axles in addition when determining the at least one coupling position. For example, in the case of pivot steering or turntable steering, it may be the case that the towbar of the towed vehicle is not oriented parallel to the longitudinal axis of the towed vehicle as a whole and / or that this means that the towed vehicle cannot be directly coupled to the vehicle. In such a case, it may nevertheless be advantageous if the range of rotation of the towbar is determined or taken into account when determining the at least one coupling position. It is thus possible in this case to determine at least one coupling position in which the towbar or the steered axles of the towed vehicle may have to be rotated in order to couple the towed vehicle to the vehicle when the vehicle is in the at least one coupling position. A similar example occurs when the longitudinal axis of the (non-steered) towed vehicle is oriented at an angle of, for example, 15° to the lane (in the direction of the lane edge) and therefore the towed vehicle is not positioned absolutely parallel to the lane and therefore needs to make further rotational movements to engage.

[0018] In the present specification, the concepts of towed vehicle coupling unit and vehicle coupling unit are used below. The concepts of towed vehicle coupling unit and vehicle coupling unit generally refer to two mechanically interacting, e.g. engaging, devices that are arranged to couple a vehicle to a towed vehicle. Depending on the type of vehicle and towed vehicle, for example a pin coupling, a bar coupling or a fifth wheel coupling are conceivable, and the corresponding coupling members should be included in the concept of towed vehicle coupling unit or the concept of vehicle coupling unit. In particular, the concept of towed vehicle coupling unit or the concept of vehicle coupling unit should also be understood as the corresponding coupling member of a towed vehicle ball head coupling that meets today's coupling standards, in particular in the passenger car sector with light towed vehicles (with / without overrun brakes), i.e. a tow ball coupling or coupling ball.

[0019] The concept of coupling position as used in this document refers to the position of the vehicle and towed vehicle at which the towed vehicle can be coupled to the vehicle directly or following a (slight) movement of the towed vehicle and / or towed vehicle tow bar. If the vehicle is in a coupling position with the towed vehicle, it is conceivable that a lowering of the tow ball coupling is already sufficient to couple the towed vehicle to the vehicle and its coupling ball, for example in the case of a ball head coupling. However, it is equally conceivable that the towed vehicle and / or tow bar of the towed vehicle can be moved further, for example laterally and / or rotationally, until the towed vehicle coupling unit can mechanically interact with the vehicle coupling unit in order to couple the vehicle with the towed vehicle. A slight movement here can be understood in particular as a lateral movement of a few centimetres, for example less than 50 cm, whereas a rotational movement can amount to more than 60°.

[0020] The detection of an open space is similar to the detection of a parking space in an assisted parking process. The open space can be represented, for example, by a rectangular shape. Regardless of this, the open space can be assigned an open space length, where the open space length represents the length of the open space in the towing direction of the towed vehicle. The open space can be characterized depending on the open space length. For example, it is conceivable that if the open space is large enough, the vehicle can be parked or positioned in front of the towed vehicle in the longitudinal direction for coupling of the towed vehicle with the vehicle. It is therefore possible to characterize the open space in such a way that if the open space is large enough, the vehicle can be parked or positioned in front of the towed vehicle in the longitudinal direction. Conversely, it is conceivable that the length of the open space characterizes the open space in such a way that it is not possible to park a vehicle in front of the towed vehicle in the longitudinal direction.

[0021] Based on the towed vehicle parked parallel to the lane detected using the surrounding data and the detected and characterized open space, at least one coupling position can be determined (identified). The at least one coupling position then represents a possible position of the vehicle for coupling the towed vehicle parked parallel to the lane. As mentioned above, if the open space is large enough to park or position the vehicle in front of the towed vehicle in the longitudinal direction, for example, a coupling position can be suggested to the driver of the vehicle, where the vehicle is positioned in front of the towed vehicle in the towing direction and the coupling angle is 0°. In this regard, the coupling angle represents the orientation of the vehicle's longitudinal axis with respect to the longitudinal axis of the towed vehicle. In other words, the coupling angle therefore represents the angle between the vehicle longitudinal axis and the towed vehicle longitudinal axis.

[0022] For example, a human-machine interface can be used to provide the driver of the vehicle with at least one coupling position proposal based on the at least one coupling position. In particular, a display using augmented reality (AR), voice, a display and / or the like is thus conceivable. If multiple coupling position proposals can be provided to the driver, it is conceivable for the driver to select the appropriate coupling position proposal using possible operating elements. In particular, conventional operating elements in the form of touch screens, gesture control, voice control and buttons can be used for this purpose.

[0023] Another advantageous embodiment is configured such that, if the length of the open space exceeds a first minimum length defined depending on the vehicle, the at least one coupling position represents a position of the vehicle in which the vehicle is completely in the open space. For example, a passenger car is a small car, and therefore the predetermined first minimum length can be, for example, 7 m. A normal parking space, the length of which is equal to or greater than such a predetermined first minimum length, is often sufficient for parking a small car parallel to the lane in towing in the longitudinal direction. Therefore, in this case, if the length of the open space exceeds the predetermined first minimum length, the vehicle can be parked in towing in front of the towed vehicle in the towing direction or can be steered into a coupling position, so that the towed vehicle can then be coupled to the vehicle. Thus, in such a case, the vehicle is completely in the open space. The width of the open space can in particular be equal to or greater than the width of the vehicle. Thus, the at least one coupling position represents a position of the vehicle in which the vehicle is completely in the open space. Therefore, in particular in such a coupling position, the wheels of the vehicle are in the open space.

[0024] Furthermore, if the length of the open space exceeds a second minimum length defined depending on the vehicle, it is advantageous for at least one coupling position to represent a position of the vehicle in which it is partially in the open space. For example, with a towed vehicle parked parallel to the lane on the shoulder of a lane, it may often be the case that another traffic participant or generally an obstacle is in front of the towed vehicle in the towing direction, such that the towing vehicle, i.e. the vehicle to which the towed vehicle is to be coupled, cannot be positioned directly in front of the towed vehicle. It may therefore be impossible to couple the towed vehicle to the vehicle with a coupling angle of 0°.

[0025] Nevertheless, i.e. even if another traffic participant or a general obstacle is in front of the towed vehicle, which makes it impossible to offer the driver of the vehicle a coupling position suggestion similar to a parking maneuver in the longitudinal direction (Parking Assist), there may be a slight clearance that allows at least one coupling position at a non-zero coupling angle. It is therefore advantageous in the process if the length of the open space exceeds a second minimum length that is defined depending on the vehicle. In particular, the predetermined second minimum length may depend on the width of the vehicle. In the case of a passenger car with a length of, for example, 5 m and a width of 2 m, the predetermined second minimum length may be, for example, 4 m.

[0026] If the length of the open space exceeds such a predetermined second minimum length, the vehicle is positioned for coupling of the towed vehicle to the vehicle such that the vehicle longitudinal axis is not oriented parallel to the direction of travel of the lane and thus the vehicle is only partially positioned in the open space. Thus, for example, it is conceivable that the vehicle is positioned in the open space at both rear wheels, while the front wheels of the vehicle are outside the open space, and nevertheless the vehicle is positioned such that the towed vehicle can be coupled to the vehicle. In summary, therefore, in this case it would be advantageous if the driver of the vehicle were provided with such coupling position suggestions based on coupling positions in which the vehicle is only partially positioned in the open space.

[0027] In another embodiment, if the length of the open space is below a second minimum length defined depending on the vehicle, it is advantageous for at least one coupling position to represent a position of the vehicle where the vehicle is essentially outside the open space. If the towed vehicle parked parallel to the lane is, for example, parked by a completely different traffic participant, the vehicle may not be positioned in such a way that the towed vehicle can be coupled to the vehicle without additional movement. In other words, therefore, there is no coupling position in which the towed vehicle can be coupled to the vehicle without additional steering of the towed vehicle. Nevertheless, it is possible to determine at least one coupling position in which the vehicle is positioned such that the towed vehicle only has to move slightly to couple with the vehicle. Thus, it is possible to provide the driver of the vehicle with a suggestion of at least one coupling position, even though the towed vehicle cannot be directly coupled to the vehicle.

[0028] A towed vehicle that is fully parked, parallel to the lane, is characterized, for example, by little open space being available in front of the towed vehicle in the towing direction. In other words, the space in front of the towed vehicle in the towing direction may be so small that the vehicle cannot even be partially positioned in the open space. In such cases, the length of the open space may be below the predetermined second minimum length. The predetermined second minimum length may depend on the dimensions of the vehicle. In particular, the predetermined second minimum length may depend on the width of the vehicle.

[0029] In this case, the vehicle is essentially outside the open space if, for example, only one rear wheel is positioned within the open space, or if, for example, only a part of the rear bumper is positioned within the open space, in particular if no part of the vehicle is within an open space that is at least as wide as the wheelbase of the vehicle.

[0030] In addition, it is advantageous if at least one coupling position, where the vehicle is essentially outside the open space, is determined in such a way that the towed vehicle only has to be manually turned for coupling to a towed vehicle parked parallel to the lane. For example, a towed vehicle having only one axis (line) can be turned around one point of said axis (line). Thus, for example, the towed vehicle can be turned so that one wheel remains approximately in its initial position, while the opposite wheel moves around the wheel that remains in its initial position, which in such a case is possibly braked. However, the towed vehicle can also be turned around other points. In particular, the towed vehicle can also be turned around the central point of the axis.

[0031] A similar example applies to a towed vehicle with one axle and two or more wheels. With the center points of the wheels on each side taken into account, such a case can be traced back in terms of driving dynamics to the case of one axle with two wheels. In the case of a multi-axle (non-steered) towed vehicle, the point about which the towed vehicle rotates may be located along the central axis, i.e. in particular the center point of all the axles.

[0032] If the towed vehicle is equipped with pivot steering or turntable steering, it is advantageous if at least one coupling position in which the vehicle is essentially outside the open space is determined in such a way that only the axle that is steered for coupling of the towed vehicle parked parallel to the traffic lane has to be pivoted. It can therefore be advantageous if at least one coupling position is determined in such a way that in the case of pivot steering or turntable steering, only one axle is rotated.

[0033] It is therefore possible to suggest coupling positions to the driver of the vehicle, even though the vehicle cannot be positioned in front of the towed vehicle in the towing direction. At least one coupling position suggested to the driver of the vehicle can be determined in such a way that the towed vehicle coupling unit of the towed vehicle coupling of the towed vehicle can mechanically cooperate with the vehicle coupling unit of the towed vehicle coupling of the vehicle only after a manual rotational movement. Thus, in particular in the case of ball head couplings, the towed vehicle is coupled to the vehicle, since the tow ball coupling can be directly coupled to the coupling ball only after a manual rotational movement and possibly after a lowering.

[0034] Another advantageous embodiment is configured such that ambient data is received from at least one ambient sensor during at least partial travel in the vicinity of a towed vehicle parked parallel to the lane and / or an open space. It is possible to receive ambient data from at least one ambient sensor while the vehicle travels in the vicinity of a towed vehicle parked parallel to the lane. Depending on which ambient sensor is used, the section the vehicle travels in the partial vicinity may differ. For example, in the case of ultrasonic sensors, it may be necessary for the vehicle to travel completely in the vicinity of the towed vehicle and / or in an open space. However, if a camera is used instead or in addition, it is conceivable that only partial travel in the vicinity is necessary.

[0035] Thus, for example, it may be sufficient for the vehicle not to pass completely through the towed vehicle and / or the open space. A proposal for a coupling position or at least one coupling position can therefore possibly already be determined early. Such methods are already known from many parking assistants. However, in the method according to the invention and its proposed preferred embodiment, it is also necessary, in comparison with the parking assistant, to reliably detect the towed vehicle behind the open space.

[0036] In addition, it is advantageous if the at least one coupling position is determined such that the number of driving direction changes required to reach the at least one coupling position is less than a predetermined maximum number of driving direction changes. It is conceivable that if a large turning maneuver is required to reach the at least one coupling position, the driver of the vehicle may find this annoying. It may therefore be advantageous if the at least one coupling position is determined such that the at least one coupling position can be reached within a predetermined number of driving direction changes. In this case, it is conceivable for the driver of the vehicle to set the predetermined maximum number of driving direction changes, for example, in an input in a menu of the vehicle. Thus, if the predetermined maximum number of driving direction changes is, for example, three driving direction changes, it is possible to determine the at least one coupling position that is less than the predetermined maximum number of such driving direction changes, but such that when a proposal of the at least one coupling position is provided to the driver, only the at least one coupling position that is less than the predetermined maximum number of driving direction changes is selectable.

[0037] It is further advantageous if at least one dimension of the towed vehicle, which is used to determine the at least one coupling position, is determined using the surrounding data and / or is set by the driver. In particular in the case of complex coupling processes or when the towed vehicle cannot be detected completely, it may be advantageous if the dimensions of the towed vehicle are known. It is therefore conceivable that at least one dimension of the towed vehicle is determined using the surrounding data. For example, at least one dimension of the towed vehicle can be determined using an ultrasonic sensor while driving near the towed vehicle.

[0038] However, it is also conceivable that at least one dimension of the towed vehicle is determined by means of a camera. It is particularly easy, and even more precise, for the driver to set at least one dimension of the towed vehicle. It is then conceivable that the driver of the vehicle sets at least one dimension of the towed vehicle in the vehicle's menu.

[0039] It is particularly advantageous to know at least one dimension of the towed vehicle if the at least one coupling position provides for manual movement of the towed vehicle. In this case, in particular the position of one or more axles of the towed vehicle coupling of the towed vehicle relative to the position of the towed vehicle coupling unit may be important. Thus, if at least one dimension of the towed vehicle is known, it is possible to improve the accuracy of the at least one coupling position proposal and / or the accuracy of the at least partially automated steering of the vehicle to the at least one coupling position.

[0040] Finally, according to another advantageous configuration, when the vehicle is in at least one coupling position, there is a predefined minimum distance between the vehicle and the towed vehicle structure, which is defined by at least one dimension of the towed vehicle. In some of the scenarios mentioned above, the distance between the vehicle body and the towed vehicle structure may be only a few centimeters, for example 20 cm, especially if the coupling angle between the vehicle longitudinal axis (line) and the towed vehicle axle (line) is not zero. Such a coupling position may be unfavorable for the vehicle driver in a direct coupling, because if only a small amount of space is available between the vehicle body and the towed vehicle structure, the vehicle driver would have to move around the center of the vehicle or around the towed vehicle, as the case may be, in order to reach the towed vehicle coupling of the vehicle and the towed vehicle coupling of the towed vehicle.

[0041] A coupling process in which the towed vehicle coupling unit of the towed vehicle hitch of the towed vehicle can be directly connected to the towed vehicle coupling unit of the towed vehicle hitch of the vehicle can possibly be simplified for the vehicle driver if only coupling positions in which the vehicle and towed vehicle structures have a predefined minimum clearance are proposed to or selectable by the vehicle driver, where it is also conceivable that such a predefined minimum clearance is taken into account only for positive or negative coupling angles.

[0042] A positive coupling angle or a positive angle between the longitudinal axis of the vehicle and the longitudinal axis of the towed vehicle refers here to the case where a series of a vehicle and a towed vehicle is traveling, for example, around a left curve. Usually, the driver's seat of the vehicle is located on the left side of the vehicle. If the coupling angle between the longitudinal axis of the vehicle and the longitudinal axis of the towed vehicle is positive, the structures of the vehicle and the towed vehicle may therefore be positioned relative to one another in such a way that the driver of the vehicle has to move around the vehicle or around the towed vehicle in order to couple the towed vehicle to the vehicle. This may be perceived as unpleasant by the driver of the vehicle. It is therefore desirable in such cases if the structures of the vehicle and the towed vehicle have a predetermined minimum distance. It is then conceivable for the driver to set the predetermined minimum distance himself. Such a setting can be made, for example, via a menu in the vehicle.

[0043] Finally, another advantageous embodiment is configured such that, when the vehicle is in at least one coupling position, the coupling angle between the longitudinal axis of the vehicle and the longitudinal axis of the towed vehicle is below a maximum coupling angle defined by at least one dimension of the towed vehicle. With such a maximum coupling angle, it is possible, for example, to prevent the structures of the vehicle and the towed vehicle from colliding with each other. Furthermore, with the maximum coupling angle, it is possible to ensure a more comfortable starting position for the driver when he starts the series of vehicles and towed vehicles.

[0044] The computing device according to the invention is adapted to carry out the method according to the invention and its advantageous embodiments, where the computing device may preferably include one or more programmable processors, which process the program code of a computer program loaded into its operating memory.

[0045] The assistance system for a vehicle according to the invention is configured to carry out the method according to the invention and advantageous embodiments thereof. The assistance system comprises at least one surroundings sensor, by means of which it is possible to provide surroundings data representative of the surroundings of the vehicle. Furthermore, the assistance system can comprise a computing device according to the invention, which can for example be formed by at least one electronic control device. In addition, the assistance system can include a human-machine-interface, which provides at least one coupling position suggestion. Furthermore, the assistance system can be formed for steering the vehicle at least partially automatically to the coupling position.

[0046] Another aspect of the invention relates to a computer program comprising instructions which, when executed by a computing device, cause a computing device to carry out the method according to the invention and advantageous forms thereof.Furthermore, the invention relates to a computer readable (storage) medium comprising instructions which, when executed by a computing device, cause a computing device to carry out the method according to the invention and advantageous forms thereof.

[0047] The preferred embodiments and advantages presented for the method according to the invention apply correspondingly to the computing device according to the invention, the assistance system according to the invention, the vehicle according to the invention, the computer program according to the invention and the computer-readable (storage) medium according to the invention.

[0048] Further features of the invention are evident from the claims, the drawings and the description thereof. The features and combinations of features described hereinabove and those merely shown in the description and / or drawings below can be used not only in the respective combinations described, but also in other combinations or alone, without departing from the scope of the invention.

[0049] The present invention will now be described in detail based on preferred embodiments with reference to the accompanying drawings. [Brief description of the drawings]

[0050] [Figure 1] FIG. 2 shows a schematic diagram of a vehicle including an assistance system for support during the coupling process with a towed vehicle. [Diagram 2] FIG. 2 shows a schematic diagram of a vehicle moving along a track during a coupling process with a towed vehicle parked parallel to the lane and positioned completely in an open space for coupling. [Diagram 3] 2 shows a schematic diagram of a vehicle moving along a track during a coupling process and positioned at least partially in an open space when coupling a towed vehicle parked parallel to the traffic lane; FIG. [Figure 4] FIG. 2 shows a schematic diagram of a vehicle moving along a track during a coupling process and being essentially positioned outside the open space when coupling a towed vehicle parked parallel to the lane. [Diagram 5] 5 is a schematic diagram of a vehicle and a towed vehicle coupled thereto following the coupling process illustrated in FIG. 4; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0051] In the various figures, identical or functionally identical elements are provided with the same reference numbers.

[0052] In Fig. 1 a vehicle 1 is shown diagrammatically with an assistance system 2 supporting the driver of the vehicle 1 in the process of coupling the vehicle to a towed vehicle (trailer) 7 parked parallel to the lane 8. To couple the towed vehicle 7 parked parallel to the lane 8 to the vehicle, the vehicle 1 is equipped with a towed vehicle coupling 3 in the form of a ball head coupling. A computing device 4 receives surrounding data from at least one surrounding sensor 51, 52. In Fig. 1 the vehicle 1 is equipped with a camera 52 and two ultrasonic sensors 51 as surrounding sensors 51, 52.

[0053] Thus, a towed vehicle 7 parked parallel to the lane 8 can be detected using the surrounding data. In addition, an open space 11 can be identified using the surrounding data. Possible positions of the vehicle 1 for coupling the towed vehicle 7 parked parallel to the lane 8 can be determined depending on the open space 11. Then, at least one coupling position suggestion based on the at least one coupling position is provided to the driver of the vehicle 1 or to a user of the vehicle 1. The coupling position suggestion can be provided, for example, using a human-machine interface 41.

[0054] Here, the vehicle 1 is exemplarily shown as a passenger car, but it may also be a truck, a commercial vehicle, a camper or the like.

[0055] FIG. 2 shows a vehicle moving along a track 6 during a coupling process with a towed vehicle 7 parked parallel to the lane 8, at the end of which the towed vehicle 7 parked parallel to the lane 8 can be coupled to the vehicle 1. The towed vehicle 7 parked parallel to the lane 8 can be detected using ambient data from at least one ambient sensor 51, 52. The towed vehicle 7 parked parallel to the lane 8 is then located on the road shoulder 9. Behind the towed vehicle 7, another traffic participant 10 is located. In front of the towed vehicle 7 in the towing direction, an open space 11 is located, which is an unused parking space on the road shoulder 9. The open space 11 is then delimited by the towed vehicle 7 and the other traffic participant 10, which is located in front of the towed vehicle 7 and the open space 11 in the towing direction.

[0056] The open space 11 can be characterized (defined) depending on the extension of the towed vehicle 7 in the towing direction, i.e. the open space length 12. In FIG. 2, for example, it is possible to characterize the open space 11 by the fact that the vehicle 1 can be positioned completely within the open space 11 along the track 6 by means of a parking maneuver (parking assist). Thus, in the situation of FIG. 2, it is possible to determine at least one coupling position in which the vehicle 1 is completely within the open space 11. The width of the open space 11 can then in particular be equal to or greater than the width of the vehicle 1.

[0057] In order for at least one interlocking position, where the vehicle 1 is completely within the open space 11, to be reachable with as simple a trajectory 6 as possible or with as few driving direction changes as possible during maneuvering along the trajectory 6 for the vehicle 1, it is advantageous when characterizing the open space 11 with the open space length 12 if the open space length 12 exceeds a predetermined first minimum length 13. The predetermined first minimum length 13 can be determined, for example, by the vehicle 1 being able to be positioned completely within the open space 11 with the aid of a parking maneuver (parking assist). In particular, the predetermined first minimum length 13 can depend on the length of the vehicle 1.

[0058] In this case, the towed vehicle 7 is shown as a simple passenger car towed vehicle 7 by way of example. However, it is equally possible for the towed vehicle 7 to be a boat trailer, house trailer, horse trailer, semi-trailer or the like. In this example, it is a non-steered towed vehicle. However, it is equally conceivable for the towed vehicle to have pivot steering or turntable steering.

[0059] 3 shows a vehicle moving along a track 6 during a coupling process with a towed vehicle 7 parked parallel to the lane 8, at the end of which the towed vehicle 7 parked parallel to the lane 8 can be coupled to the vehicle 1. The towed vehicle 7 is then located on the road shoulder 9 and parked parallel to the lane 8. In front of the towed vehicle 7 in the towing direction an open space 11 is located. The open space 11 is bounded by the towed vehicle 7 and another traffic participant 10.

[0060] However, unlike FIG. 2, the open space 11 in FIG. 3 is not large enough to position the vehicle 1 in front of the towed vehicle 7 in the longitudinal direction. However, it is possible to determine at least one coupling position in which the vehicle 1 is partially within the open space 11. In this situation, the open space 11 can therefore be characterized, for example, in that the vehicle 1 cannot be positioned in front of the towed vehicle 7 in the longitudinal direction, but can be positioned partially within the open space 11 along the track 6 using a steering (assist). In other words, the open space 11 can be characterized, for example, with the open space length 12, in that the open space length 12 is below a predetermined first minimum length 13 and above a predetermined second minimum length 14. The predetermined second minimum length 14 may then depend in particular on the width and / or length of the vehicle 1.

[0061] In this example, the vehicle 1 can be positioned such that, after maneuvering along the track 6, both rear wheels are within the open space 11, while the front wheels of the vehicle 1 are outside the open space 11, and nevertheless the towed vehicle 7 can be coupled to the vehicle 1. It is therefore possible to provide the driver of the vehicle 1 with at least one coupling position suggestion based on coupling positions where the vehicle is partly within the open space 11.

[0062] 4 shows a vehicle moving along the track 6 during the coupling process with a towed vehicle 7 parked parallel to the lane 8, at the end of which the towed vehicle 7 parked parallel to the lane 8 can only be coupled to the vehicle 1 after a turning movement. The towed vehicle 7 is then located on the road shoulder 9 and parked parallel to the lane 8. An open space 11 is located in front of the towed vehicle 7 in the towing direction, which is made extremely small in this example and is bounded by the towed vehicle 7 and another traffic participant 10 located immediately in front of the towed vehicle 7.

[0063] In Fig. 4, the open space 11 can be characterized, for example, in that the vehicle 1 cannot be positioned in front of the towed vehicle 7 in the longitudinal direction and cannot even be positioned partially within the open space 11 so that the towed vehicle 7 can be directly coupled to the vehicle 1. In other words, the open space 11 can be characterized, for example, with the open space length 12, in that the open space length 12 is even below the predetermined second minimum length 14. Nevertheless, it is possible to determine at least one coupling position in which the vehicle 1 is positioned such that the towed vehicle 7 can be coupled to the vehicle 1 after a turning movement for coupling therewith. Thus, in other words, it is still possible to provide the driver of the vehicle 1 with a suggestion of at least one coupling position.

[0064] When the vehicle 1 is in at least one coupling position, the towed vehicle 7 can pivot about a point 15 which can be located, for example, along the axis 16 of the towed vehicle 7. Figure 5 shows a towed vehicle 7 coupled to the vehicle 1 according to the situation described in Figure 4. The suggestions of at least one coupling position which can be provided to the driver of the vehicle 1, for example, in the situation of Figure 4, can also be provided to the driver of the vehicle 1 in the situations of Figures 2 and 3.

[0065] Similarly, the at least one coupling position suggestion which may be provided to the driver of the vehicle 1 in the situation of FIG. 3 can also be provided to the driver of the vehicle 1 in the situation of FIG.

Claims

1. 1. A method for supporting a driver of a vehicle (1) in the process of coupling the vehicle with a towed vehicle (7) parked parallel to a traffic lane (8), comprising: - receiving ambient data from at least one ambient sensor (51, 52); - detecting a towed vehicle (7) parked parallel to the lane (8) using the surrounding data; - determining at least one coupling position representing a possible position of the vehicle (1) for coupling a towed vehicle (7) parked parallel to the lane (8); - providing at least one coupling position suggestion to the driver, said coupling position suggestion being based on the at least one coupling position; In a method comprising: - an open space (11) representing the space located in front of the towed vehicle (7) in the towing direction is identified using the surrounding data, the open space (11) is characterized depending on the length (12) of the open space determined in the towing direction of the towed vehicle (7), and - at least one connection position is determined depending on the length of the characterized open space (12) A method characterized by:

2. 2. The method according to claim 1, characterized in that if the length (12) of the open space exceeds a first minimum length (13) defined depending on the vehicle (1), at least one coupling position represents a position of the vehicle (1) in which the vehicle (1) is completely within the open space (11).

3. 3. The method according to claim 1, wherein if the length (12) of the open space exceeds a second minimum length (14) defined depending on the vehicle (1), at least one coupling position represents a position of the vehicle (1) in which the vehicle (1) is partially within the open space (11).

4. 3. The method according to claim 1 or 2, characterized in that if the length (12) of the open space is below a second minimum length (14) defined depending on the vehicle (1), at least one coupling position represents a position of the vehicle (1) in which the vehicle (1) is essentially outside the open space (11).

5. 5. The method according to claim 4, wherein at least one coupling position in which the vehicle (1) is essentially outside the open space (11) is determined in such a way that coupling of the towed vehicle (7) parked parallel to the lane (8) requires only a manual turning movement of the towed vehicle (7).

6. 3. The method according to claim 1, wherein ambient data is received from at least one ambient sensor (51, 52) during at least a portion of the driving in the vicinity of a towed vehicle (7) parked parallel to the lane (8) and / or an open space (11).

7. 3. The method according to claim 1, wherein the at least one coupling position is determined such that the number of changes in direction of travel required to reach the at least one coupling position is less than a predetermined maximum number.

8. 3. The method according to claim 1, wherein at least one dimension of the towed vehicle (7) used to determine at least one coupling position is determined using ambient data and / or set by the driver.

9. 9. The method according to claim 8, wherein when the vehicle (1) is in at least one coupling position, there is a predetermined minimum distance between the vehicle (1) and the structure of the towed vehicle (7) as determined by at least one dimension of the towed vehicle (7).

10. 9. The method according to claim 8, characterized in that, when the vehicle (1) is in at least one coupling position, the coupling angle between the longitudinal axis of the vehicle (1) and the longitudinal axis of the towed vehicle (7) is less than the maximum coupling angle determined by at least one dimension of the towed vehicle (7).

11. A computing device (4) configured to carry out a method according to claim 1 or 2 for supporting a driver of a vehicle (1) in the process of coupling the vehicle (1) with a towed vehicle (7).

12. A computer program comprising instructions for causing a computing device (4) according to claim 11 to carry out the method steps according to claim 1 or 2.

13. A computer-readable (storage) medium on which the computer program according to claim 12 is stored.

14. An assistance system (2) that supports a driver of a vehicle (1) during the process of coupling the vehicle (1) to a towed vehicle (7), - a computing device (4) according to claim 11, at least one surroundings sensor (51, 52) providing surroundings data representative of the surroundings of the vehicle (1); a human-machine interface providing at least one connection position suggestion; An assist system comprising:

15. A vehicle (1) comprising an assistance system (2) according to claim 14.

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