Driver assistance system and driver assistance method for a vehicle

Abstract

The present invention relates to a driver assistance system (100) for a vehicle (10), comprising at least one sensor module (110) which is designed to capture a rear surrounding area (RUB) of the vehicle (10) and to output corresponding captured data (ED); and at least one display device (120) which is designed to display, on the basis of the captured data (ED), at least one visual representation (VD1, VD2; VD) of a process of coupling or decoupling a trailer (20) to the vehicle (10) or from the vehicle (10), while a distance (d) between the trailer (20) and the vehicle (10) changes, wherein the at least one display device (120) is also designed to display the at least one visual representation (VD1, VD2; VD) from different viewing angles on the basis of the distance (d) of the vehicle (10) from the trailer (20), so that the trailer (20) is at least partially visible in the at least one visual representation (VD1, VD2; VD) during the process of coupling or decoupling.

Description

[0001] Driver assistance system and driver assistance procedure for a vehicle

[0002] The present disclosure relates to a driver assistance system for a vehicle, a vehicle having such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method. In particular, the present disclosure relates to a camera-assisted coupling of a trailer to a vehicle.

[0003] State of the art

[0004] The development of driver assistance systems is becoming increasingly important. In order to enable driver assistance systems to perceive the environment as precisely as possible, sensor measurements from various sensor types, such as cameras, LiDAR and radar, can be used. An example driver assistance system can assist a driver when coupling a trailer to the vehicle. For this purpose, for example, a rear-facing camera can be aimed at the vehicle's trailer hitch, allowing the driver to position the vehicle in relation to a trailer drawbar with visual support. However, with such camera-assisted coupling, the vehicle must already be very close to the trailer in order to see the trailer in the camera image. This can lead to difficulties when coupling, especially while the vehicle is approaching the trailer.

[0005] Disclosure of the invention

[0006] It is an object of the present disclosure to provide a driver assistance system for a vehicle, a vehicle with such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method, which enable a trailer to be safely coupled to a vehicle. In particular, it is an object of the present disclosure to enable a targeted and precise approach of the vehicle to the trailer for coupling.

[0007] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are specified in the subclaims.

[0008] According to an independent aspect of the present disclosure, a driver assistance system for a vehicle, in particular a motor vehicle, is specified. The driver assistance system comprises at least one sensor module configured to detect a rear environmental area of ​​the vehicle and output corresponding detection data; and at least one display device configured to display, based on the detection data, at least one visual representation of a coupling or uncoupling process of a trailer to or from the vehicle while a distance between the trailer and the vehicle changes (e.g., while the trailer and the vehicle move toward or away from each other).The at least one display device is further configured to display the at least one visual representation based on the distance of the vehicle to the trailer from (two or more) different viewing angles, such that the trailer is at least partially visible in the at least one visual representation during the coupling or uncoupling process as the distance between the trailer and the vehicle changes.

[0009] According to the invention, different viewing angles are used for the visual representation of the coupling process or the trailer, based on the distance between the towing vehicle and the trailer, so that the trailer is at least partially visible on the display device, even if it is located far away, such as outside the field of view of a camera directed at a trailer coupling of the towing vehicle. This allows the driver to see the trailer continuously and over a long distance, enabling targeted and precise maneuvering of the towing vehicle for coupling and uncoupling the trailer. As a result, safe coupling and uncoupling of the trailer can be achieved.

[0010] Preferably, the at least one display device comprises at least one display, in particular an LCD display, a plasma display, or an OLED display. Additionally or alternatively, the at least one display device can comprise a projection device configured to project information directly into the driver's field of vision, in particular onto a windshield. In some embodiments, the at least one display device can be a central information output device of an infotainment system, such as a head unit or a pillar-to-pillar display. Preferably, the at least one output device is permanently installed in the vehicle.

[0011] The term "viewing angle," as used in the present disclosure, refers to a perspective from which the surrounding area to the rear of the vehicle is displayed on the at least one display device, or a viewing direction in which the surrounding area to the rear of the vehicle is displayed on the at least one display device. The term "trailer," as used in the present disclosure, refers to a vehicle that, for example, has a loading area for transporting goods, etc., but does not have its own drive. The trailer is coupled to a towing vehicle and towed behind the towing vehicle.

[0012] Preferably, the driver assistance system or the corresponding assistance function can be activated at the beginning of the coupling or uncoupling process. Upon activation, the driver assistance system can then display the at least one visual representation of the coupling or uncoupling process on the at least one display device.

[0013] In some embodiments, the activation of the driver assistance system or the corresponding assistance function can be performed manually by a user input from the driver. For example, the driver can operate a control element of the driver assistance system to activate the driver assistance system or a corresponding assistance function and start the coupling or uncoupling process.

[0014] The control element can be a touch-sensitive control element, such as a touch panel or touch pad, and / or a tactile control element, such as a switch (e.g. push switch and / or rotary switch) or other mechanically actuated button element.

[0015] In further embodiments, the activation of the driver assistance system or the corresponding assistance function can occur automatically. For example, the vehicle, in particular the driver assistance system, can detect an approach to the trailer and automatically activate the assistance function. The approach to the trailer can be detected, for example, based on environmental data from the vehicle's environmental sensors.

[0016] In some embodiments, when the driver assistance system or the corresponding assistance function is activated, an acoustic signal can be emitted which indicates to the driver the successful activation of the driver assistance system or the corresponding assistance function.

[0017] The at least one display device is configured to display the at least one visual representation based on the distance of the vehicle from the trailer from different viewing angles, so that the trailer is (always) at least partially visible in the at least one visual representation, while the distance between the trailer and the vehicle changes during coupling or uncoupling. The visual representation, in which the trailer is at least partially always visible, can be displayed upon activation of the driver assistance system or the corresponding assistance function.

[0018] It should be understood that when the driver assistance system or the corresponding assistance function is activated, the trailer must be detectable by at least one sensor module in order to be displayed, i.e., the trailer must be within sensor range. If the driver assistance system or the corresponding assistance function is manually activated, for example, by the driver before the trailer is within sensor range, the visual representation can be displayed as soon as the trailer comes within sensor range.

[0019] The at least one display device is configured to display the at least one visual representation from different viewing angles based on the distance of the vehicle to the trailer, such that the trailer is at least partially visible in the at least one visual representation while the distance between the trailer and the vehicle changes during coupling or uncoupling. In particular, the trailer may always be fully visible in the at least one visual representation while the trailer and the vehicle are moving toward or away from each other. Alternatively, the trailer may always be partially visible in the at least one visual representation while the trailer and the vehicle are moving toward or away from each other.In the latter case, for example, only one drawbar and / or coupling of the trailer may (possibly temporarily) be visible at all times in the at least one visual representation while the trailer and the vehicle are moving towards or away from each other.

[0020] Preferably, the at least one sensor module comprises or is one or more cameras, in particular one or more outdoor cameras. The detection data of the one or more cameras can in this case comprise or be image data and / or video data.

[0021] The driver assistance system preferably comprises a distance determination module configured to determine the distance between the vehicle and the trailer. For this purpose, the distance determination module can use the detection data of the at least one sensor module, such as image data and / or video data. Additionally or alternatively, the vehicle, in particular the driver assistance system, can comprise at least one further sensor module configured to detect the distance between the vehicle and the trailer. The at least one further sensor module can, for example, comprise or be at least one LiDAR module and / or at least one radar module and / or at least one ultrasound module.

[0022] Preferably, the at least one visual representation comprises a first visual representation and a second visual representation. The first visual representation corresponds to a first viewing angle in the rear surrounding area of ​​the vehicle and the second visual representation corresponds to a second viewing angle in the rear surrounding area of ​​the vehicle. The first viewing angle and the second viewing angle are different viewing angles in the rear surrounding area of ​​the vehicle. The different viewing angles can make it possible for the trailer to be visible in the second visual representation even if the trailer is not visible in the first visual representation, or for the trailer to be visible in the first visual representation even if the trailer is not visible in the second visual representation. In some embodiments, the second visual representation can comprise a trailer hitch of the vehicle.Optionally, the trailer hitch may not be visible or displayed in the first visual representation.

[0023] Preferably, the driver assistance system, in particular the at least one display device, is further configured to display the first visual representation and the second visual representation simultaneously in a split screen on the at least one display device. For example, the first visual representation and the second visual representation can be displayed one above the other or next to each other on the at least one display device. In further embodiments, the second visual representation can be displayed within the first visual representation, or the first visual representation can be displayed within the second visual representation.

[0024] The term "split screen," as used in the present disclosure, refers to a division of a display area of ​​the at least one display device into two or more overlapping or non-overlapping areas, wherein different representations are displayed in the two or more areas. In particular, the first visual representation can be displayed in a first area of ​​the display area of ​​the at least one display device, and the second visual representation can be displayed in a second area of ​​the display area of ​​the at least one display device.

[0025] Preferably, the first viewing angle into the rear surrounding area of ​​the vehicle corresponds to a first perspective view of the rear surrounding area of ​​the vehicle, and the second viewing angle into the rear surrounding area of ​​the vehicle corresponds to a second perspective view of the rear surrounding area of ​​the vehicle.

[0026] The term “perspective view” as used in the present disclosure refers to an image of the rear surrounding area of ​​the vehicle on the at least one display device in such a way that a spatial impression is created.

[0027] In some embodiments, the first viewing angle may correspond to a smaller angle relative to a horizontal line than the second viewing angle. In other words, the second viewing angle is directed further downward than the first viewing angle. For example, the second viewing angle may be selected such that the vehicle's trailer hitch is included in the second visual representation.

[0028] The term "horizontal" is to be understood in contrast to "vertical." The term "horizontal" refers specifically to a horizontal orientation of the viewing angle or direction. The vertical direction can be essentially parallel to gravity.

[0029] In some embodiments, the driver assistance system may be configured to generate and display the first visual representation and the second visual representation based on the detection data from the same sensor module, such as the same exterior camera. For example, the exterior camera may include a fisheye lens, wherein data processing or rendering of the image data is performed to generate the first visual representation and the second visual representation from the same detection data and display them simultaneously, e.g., in a split screen.

[0030] In other embodiments, the driver assistance system may be configured to generate and display the first visual representation and the second visual representation based on detection data from different sensor modules, such as a first exterior camera and a second exterior camera. In particular, the first visual representation may be generated and displayed based on first detection data from the first exterior camera, and the second visual representation may be generated and displayed based on second detection data from the second exterior camera. In alternative embodiments, the at least one visual representation may be a single visual representation whose viewing angle is changed.In particular, the driver assistance system may be configured to change the viewing angle of the single visual representation depending on the distance of the vehicle from the trailer, so that the trailer is at least partially visible in the single visual representation during the coupling or uncoupling process while the trailer and the vehicle move towards or away from each other.

[0031] Preferably, the driver assistance system is configured to process the detection data of the at least one sensor module (e.g., an exterior camera) to change the viewing angle of the visual representation so that the trailer is at least partially visible in the visual representation during the coupling or uncoupling process while the trailer and the vehicle are moving toward or away from each other. In some embodiments, the at least one sensor module may comprise a fisheye lens. The driver assistance system may be configured to change the viewing angle of the visual representation by selecting or rendering the detection data acquired by the fisheye lens so that the trailer is at least partially visible in the visual representation during the coupling or uncoupling process while the trailer and the vehicle are moving toward or away from each other.

[0032] For example, the viewing angle can be panned downwards as the trailer and vehicle move towards each other (i.e., with decreasing distance) so that the trailer is at least partially visible in the visual representation as the trailer and vehicle move towards each other.

[0033] Additionally or alternatively, the driver assistance system may be configured to pan the viewing angle upwards as the trailer and the vehicle move away from each other (i.e., with increasing distance), so that the trailer is at least partially visible in the visual representation as the trailer and the vehicle move away from each other.

[0034] In other embodiments, the driver assistance system may be configured to change an orientation of the at least one sensor module (e.g., a viewing direction) depending on the distance of the vehicle from the trailer in order to change the viewing angle of the visual representation, so that the trailer is at least partially visible in the visual representation during the coupling or uncoupling process while the trailer and the vehicle move toward or away from each other.

[0035] Preferably, the driver assistance system can be configured to pivot the at least one sensor module (e.g., mechanically) downward as the trailer and the vehicle move toward each other (i.e., with decreasing distance), so that the trailer is at least partially visible in the visual representation as the trailer and the vehicle move toward each other. For example, the at least one sensor module can be pivoted mechanically downward, i.e., away from the horizontal.

[0036] Additionally or alternatively, the driver assistance system can be configured to pivot the at least one sensor module (e.g., mechanically) upward as the trailer and the vehicle move away from each other (i.e., with increasing distance), so that the trailer is at least partially visible in the visual representation as the trailer and the vehicle move away from each other. For example, the at least one sensor module can be pivoted mechanically upward, i.e., toward the horizontal.

[0037] In some embodiments, the driver assistance system can be configured to pivot the at least one sensor module downwards away from the horizontal in the direction of the trailer coupling of the vehicle, so that from a certain distance both the trailer (in particular the drawbar and / or coupling of the trailer) and the trailer coupling of the vehicle are displayed in the visual representation. This can enable the driver to precisely position the vehicle relative to the trailer. Similarly, the driver assistance system can be configured to pivot the at least one sensor module upwards towards the horizontal in the direction away from the trailer coupling of the vehicle, so that the trailer (in particular the drawbar and / or coupling of the trailer) is always displayed in the visual representation.

[0038] Preferably, the driver assistance system, in particular the at least one display device, is further configured to at least temporarily display one or more markings in the at least one visual representation. The one or more markings can indicate a direction of movement of the vehicle and / or a distance from the vehicle. For example, a first marking (e.g., a longitudinal line) can correspond to a direction of movement or a steering angle of the vehicle. Additionally or alternatively, one, two or more further markings (e.g., transverse lines) can indicate a distance from a rear of the vehicle, in particular the trailer coupling.

[0039] In some embodiments, the one or more markers may not be displayed in the first visual representation and may be displayed in the second visual representation (e.g., perspective view including the trailer hitch). Alternatively, the one or more markers may be displayed in both the first visual representation and the second visual representation (e.g., perspective view including the trailer hitch).

[0040] In some embodiments, the driver assistance system can be configured to display a top view of the vehicle on the at least one display device in addition to the at least one visual representation. In some embodiments, the top view enables a representation of the surrounding area of ​​the entire vehicle and can provide the driver with further assistance when maneuvering to connect or uncouple the trailer. The term "top view," as used in the present disclosure, refers to a two-dimensional orthogonal projection of a three-dimensional surrounding area of ​​the vehicle.

[0041] According to a further independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is specified. The vehicle comprises the driver assistance system according to the embodiments of the present disclosure.

[0042] The term "vehicle" includes cars, trucks, buses, mobile homes, motorcycles, etc., used to transport people, goods, etc. In particular, the term includes motor vehicles used to transport people.

[0043] According to a further independent aspect of the present disclosure, a driver assistance method for a vehicle, in particular a motor vehicle, is specified. The driver assistance method comprises detecting a rear environmental area of ​​the vehicle by at least one sensor module and outputting corresponding detection data; and displaying, by at least one display device, at least one visual representation of a coupling or uncoupling process of a trailer to the vehicle.from the vehicle based on the detection data while a distance between the trailer and the vehicle changes, wherein the displaying of the at least one visual representation is based on the distance of the vehicle to the trailer from (two or more) different viewing angles, such that the trailer is at least partially visible in the at least one visual representation during the coupling or uncoupling process while the trailer and the vehicle move towards or away from each other.

[0044] The driver assistance method can implement the aspects of the driver assistance system described in this document. According to a further independent aspect of the present disclosure, a software (SW) program is provided. The SW program can be configured to run on one or more processors and thereby execute the driver assistance method described in this document.

[0045] According to a further independent aspect of the present disclosure, a storage medium is provided. The storage medium may comprise a software program configured to be executed on one or more processors and thereby to execute the driver assistance method described in this document.

[0046] According to a further independent aspect of the present disclosure, software with program code is provided. The software is configured to implement the driver assistance method described in this document when the software runs on one or more software-controlled devices.

[0047] According to a further independent aspect of the present disclosure, a driver assistance system for a vehicle is provided. The driver assistance system comprises one or more processors; and at least one memory connected to the one or more processors and containing instructions executable by the one or more processors to carry out the driver assistance method described in this document.

[0048] A processor or processor module is a programmable computing unit, i.e. a machine or an electronic circuit that controls other elements according to given instructions and thereby drives an algorithm (process).

[0049] Short description of the drawings

[0050] Embodiments of the disclosure are illustrated in the figures and are described in more detail below. Figure 1 schematically shows a driver assistance system according to embodiments of the present disclosure.

[0051] Figure 2 schematically shows a vehicle with a driver assistance system according to embodiments of the present disclosure,

[0052] Figure 3 schematically shows a split screen with visual representations for coupling a trailer to a vehicle and / or uncoupling the trailer from the vehicle according to embodiments of the present disclosure,

[0053] Figures 4A and 4B are schematic visual representations for coupling a trailer to a vehicle and / or uncoupling the trailer from the vehicle according to further embodiments of the present disclosure, and

[0054] Figure 5 is a flowchart of a driver assistance method according to embodiments of the present disclosure.

[0055] Embodiments of the disclosure

[0056] In the following, unless otherwise stated, the same reference symbols are used for identical and equivalent elements.

[0057] Figure 1 schematically shows a driver assistance system 100 according to embodiments of the present disclosure. Figure 2 schematically shows a vehicle 10 with such a driver assistance system 100 according to embodiments of the present disclosure.

[0058] The vehicle 10 includes a trailer coupling 12, to which a trailer 20, which also has a corresponding trailer coupling 22, can be coupled in a known manner. The driver assistance system 100 is provided to assist the driver of the vehicle 10 in the coupling and uncoupling process of the trailer 20. The trailer 20 can be stationary while the vehicle 10 reverses toward the trailer 20 to be coupled, or while the vehicle 10 drives forward away from the trailer 20 to be uncoupled.

[0059] For this purpose, the driver assistance system 100 comprises at least one sensor module 110, which is configured to detect a rear environmental area RUB of the vehicle 10, i.e. a rear area of ​​the vehicle 10, and to output corresponding detection data ED.

[0060] In some embodiments, the at least one sensor module 110 may comprise one or more cameras, in particular one or more outdoor cameras. The detection data ED of the one or more cameras may in this case be image data and / or video data. However, the at least one sensor module 110 is not limited to cameras, and other types of sensor modules may be provided additionally or alternatively, such as at least one LiDAR module and / or at least one radar module and / or at least one ultrasound module.

[0061] The driver assistance system 100 further comprises at least one display device 120 which is configured to display, based on the detection data ED, at least one visual or graphic representation of the coupling or uncoupling process of the trailer 20 to the vehicle 10 or from the vehicle 10 while a distance d between the trailer 20 and the vehicle 10 changes.

[0062] In some embodiments, the at least one display device 120 may comprise or be a display, in particular an LCD display, a plasma display, and / or an OLED display. Additionally or alternatively, the at least one display device 120 may comprise a projection device configured to project information directly into the driver's field of vision, in particular onto a windshield. In some embodiments, the at least one display device 120 may be a central information output device of an infotainment system, such as a head unit or a pillar-to-pillar display.

[0063] The at least one display device 120 is configured to display the at least one visual representation based on the distance d of the vehicle 10 from the trailer from (two or more) different viewing angles, such that the trailer 20 is at least partially visible in the at least one visual representation during the coupling or uncoupling process, i.e., while the distance d between the trailer and the vehicle 10 changes. This allows the driver of the vehicle 10 to view the trailer 20 continuously and over a large distance during the coupling or uncoupling process, enabling targeted and precise maneuvering of the vehicle 10 for coupling or uncoupling. As a result, safe coupling and uncoupling of the trailer 20 to the vehicle 10 or from the vehicle 10 can be enabled.

[0064] The distance d between the vehicle 10 and the trailer 20 can be defined as appropriate. In one example, the distance d can be defined between the trailer hitch 12 of the vehicle 10 and the trailer hitch 22 of the trailer 20, but is not limited thereto.

[0065] The at least one display device 120 can at least partially display the trailer 20 in the at least one visual representation while the trailer 20 and the vehicle 10 are moving toward or away from each other. In particular, the trailer 20 can be fully visible in the at least one visual representation at all times while the trailer 20 and the vehicle 10 are moving toward or away from each other. Alternatively, the trailer 20 can be partially visible in the at least one visual representation at all times while the trailer 20 and the vehicle 10 are moving toward or away from each other. In the latter case, for example, only a tongue and / or the trailer hitch 22 of the trailer 20 can be visible (possibly temporarily) at all times in the at least one visual representation at all times while the trailer 20 and the vehicle 10 are moving toward or away from each other.

[0066] In some embodiments, the driver assistance system 100 further comprises a distance determination module configured to determine the distance d of the vehicle 10 from the trailer 20. For this purpose, the distance determination module can use the detection data ED of the at least one sensor module 110, such as image data and / or video data. Additionally or alternatively, the vehicle 10 can comprise at least one further sensor module configured to detect the distance d of the vehicle 10 from the trailer. The at least one further sensor module can, for example, comprise or be at least one LiDAR module and / or at least one radar module and / or at least one ultrasound module.

[0067] Although not shown in Figure 1, it should be understood that the driver assistance system 100 may comprise one or more processor modules to implement the functionalities of the driver assistance system 100. This includes, in particular, processing and analysis of the detection data ED of the at least one sensor module 110 as well as the generation of the visual representation or the corresponding control of the at least one display device 120.

[0068] The driver assistance system 100 or the corresponding assistance function can be activated at the beginning of the coupling or uncoupling process. Upon activation, the driver assistance system 100 can then display at least one visual representation of the coupling or uncoupling process on the at least one display device 120.

[0069] In some embodiments, the activation of the driver assistance system 100 or the corresponding assistance function can be performed manually by a user input from the driver. For example, the driver can operate a control element of the driver assistance system 100 to activate the driver assistance system 100 or the corresponding assistance function and start the coupling or uncoupling process. In further embodiments, the activation of the driver assistance system 100 or the corresponding assistance function can occur automatically, for example, when the vehicle 10 detects an approach to the trailer 20.

[0070] Figure 3 schematically shows a split screen with visual representations for coupling a trailer 20 to a vehicle and / or uncoupling the trailer 20 from the vehicle according to embodiments of the present disclosure.

[0071] The at least one display device 120 may, for example, be a display and includes a display area AB in which content can be visually displayed. In the embodiments of the present disclosure, at least one visual representation of a coupling or uncoupling process of a trailer 20 to the vehicle is displayed.

[0072] The vehicle comprises a trailer coupling 12 to which a trailer 20, which also has a corresponding trailer coupling 22, can be coupled in a known manner.

[0073] In the example of Figure 3, a first visual representation VD1 and a second visual representation VD2 are displayed simultaneously in a split screen. In the example of Figure 3, the second visual representation VD2 is displayed within the first visual representation VD1, but the present disclosure is not limited thereto.

[0074] The first visual representation VD1 corresponds to a first viewing angle into the rear surrounding area of ​​the vehicle and can be a first perspective view of the rear surrounding area of ​​the vehicle. The second visual representation VD2 corresponds to a second viewing angle into the rear surrounding area of ​​the vehicle and can be a second perspective view of the rear surrounding area of ​​the vehicle. In some embodiments, the first viewing angle of the first visual representation VD1 can correspond to a smaller angle with respect to a horizontal than the second viewing angle of the second visual representation VD2. In other words, the second viewing angle is directed further downward than the first viewing angle. The second viewing angle can, for example, be selected such that the trailer hitch 12 of the vehicle is included in the second visual representation VD2.

[0075] In some embodiments, the driver assistance system may be configured to generate and display the first visual representation VD1 and the second visual representation VD2 based on the acquisition data from the same sensor module, such as the same exterior camera. For example, the exterior camera may comprise a fisheye lens, wherein data processing or rendering of the image data is performed to generate the first visual representation VD1 and the second visual representation VD2 from the same acquisition data and display them simultaneously, e.g., in a split screen.

[0076] In other embodiments, the driver assistance system can be configured to generate and display the first visual representation VD1 and the second visual representation VD2 based on detection data from different sensor modules, such as a first exterior camera and a second exterior camera. In particular, the first visual representation VD1 can be generated and displayed based on first detection data from the first exterior camera, and the second visual representation VD2 can be generated and displayed based on second detection data from the second exterior camera.

[0077] In some embodiments, one or more markers can be displayed, at least temporarily, in the first visual representation VD1 and / or the second visual representation VD2. The one or more markers can indicate a direction of movement of the vehicle and / or a distance from the vehicle. For example, a first marker M1 (e.g., a longitudinal line) can correspond to a direction of movement or a steering angle of the vehicle. Additionally or alternatively, one, two or more second markers M2 (e.g., transverse lines) can indicate a distance from a rear of the vehicle, in particular the trailer hitch.

[0078] In some embodiments, the one or more markers may not be displayed in the first visual representation VD1 and may be displayed in the second visual representation VD2. Alternatively, the one or more markers may be displayed in both the first visual representation VD1 and the second visual representation VD2.

[0079] Figures 4A and 4B schematically illustrate visual representations for coupling a trailer to a vehicle and / or uncoupling the trailer from the vehicle according to further embodiments of the present disclosure.

[0080] In contrast to the embodiment of Figure 3, in this embodiment, a single visual representation VD is continuously displayed instead of two different visual representations. The visual representation VD may be, but is not limited to, a perspective view of the surrounding area behind the vehicle.

[0081] In the present embodiment, the driver assistance system changes the viewing angle of the visual representation VD depending on the distance of the vehicle from the trailer, so that the trailer (in particular the drawbar and / or trailer coupling of the trailer) is at least partially shown in the visual representation VD while the trailer and the vehicle move towards or away from each other.

[0082] In some embodiments, the driver assistance system may be configured to perform data processing of the detection data of the at least one sensor module (e.g., an exterior camera) to change the viewing angle of the visual representation VD such that the trailer is at least partially visible in the visual representation VD during the coupling or uncoupling process while the trailer and the vehicle are moving toward or away from each other.

[0083] For this purpose, the at least one sensor module can comprise a fisheye lens. The driver assistance system can be configured to change the viewing angle of the visual representation by selecting or rendering the detection data acquired by the fisheye lens, so that the trailer is at least partially visible in the visual representation during the coupling or uncoupling process while the trailer and the vehicle move toward or away from each other.

[0084] For example, the viewing angle may be panned downwards as the trailer and the vehicle move towards each other (i.e., with decreasing distance) so that the trailer is at least partially visible in the visual representation VD as the trailer and the vehicle move towards each other.

[0085] Additionally or alternatively, the driver assistance system may be configured to pan the viewing angle upwards as the trailer and the vehicle move away from each other (i.e., with increasing distance), so that the trailer is at least partially visible in the visual representation VD as the trailer and the vehicle move away from each other.

[0086] In alternative embodiments, the driver assistance system may change an orientation of the at least one sensor module (e.g., a viewing direction) depending on the distance of the vehicle from the trailer in order to change the viewing angle of the visual representation VD, so that the trailer is at least partially visible in the visual representation VD while the trailer and the vehicle move toward or away from each other.

[0087] For example, the at least one sensor module can be pivoted downward as the trailer and the vehicle move toward each other (i.e., with decreasing distance), so that the trailer is at least partially visible in the visual representation VD as the trailer and the vehicle move toward each other. For example, the at least one sensor module can be mechanically pivoted downward, i.e., away from the horizontal.

[0088] Additionally or alternatively, the driver assistance system can be configured to pivot the at least one sensor module (e.g., mechanically) upwards as the trailer and the vehicle move away from each other (i.e., with increasing distance), so that the trailer is at least partially visible in the visual representation VD as the trailer and the vehicle move away from each other. For example, the at least one sensor module can be pivoted mechanically upwards, i.e., toward the horizontal.

[0089] As shown in the example of Figures 4A and 4B, the at least one sensor module can be pivoted downwards away from the horizontal toward the trailer coupling of the vehicle, so that, from a certain distance, both the trailer (in particular the drawbar and / or coupling of the trailer) and the trailer coupling of the vehicle are displayed in the visual representation VD. This allows the driver to precisely position the vehicle relative to the trailer.

[0090] Figure 5 schematically shows a flowchart of a driver assistance method 500 according to embodiments of the present disclosure. The driver assistance method 500 can be implemented by appropriate software that can be executed by one or more processors (e.g., a CPU).

[0091] The driver assistance method 500 comprises, in block 510, detecting a rear environmental area of ​​the vehicle by at least one sensor module and outputting corresponding detection data; and, in block 520, displaying, by at least one display device, at least one visual representation of a coupling or uncoupling process of a trailer to or from the vehicle based on the detection data while a distance between the trailer and the vehicle changes, wherein the display of the at least one visual representation is based on the distance of the vehicle from the trailer from different viewing angles, such that the trailer is at least partially visible in the at least one visual representation during the coupling or uncoupling process.

[0092] According to the invention, different viewing angles are used for the visual representation of the coupling process or the trailer, based on the distance between the towing vehicle and the trailer, so that the trailer is at least partially visible on the display device, even if it is located far away, such as outside the field of view of a camera directed at a trailer coupling of the towing vehicle. This allows the driver to see the trailer continuously and over a long distance, enabling targeted and precise maneuvering of the towing vehicle for coupling and uncoupling the trailer. As a result, safe coupling and uncoupling of the trailer can be achieved.

[0093] Although the invention has been illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations may be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned by way of example are truly only examples and should not be construed as limiting the scope, possible applications, or configuration of the invention in any way.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without departing from the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description.

Claims

Patent claims 1. Driver assistance system (100) for a vehicle (10), comprising: at least one sensor module (110) which is configured to detect a rear environmental area (RUB) of the vehicle (10) and to output corresponding detection data (ED); and at least one display device (120) which is configured to display, based on the detection data (ED), at least one visual representation (VD1, VD2; VD) of a coupling or uncoupling process of a trailer (20) to the vehicle (10) orfrom the vehicle (10) while a distance (d) between the trailer (20) and the vehicle (10) changes, wherein the at least one display device (120) is further configured to display the at least one visual representation (VD1, VD2; VD) based on the distance (d) of the vehicle (10) to the trailer (20) from different viewing angles, such that the trailer (20) is at least partially visible in the at least one visual representation (VD1, VD2; VD) during the coupling or uncoupling process.

2. Driver assistance system (100) according to claim 1, wherein the at least one visual representation (VD1, VD2) comprises a first visual representation (VD1) and a second visual representation (VD2), and wherein the first visual representation (VD1) corresponds to a first viewing angle in the rear surrounding area (RUB) of the vehicle (10) and the second visual representation (VD2) corresponds to a second viewing angle in the rear surrounding area (RUB) of the vehicle (10), in particular wherein the second visual representation (VD2) comprises a trailer coupling (12) of the vehicle (10).

3. Driver assistance system (100) according to claim 2, wherein: the driver assistance system (100) is further configured to display the first visual representation (VD1) and the second visual representation (VD2) simultaneously in a split screen on the at least one display device (120); and / or the first viewing angle corresponds to a first perspective view and the second viewing angle corresponds to a second perspective view, wherein the first viewing angle corresponds to a smaller angle with respect to a horizontal than the second viewing angle.

4. Driver assistance system (100) according to claim 1, wherein the at least one visual representation is a single visual representation (VD), and wherein the driver assistance system (100) is further configured to change the viewing angle of the visual representation (VD) depending on the distance (d) of the vehicle (10) from the trailer, so that the trailer (20) is at least partially visible in the visual representation (VD) during the coupling or uncoupling process.

5. Driver assistance system (100) according to claim 4, wherein the driver assistance system (100) is configured to change an orientation of the at least one sensor module (110) as a function of the distance (d) of the vehicle (10) to the trailer (20) in order to change the viewing angle of the visual representation (VD) so that the trailer (20) is at least partially visible in the visual representation (VD) during the coupling or uncoupling process, in particular wherein the driver assistance system (100) is configured to pivot the at least one sensor module (110) downwards and / or upwards in order to change the viewing angle of the visual representation (VD).

6. Driver assistance system (100) according to claim 4 or 5, wherein the driver assistance system (100) is configured to perform data processing of the detection data (ED) of the at least one sensor module (110) in order to change the viewing angle of the visual representation (VD), in particular wherein the at least one sensor module (110) comprises a fisheye lens and the driver assistance system (100) is configured to change the viewing angle of the visual representation (VD) by selecting or rendering the detection data (ED) detected by the fisheye lens.

7. Driver assistance system (100) according to one of claims 1 to 6, wherein the driver assistance system (100) is further configured to at least temporarily display one or more markings (Ml, M2) in the at least one visual representation (VD1, VD2; VD), in particular wherein the one or more markings (Ml, M2) indicate a direction of movement of the vehicle (10) and / or a distance from the vehicle (10).

8. Vehicle (10), in particular a motor vehicle, comprising the driver assistance system (100) according to one of claims 1 to 7.

9. Driver assistance method (500) for a vehicle, comprising: Detecting (510) a rear environmental area of ​​the vehicle by at least one sensor module and outputting corresponding detection data; and Displaying (520), by at least one display device, at least one visual representation of a coupling or uncoupling process of a trailer to or from the vehicle based on the detection data while a distance between the trailer and the vehicle changes, wherein the display of the at least one visual representation is based on the distance of the vehicle to the trailer from different viewing angles, so that the trailer is at least partially visible in the at least one visual representation during the coupling or uncoupling process.

10. A storage medium comprising a software program configured to be executed on one or more processors and thereby to execute the driver assistance method (500) according to claim 9.

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