Method for operating a driver assistance system for the at least assisted reversing of a combination of a motor vehicle and a trailer from a first road into a second road leading into the first road

Abstract

The invention relates to a method for operating a driver assistance system (6) for the at least assisted reversing of a combination (3) of a motor vehicle (1) and a trailer (2) from a first road (12), on which the combination (3) is travelling, into a second road (13) leading into the first road (12), comprising: during travel by the combination (3) on the first road (12), detecting (S2) the second road (13) by evaluating surroundings information (20); after the second road (13) has been detected, determining (S3) a driving trajectory (18) at least from a starting location (16) on the first road (12) to a destination location (17) on the second road (13), wherein the driving trajectory (18) intends for the combination (3) to reverse between the starting location (16) and the destination location (17); and providing (S4) the determined driving trajectory (18) for the driver assistance system (6) such that by means thereof, the determined driving trajectory (18) can be travelled at least in an assisted manner.

Description

[0001] Method for operating a driver assistance system for at least assisted reversing of a combination consisting of a motor vehicle and a trailer from a first road into a second road leading into it

[0002] The invention relates to a method for operating a driver assistance system for at least assisted reversing of a combination consisting of a motor vehicle and a trailer from a first road on which the combination is traveling to a second road merging into the first road. The invention also relates to a motor vehicle, a control device, and a computer program product for implementing such a method.

[0003] A trailer can be coupled to a motor vehicle. The motor vehicle and trailer then form a combination. If, for example, the combination is required to perform a maneuver that involves reversing, this can be difficult to perform manually. Therefore, a driver assistance system should be provided for such a maneuver that can at least assist the driver.

[0004] For a combination consisting of a motor vehicle and a trailer, for example, a driving assistance system is known from US 2020 / 0010076 A1, which can control the steering of a towing vehicle in order to reach a target parking position.

[0005] Furthermore, US 2017 / 0015312 A1 describes a parking assistance system for a vehicle in which several sensors on the vehicle detect the vehicle's surroundings. A target parking location and a parking trajectory for the vehicle are determined.

[0006] It is the object of the invention to provide a solution by means of which a combination consisting of a motor vehicle and a trailer can be driven backwards reliably.

[0007] The problem is solved by the subject matter of the independent patent claims.

[0008] A first aspect of the invention relates to a method for operating a driver assistance system. The driver assistance system is provided for at least assisted reversing of a combination consisting of a motor vehicle and one or more trailers. The trailer can be at least temporarily attached to the motor vehicle by means of a coupling device, for example. The driver assistance system is designed to move the combination from a first road, on which the combination is traveling, to a second road that leads into the first road by means of at least assisted reversing.

[0009] The invention is at least based on the recognition that a situation may arise in which a vehicle combination needs to be turned on a first road on which it is currently located, i.e., rotated 180 degrees, for example. A suitable maneuver for turning the vehicle combination is a reversing maneuver into a second road that leads into the first road. The vehicle combination can then drive forward from the second road into the first road and move along it in the opposite direction to before. A reversing maneuver of this type, in which the vehicle combination reverses from the first road into the second road, is often difficult to perform manually, so a driver assistance system is particularly useful for this type of maneuver.

[0010] It can be provided that the motor vehicle is designed to specify the longitudinal and / or transverse guidance of the vehicle / trailer combination, whereas the trailer does not have its own means for controlling the longitudinal and / or transverse guidance. Alternatively or additionally, the trailer can have means for at least influencing the longitudinal and / or transverse guidance of the vehicle / trailer combination.

[0011] The driver assistance system is designed to at least assist the reversing of the vehicle / trailer combination into the second street. Preferably, it can perform the reversing into the second street semi-automatically, in particular fully automatically. The driver assistance system can, for example, output control instructions for manual longitudinal and / or lateral guidance to a driver of the motor vehicle and / or control the longitudinal and / or lateral guidance of the motor vehicle and / or the trailer.

[0012] The first street is designed, for example, such that it has an intersection and / or a junction and borders the second street in an area of ​​the intersection and / or junction. The second street is then, for example, the street that crosses the first street at the intersection. It can, for example, be a side street, a secondary street, or a main road to the first street.

[0013] The method comprises detecting the second road leading into the first road while the vehicle combination is traveling on the first road. For example, while the motor vehicle is moving on the first road, a check is continuously carried out to determine whether a second road leading into the first road can be detected. The second road is detected by evaluating environmental information that describes at least part of the vehicle combination's surroundings. The environmental information is detected, for example, by the motor vehicle, for example by means of a sensor device of the motor vehicle. The environmental information is then made available, for example, to a control device of the motor vehicle, for example by being transmitted to it, so that the environmental information can be evaluated by the control device. During the evaluation, it is detected whether the second road leads into the first road or not.The sensor device is, for example, a surround-view camera, a front camera, a side camera, a rear camera, a radar device, a lidar device and / or an ultrasonic sensor of the motor vehicle. Alternatively or additionally, the trailer can have the sensor device, i.e., for example, a camera, a radar device, a lidar device and / or an ultrasonic sensor. The detection of the second road merging into the first road can therefore occur by evaluating the environmental information recorded by the sensor device of the motor vehicle and / or the sensor device of the trailer. The surroundings of the trailer are thus continuously examined to determine whether there is a location in the vicinity of the second road merging that is, in principle, suitable for at least assisted reversing of the trailer as part of a turning maneuver. Ultimately, therefore, a location for the trailer to turn around is searched for.

[0014] A requirement can be set and taken into account that the second road merging into the first road is only recognized as such if there is sufficient space for reversing into the second road. The second road must then be dimensioned such that the vehicle combination can drive into it. This requirement means that, for example, a narrow path that does not provide sufficient space for the vehicle combination to reverse will not be recognized as a second road merging into the first road.

[0015] The detection of the second road can alternatively or additionally be carried out at predetermined time intervals, for example 2 to 5 times per second, once per second, every 3 seconds, every 5 seconds, every 10 seconds or once per minute. Other time intervals between the above are possible. After the second road has been detected, a travel trajectory is determined at least from a starting point on the first road to a destination on the second road. The travel trajectory envisages the vehicle-trailer combination reversing between the starting point and the destination. A driving maneuver is therefore planned along which the vehicle-trailer combination is driven from the first road to the second road which leads into the first road. The travel trajectory preferably comprises pure reversing from the starting point to the destination without changing direction, i.e. in one go.The driving trajectory can include at least one section in which the vehicle travels straight ahead and / or in which a steering angle is greater than 0 degrees. The driving trajectory can therefore include cornering. The starting location is, for example, any location on the first road from which a driving maneuver onto the second road, i.e., to any destination on the second road, is possible, with the vehicle-trailer reversing between the starting location and the destination. The driving trajectory can include at least one section in which the vehicle-trailer is to travel forward, for example, from the vehicle-trailer's current location to the starting location of the reversing journey.

[0016] If the first and / or second road have multiple lanes, for example, it is taken into account that the starting location and the destination are in the lane intended for the desired direction of travel of the vehicle combination, if this is physically possible. Alternatively, the starting position can be in the lane of oncoming traffic. In right-hand traffic, the starting location is therefore in a right-hand lane of the first road and the destination is in a right-hand lane of the second road, both viewed in the forward direction of the vehicle combination. This can be applied analogously to left-hand traffic. Once the second road is detected, a reversing maneuver from the first road to the second road is planned by determining the travel trajectory.The determined driving trajectory can alternatively be referred to as driving trajectory information, which describes the driving trajectory at least from the starting location to the destination, and / or as a driving maneuver at least from the starting location to the destination.

[0017] The method comprises providing the determined driving trajectory to the driver assistance system so that the determined driving trajectory can be followed, at least with assistance, by the driver assistance system. The driver assistance system therefore has the information it requires to drive the vehicle / trailer combination from the starting point to the destination. The method is preferably carried out using the control device of the motor vehicle. The control device can comprise a plurality of software components and / or control units, each of which carries out individual steps of the method according to the invention and exchanges data with one another. The control device is preferably designed to operate the driver assistance system so that the determined driving trajectory is provided internally within the control device.The evaluation of the environmental information for recognizing the road and, if necessary, the determination of the driving trajectory and its provision can be carried out by means of a control device of the sensor device that detects the environmental information. The control device is preferably arranged externally of the sensor device in the motor vehicle. It can be provided that the environmental information is provided to an external device located outside the motor vehicle, so that this determines the driving trajectory and makes it available to the driver assistance system by transmitting the environmental information and the determined driving trajectory, for example, via vehicle-to-vehicle and / or vehicle-to-infrastructure communication between the motor vehicle and the external device. The external device is, for example, a server, a cloud server, a backend, another motor vehicle, a control unit in the trailer, and / or a traffic management system.

[0018] This article describes how a driver assistance system can be designed to assist the driver of a motor vehicle and trailer when reversing. Reversing from the first road to the second road is assisted by determining and providing the trajectory. This is suitable for a turning maneuver by the vehicle and trailer on the first road. A vehicle and trailer combination can now be reliably reversed along the provided trajectory if, for example, the driver of the vehicle so desires. This request does not need to be announced or displayed in advance, as the system always searches for possible turning points, i.e., the second road, while driving.

[0019] One embodiment of the invention provides that, after the determined travel trajectory has been provided, a longitudinal and / or lateral guidance of the motor vehicle and / or the trailer is controlled such that the vehicle-trailer combination is moved along the travel trajectory. It can thus be controlled or steered at least partially automatically, in particular fully automatically, along the determined travel trajectory. It can thus travel at least partially automatically from the starting point to the destination. The driver assistance system can then carry out at least partially automatic control of a braking system, a drive system, and / or a steering system of the motor vehicle and / or the trailer.

[0020] Alternatively or additionally, after the driving maneuver has been provided in the motor vehicle, at least one control instruction for the longitudinal and / or lateral guidance of the motor vehicle and / or the trailer is output, wherein the vehicle combination can be moved along the travel trajectory upon implementation of the control instruction. It can therefore be provided that, for example, by means of a display device in the motor vehicle and / or by an acoustic output via a loudspeaker device comprising at least one loudspeaker, it is indicated in the motor vehicle how the motor vehicle and / or the trailer is to be moved in order to move the vehicle combination from the starting point to the destination. The control instruction implements an assisted driver assistance system in which the longitudinal and / or lateral guidance is manually controlled by the driver of the motor vehicle.Different levels of automation are therefore possible, whereby, after the determined travel trajectory has been provided, the vehicle combination can be moved from the starting point to the destination by controlling the vehicle accordingly.

[0021] Preferably, the vehicle-trailer combination is moved by controlling the longitudinal and / or lateral guidance of the motor vehicle alone. When providing control commands and / or control specifications for the longitudinal and / or lateral guidance, particular consideration is given to the fact that, due to the trailer, the vehicle-trailer combination follows a different trajectory than the motor vehicle without a trailer attached, at the same steering angle.

[0022] A further embodiment provides that the activation and / or output of the control specification only occurs when a predefined activation command is detected in the motor vehicle. It can therefore be provided that the motor vehicle does not immediately provide the driving trajectory after detecting the second road merging into the first road and then at least drive along it with assistance, but rather that the actual operation of the driver assistance system, such that the motor vehicle is moved along the driving trajectory, only occurs upon activation or can occur upon output of the activation specification.

[0023] The activation command can, for example, be automatically requested after the determined driving trajectory has been provided. A question can then be displayed on the display device and / or the question can be output via the loudspeaker device, asking whether the driver wishes to perform a U-turn by reversing into the detected second street. Alternatively or additionally, the activation command can be requested directly after the second street has been detected and thus before the driving trajectory is determined, and / or directly after the driving trajectory has been determined and thus before the determined driving trajectory is provided.Preferably, the system searches for the second road connecting to the first road independently of the activation command, for example, continuously while the vehicle-trailer combination is traveling on the first road. This allows the system to continuously search for possible turning options for the vehicle-trailer combination without the driver having to specify or activate this in advance. The actual turning of the vehicle-trailer combination is only possible after the specified activation command has been received.

[0024] Another embodiment provides that the activation command can be specified manually and / or generated automatically. For example, an actuating element can be provided in the motor vehicle, upon manual actuation of which the activation command is specified, so that, for example, the at least assisted and, in particular, semi-automatic control of the motor vehicle then takes place. The actuating element is, for example, a knob, a switch, a rotary push-button, and / or a key.

[0025] Alternatively or additionally, the activation command can, for example, be generated at least partially automatically if a predefined condition is met. For example, whenever the motor vehicle is manually stopped after the second street has been detected, this can be interpreted as a trigger for offering the driver assistance system to the driver, i.e., the driver is suggested to perform a U-turn by reversing into the second street. The driver can accept this suggestion, for example, by actuating the actuating element. The suggestion for the U-turn and thus for the specification of the activation command can be made, for example, via the display device and / or the acoustic output via the loudspeaker device in the motor vehicle. Accepting the suggestion and thus manually specifying the activation command can alternatively or additionally be done via voice input and / or a gesture.

[0026] Alternatively or additionally, it can be provided that an automatic activation command is generated, for example, if a turning maneuver is necessary to return to a specified driving route for the vehicle combination. In this case, the control and / or output of the control specification can be automatically activated without a manual activation command. The automatic generation of the activation command can therefore be dependent, for example, on a driving route and / or a location of the vehicle combination.

[0027] In particular, it is provided that the activation command can only be specified manually and / or generated automatically once the second road has been detected. A spatial and / or temporal correlation for detecting the second road can be required, so that, for example, the activation command can only be detected within a predetermined radius of the second road and / or within a predetermined time window after the second road has been detected, which can, for example, be between more than 0 seconds and 30 seconds long. Any desired configuration of the activation command is possible. Ultimately, it can be conveniently determined whether or not the operation of the driver assistance system should actually lead to at least assisted longitudinal and / or lateral guidance of the motor vehicle, since the activation command must be detected for this purpose.

[0028] A preferred embodiment provides that the current location of the vehicle combination is always assumed as the starting location if the vehicle combination can be reversed from the current location to the destination on the second road without changing direction. The travel trajectory is thus determined in such a way that it leads from the current location of the vehicle combination to the destination. In this case, the determined travel trajectory does not include any further changes of direction, so that the vehicle combination can be moved onto the second road simply by reversing from the starting location to the destination. The turning maneuver can therefore be performed in one go.

[0029] The current location is, for example, always suitable as the starting location for the driving trajectory if it is positioned relative to the second road in such a way that the vehicle combination has already passed the junction of the second road and the first road. In this case, it may therefore be the case, for example, that the activation command is only received once the vehicle combination has already completely passed the junction of the second road, so that there is sufficient space for the vehicle combination to reverse into the second road. It can be provided that whenever the driving trajectory to the destination on the second road can be planned and thus determined from the current location, this driving trajectory is made available. This avoids the need for a suitable starting location for the driving maneuver to be determined and then driven to, which is a laborious process if the vehicle combination is already at a current location suitable for the turning maneuver.

[0030] In another exemplary embodiment, it is provided that before accepting the current location as the starting location, a check is carried out to determine whether the vehicle combination is moving. For example, the vehicle combination is always moving when the speed of the vehicle combination, in particular a speed of the motor vehicle, is greater than 0 kilometers per hour. Only if the vehicle combination is moving is a starting location different from the current location specified, at which location the vehicle combination can be stopped during a braking maneuver carried out at least with assistance by the motor vehicle and / or the trailer. In the travel trajectory determined here, the starting location therefore does not correspond to the current location but to another or different location that is different from the current location. This is referred to here as the different starting location.The alternative starting point is characterized by the fact that the vehicle combination can be braked up to this point, in particular braked so that a change of direction from forward to reverse can take place at the alternative starting point. To brake, a braking maneuver is carried out by the vehicle and / or trailer, at least with assistance. The braking maneuver is preferably carried out semi-automatically, in particular fully automatically, using the driver assistance system. It is therefore taken into account that if the vehicle combination is currently moving, reversing to the destination is not immediately possible, since any forward movement of the vehicle combination away from the junction of the second street must first be stopped.

[0031] For example, taking into account the current speed of the vehicle combination, it can be calculated how far the vehicle combination will travel at least until it has decelerated sufficiently to change direction and reverse. The location determined in this way, which is closest to the current location compared to all calculated locations, is preferably selected as the alternative starting location. The determined travel trajectory can already include the movement from the current location to the alternative starting location. In this case, the current location can be referred to as the starting location, and the alternative starting location can alternatively be referred to as the change of direction location or intermediate location of the travel trajectory. The travel trajectory then includes a forward movement and a backward movement.For example, a forward maneuver, particularly one directed straight ahead, is first performed from the current location to a starting location that differs from the current location, during which the vehicle reduces its speed and then performs a reverse maneuver from the different starting location to the destination. The method is therefore suitable for activation while driving, so that the vehicle does not have to be stationary on the first road, for example, in order to start the at least assisted movement to the destination on the second road. This is particularly convenient for the driver, among other things.

[0032] In another exemplary embodiment, if the vehicle combination cannot be reversed from its current location to its destination on the second road without changing direction, a starting location different from the current location is specified, from which starting location the vehicle combination can be reversed to its destination on the second road without changing direction. For example, it may be the case that the vehicle combination has not yet completely passed the junction of the second road, so that reversing into the second road is not possible from its current location. In this case, the different starting location from which reversing into the second road is possible must first be determined. The location determined in this way, which is closest to the current location compared to all calculated locations, is preferably selected as the different starting location.The determined travel trajectory may already include the movement from the current location to the alternative starting location. In this case, the current location can be referred to as the starting location, and the alternative starting location can alternatively be referred to as the direction change location or intermediate location of the travel trajectory. The travel trajectory then comprises a forward movement and a backward movement. Preferably, the starting location that differs from the current location can be reached by moving forward and is thus located in front of the vehicle in the direction of travel of the vehicle. If necessary, a suitable starting location is determined so that the determined travel trajectory specifies a feasible driving maneuver. The method can thus be implemented in numerous situations, even if the current location of the vehicle-trailer combination is not directly suitable for reversing into the second street.

[0033] Furthermore, one embodiment provides that the starting location that differs from the current location can be reached by driving the motor vehicle forward. Therefore, the different starting location is preferably located in front of the vehicle-trailer combination in the current direction of travel, so that it is typically further away from the junction of the second road than the current location, for example. This eliminates the need for a time-consuming reverse drive with the vehicle-trailer combination to reach the appropriate starting location for the driving maneuver. This is particularly convenient with regard to taking other road users into account. Furthermore, one embodiment provides that the starting location that differs from the current location is further away from the nearest edge of the first road than the current location.In the case of right-hand traffic, the new starting location would be further towards a central reservation and thus further away from the right edge of the first road when viewed in the forward direction of travel of the vehicle-trailer combination than the current location. By moving to the different starting location, the vehicle-trailer combination is moved forward, for example, and towards the middle of the first road. This is done to allow sufficient space for the trailer to pull out when reversing into the second road. In the case of left-hand traffic, the nearest edge would typically be the left edge of the road when viewed in the forward direction of travel. On a multi-lane road, the nearest edge of the road is still the right edge for right-hand traffic or the left edge for left-hand traffic, in each case viewed in the forward direction of travel of the lane of the road on which the vehicle-trailer combination is positioned.The distance between the alternative starting location and the current location from the nearest edge of the first road can depend, for example, on the dimensions of the first road and / or the space required for the vehicle combination when reversing. Therefore, a particularly suitable position and / or orientation of the vehicle combination can be used as an alternative starting location to begin reversing.

[0034] According to a further exemplary embodiment, at least one at least temporarily stationary and / or dynamic obstacle is taken into account when determining the travel trajectory. The obstacle is described by the environmental information. It can be provided that, for example, a parked motor vehicle located in the area of ​​or in spatial proximity to the junction of the second street and the first street is taken into account and the travel trajectory is selected such that the parked motor vehicle is avoided. The parked motor vehicle is an example of an at least temporarily stationary obstacle here. Alternative or additional at least temporarily stationary obstacles are possible, for example a street sign, a traffic light, a wall, a building, a garbage can and / or another object.Furthermore, dynamic obstacles described by the environmental information can be taken into account, such as a moving motor vehicle, a pedestrian, a cyclist, an animal and / or an object. The travel trajectory between the starting point and the destination is thus adapted to the actual environment and, in particular, to obstacles in the environment. This ensures that the motor vehicle can be moved from the starting point to the destination without colliding with the stationary or dynamic obstacle. Algorithms for detecting stationary and / or dynamic obstacles in environmental information of motor vehicles and / or trailers can be used, for example, object detection algorithms for detecting and identifying stationary and / or dynamic obstacles in road traffic.

[0035] Preferably, one embodiment is characterized in that, after the determined travel trajectory has been provided, it is checked by evaluating the environmental information whether at least one dynamic obstacle is moving in the vicinity of the vehicle combination. If this is the case, i.e. if, for example, a pedestrian, a moving motor vehicle, a cyclist, an animal and / or another moving object is detected, the travel trajectory and thus the turning maneuver of the vehicle combination is adapted to this dynamic obstacle. Alternatively or additionally, an emergency stop of the vehicle is carried out. The adaptation of the travel trajectory and / or the implementation of the emergency stop takes place in order to at least reduce the probability of a collision between the vehicle combination and the dynamic obstacle, in particular in order to prevent the collision.The emergency stop can alternatively be referred to as an emergency stop or as a braking of the vehicle combination to a standstill when deemed necessary.

[0036] It may be the case that not the entire surroundings of the vehicle / trailer combination can be monitored with regard to the dynamic obstacle, but only, for example, the surroundings of the motor vehicle, which may be at least partially obscured by the trailer. Nevertheless, an oncoming motor vehicle can be recognized as such, and, for example, during at least assisted departure from the travel trajectory, by changing the travel trajectory and / or executing an emergency stop, at least some effort can be made to prevent the vehicle / trailer combination and the other motor vehicle from colliding with each other. By adapting and thus changing the travel trajectory, space can be created for the oncoming vehicle, for example, so that it can drive past the vehicle / trailer combination. This example can be applied to other dynamic obstacles.Once the determined driving trajectory has been provided, and thus, for example, during assisted and / or semi-automatic and / or fully automatic driving along the driving trajectory, possible collisions between the vehicle and the trailer with dynamic obstacles are always taken into account. The driver assistance system is therefore particularly useful. Furthermore, one exemplary embodiment provides for the second road to merge vertically or diagonally into the first road. It can therefore be provided that an angle between the second road and the first road is approximately 90 degrees. However, alternatively or additionally, any angle between greater than 0° and less than 180° can exist between the first and second roads. The junction of the second road and the first road can, for example, be designed as an intersection. However, alternatively or additionally, the second road can merge diagonally into the first road.Generally, it is assumed that the dimensions of the merging road are suitable for the vehicle / trailer combination to enter. This can be specified depending on the trailer. For example, a minimum width of the second road can be specified depending on the trailer. Only if the width of the second road is at least the minimum can the second road be recognized as such. It is clear that numerous junctions and / or intersections of at least two roads are suitable for using the driver assistance system.

[0037] Preferably, the destination is located so far from the junction on the second road that the entire vehicle-trailer combination is on the second road and has thus moved away from the first road. Alternatively or additionally, at least part of the vehicle-trailer combination, for example, a front area of ​​the motor vehicle, can remain on the first road once the vehicle-trailer combination has been moved to the destination. The current location of the motor vehicle can be defined, for example, by the position of a center point of a rear wheel axle of the motor vehicle. This position should then be moved along the determined travel trajectory.

[0038] Another aspect of the invention relates to a motor vehicle that forms a combination with a trailer. The motor vehicle is designed to carry out a method according to one of the preceding claims. The motor vehicle is, for example, a passenger car, a truck, a bus, a motorcycle, and / or a moped.

[0039] Another aspect of the invention relates to a control device for a motor vehicle, wherein the motor vehicle forms a combination with a trailer. The control device is designed to carry out the method described above. The control device comprises, for example, a processor device. This can comprise at least one microprocessor, microcontroller, FPGA (Field Programmable Gate Array), and / or DSP (Digital Signal Processor). Furthermore, it can comprise program code, which can alternatively be referred to as a computer program product. The program code can be stored in a data memory of the processor device.

[0040] Another aspect of the invention relates to a computer program product. The computer program product is a computer program. The computer program product comprises instructions that, when executed by a computer, such as the control devices of the motor vehicle, cause the computer to carry out the method according to the invention.

[0041] The exemplary embodiments described in connection with the method according to the invention, both individually and in combination with one another, apply accordingly, to the motor vehicle according to the invention, the control device according to the invention, and the computer program product according to the invention, as applicable. The invention encompasses combinations of the described exemplary embodiments.

[0042] Showing:

[0043] Fig. 1 is a schematic representation of a combination of a motor vehicle and a trailer that wishes to perform a turning manoeuvre; and

[0044] Fig. 2 shows a schematic representation of a signal flow graph of a method for operating a driver assistance system for at least assisted reversing of a vehicle combination.

[0045] In the figures, functionally identical elements are provided with the same reference symbols.

[0046] Fig. 1 shows a motor vehicle 1 which has a trailer 2 and with the latter forms a vehicle combination 3. The trailer 2 and the motor vehicle 1 are at least temporarily fastened to one another by a coupling 4. The motor vehicle 1 here has a control device 5 which provides a driver assistance system 6. Furthermore, the motor vehicle 1 can have a sensor device 7 which, for example, comprises at least one camera 8. The at least one camera 8 can, for example, be arranged in a side mirror 9 of the motor vehicle 1 and / or in a partial region of a windshield 10 of the motor vehicle 1 which is located at the top in the vertical direction. The respective camera 8 can therefore be a front camera, a side camera and / or a surround-view camera of the motor vehicle 1. Alternatively or additionally, it can be designed as a rear camera.Alternatively or additionally, the sensor device 7 can comprise a radar device 11 in the front area of ​​the motor vehicle 1 and / or on the side and / or in a rear area of ​​the motor vehicle 1. Furthermore, the sensor device 7 can have at least one lidar device and / or at least one ultrasonic sensor. The sensor device 7 is preferably a combination of several individual sensors, such as the cameras 8 outlined here and the radar device 11. Alternative or different arrangements, numbers of sensors, and / or configurations of sensors of the sensor device 7 are possible.

[0047] Here, the vehicle combination 3 is currently traveling on a first road 12, into which a second road 13 joins. Furthermore, the edge 14 of the first road 12 closest to the vehicle combination 3 is marked. For the sake of example, right-hand traffic is assumed here, which is why the nearest edge 14 is to the right of the vehicle combination 3 in the forward direction of travel.

[0048] The method is based on the assumption that, for example, a driver of the motor vehicle 1 may wish to reverse with the vehicle combination 3, at least with assistance, from the first road 12 on which the vehicle combination 3 is traveling, into the second road 13 leading into the first road 12, in order to, for example, change direction and then continue driving in the opposite direction as before on the first road 12. The method according to the invention therefore provides for a starting location 16 on the first road 12 and a destination 17 on the second road 13 to be determined, between which the vehicle combination 3 can be moved backwards into the second road 13 along a travel trajectory 18. The travel trajectory 18 is shown as a dashed line. Furthermore, a current location 15 of the vehicle combination 3 is sketched here. This is located centrally in the area of ​​a rear axle of the motor vehicle 1.

[0049] Furthermore, there may be an obstacle 19, which is for example another moving motor vehicle 1, which can be taken into account when determining the travel trajectory 18.

[0050] Fig. 2 shows a method for operating the driver assistance system 6 for at least assisted reversing of the trailer 3 from the first road 12 into the second road 13. In a method step S1, environmental information 20 can be detected by means of the sensor device 7, which describes at least part of the environment of the trailer 3. This part of the environment is delimited, for example, by a detection range of the respective sensor device 7. Alternatively or additionally, a sensor device 7 of the trailer 2 can detect the environmental information 20.

[0051] In a method step S2, while the vehicle-trailer combination 3 is traveling on the first road 12, the second road 13 leading into the first road 12 is detected. This is done by evaluating the environmental information 20. For example, it is determined that the second road 13 leading into the first road 12 is present in the vicinity of the vehicle-trailer combination 3. In this case, the second road 13 leads perpendicularly into the first road 12. Alternatively, it is possible, for example, for the second road 13 to be oriented obliquely and thus at an angle between greater than 0° and less than 90° or greater than 90° and less than 180° to the first road 12.

[0052] In a method step S3, after the second road 13 has been detected, the travel trajectory 18 is determined. This guides the vehicle-trailer combination 3 at least from the starting point 16 on the first road 12 to the destination 17 on the second road 13. The travel trajectory 18 provides for the vehicle-trailer combination 3 to reverse between the starting point 16 and the destination 17.

[0053] Furthermore, forward travel of the motor vehicle 1 may be necessary and included in the travel trajectory 18, for example, from the current location 15 to the starting location 16. Preferably, the entire travel trajectory 18 only provides for reverse travel. In method step S3, for example, the trajectory outlined in Fig. 1 is determined as the travel trajectory 18. Furthermore, the travel trajectory 18 may include the path from the current location 15 to the starting location 16 according to Fig. 1 (not outlined).

[0054] In a method step S4, the determined driving trajectory 18 is made available to the driver assistance system 6, so that the determined driving trajectory 18 can be followed at least with assistance by the driver assistance system 6. For this purpose, for example, the determined driving trajectory 18 is transmitted internally within the control device in such a way that the determined driving trajectory 18 is available to the driver assistance system 6.

[0055] In general, the described method is preferably carried out by means of the control device 5 of the motor vehicle 1, wherein, for example, the environmental information 20 acquired in method step S1 is transmitted to the control device 5 within the motor vehicle for this purpose. In a method step S5, for example, it is checked whether a predetermined activation command 21 is detected in the motor vehicle 1. The activation command 21 can be specified manually, for example by actuating an actuating element in the motor vehicle 1. Alternatively or additionally, it can be generated at least partially automatically. In particular, the activation command 21 is only specified or generated if the second road 13 has been recognized as such.

[0056] In a method step S6, after the determined travel trajectory 18 has been provided, a longitudinal and / or transverse guidance of the motor vehicle 1 and / or the trailer 2 can be controlled such that the vehicle combination 3 is moved along the travel trajectory 18. Alternatively or additionally, in a method step S7, at least one control specification for the longitudinal and / or transverse guidance of the motor vehicle 1 and / or the trailer 2 can be output in the motor vehicle 1, the implementation of which enables the vehicle combination 3 to be moved along the travel trajectory 18. Thus, in an assisted driver assistance system 6, method step S7 is carried out, and in a semi-automatic, in particular fully automatic, driver assistance system 6, method step S6 is carried out. Ultimately, the driving maneuver is actually implemented along the planned and thus determined travel trajectory 18.

[0057] With regard to the travel trajectory 18, three cases can be distinguished: A, B, and C. In case A, the current location 15 of the vehicle-trailer combination 3 is always assumed as the starting location 16 if, from the current location 15, the vehicle-trailer combination 3 can reverse to the destination 17 on the second road 13 without changing direction. Case A therefore applies if single-movement reversing from the current location 15 to the destination 17 is possible.

[0058] In case B, it can be provided that a check is carried out to determine whether the vehicle combination 3 is currently moving. This is indicated here by a movement arrow 22. If this is the case, a starting location 16 different from the current location 15 is assumed as the starting location 16, at which starting location 16 the vehicle combination 3 can be stopped during a braking maneuver carried out at least with assistance by the motor vehicle 1. Here, a distance 23 from the current location 15 is therefore taken into account, by which the vehicle combination 3 is initially moved before the vehicle combination 3 can begin to reverse. Such a different starting location 16 is, for example, the starting location 16 shown in Fig. 1, which is located away from the current location 15. The travel trajectory 18 can run from the current location 15 to the different starting location 16 and from there to the destination 17.In case C, it is determined that reversing of the vehicle-trailer combination 3 from the current location 15 to the destination 17 on the second road 13 is not feasible without changing direction. This example 2 also shows the situation outlined in Fig. 1. In this case, a starting location 16 for reversing that differs from the current location 15 is also determined, from which reversing to the destination 17 is then feasible without changing direction.

[0059] The starting location 16, which differs from the current location 15 and is approached, for example, in cases B and C, is reached, for example, by the vehicle-trailer combination 3 moving forward. Alternatively or additionally, it can be farther away from the nearest edge 14 of the first road 12 than the current location 15. The vehicle-trailer combination 3 can therefore be moved closer to a center line of the first road 12 compared to the current location 15. This results in more space for the vehicle-trailer combination 3 to swerve on the first road 12, which will typically occur when reversing.

[0060] It can be provided that, when determining the travel trajectory 18, an at least temporarily stationary and / or dynamic obstacle 19, which is described by the environmental information 20, is taken into account. For example, it can be provided that this obstacle 19 is avoided. After the determined travel trajectory 18 has been provided, it can also be checked by evaluating the environmental information 20 whether at least one dynamic obstacle 19 is moving in the vicinity of the vehicle combination 3, which, for example, is moving towards the vehicle combination 3. If this is the case, the travel trajectory 18 is adapted to the dynamic obstacle 19 and / or an emergency stop of the motor vehicle 1 is carried out. This is intended to at least reduce the probability of a collision between the vehicle combination 3 and the dynamic obstacle 19. For example, the emergency stop can be carried out if a collision with the approaching other motor vehicle 1 as an obstacle 19, as shown in Fig.1 is outlined.

[0061] Overall, the examples show trailer maneuvering into intersecting and thus merging streets 13. The trailer 2 is coupled to the motor vehicle 1 here. The motor vehicle 1 checks for a space for, for example, a vertical reversing maneuver into the second street 13 while driving freely. If enough space is available, the vertical reversing into the second street 13 is planned and suggested, for example, for an automated maneuver with the trailer 2. When maneuvering a vehicle combination 3 with a trailer 2, it often happens that you have to reverse into a second intersecting street 13. This can, for example, be part of a driving test for driving the motor vehicle 1 with a coupled trailer 2. It is therefore important or useful to at least support such a driving maneuver.By detecting intersecting roads, i.e. the merging second road 13, for example based on vehicle sensors such as the sensor device 7, the motor vehicle 1 knows where to drive with the trailer 2. It can then offer the correct driving trajectory 18 in order to be able to reverse into the second road 13. The driving trajectory 18 can be complex, in that it first drives straight back in order to reduce the turning radius and thus the risk of a possible collision with other road users, for example with the obstacle 19. In addition, by driving forward to the correct side of the road, it can be offered to drive to a particularly suitable starting point 16. The driving trajectory 18 can include sections during reversing where the vehicle drives straight ahead and / or sections with a steering angle greater than 0, where a curve can be taken from the first road 12 to the second road 13.

Claims

Patent claims 1 . A method for operating a driver assistance system (6) for at least assisted reversing of a combination (3) comprising a motor vehicle (1) and a trailer (2) from a first road (12) on which the combination (3) is traveling into a second road (13) leading into the first road (12), comprising: - while the vehicle combination (3) is traveling on the first road (12), detecting (S2) the second road (13) leading into the first road (12) by evaluating environmental information (20) that describes at least part of the environment of the vehicle combination (3); - after the second road (13) has been detected, determining (S3) a travel trajectory (18) at least from a starting location (16) on the first road (12) to a destination (17) on the second road (13), wherein the travel trajectory (18) provides for reversing of the vehicle combination (3) between the starting location (16) and the destination (17); - Providing (S4) the determined travel trajectory (18) for the driver assistance system (6), so that by means of the latter the determined travel trajectory (18) can be followed at least with assistance.

2. Method according to claim 1, wherein after the determined travel trajectory (18) has been provided, a longitudinal and / or transverse guidance of the motor vehicle (1) and / or the trailer (2) is controlled (S6) in such a way that the vehicle combination (3) is moved along the travel trajectory (18), and / or in the motor vehicle (1) at least one control specification for the longitudinal and / or transverse guidance of the motor vehicle (1) and / or the trailer (2) is output (S7), upon implementation of which the vehicle combination (3) can be moved along the travel trajectory (18).

3. Method according to claim 2, wherein the actuation and / or the output of the actuation specification only take place when a predetermined activation command (21) is detected in the motor vehicle (1) (S5).

4. The method according to claim 3, wherein the activation command (21) can be specified manually and / or is generated automatically, in particular only when the second road (13) has been detected.

5. Method according to one of the preceding claims, wherein a current location (15) of the vehicle combination (3) is always assumed as the starting location (16) when reversing of the vehicle combination (3) to the destination (17) on the second road (13) is possible from the current location (15) without changing direction.

6. The method according to claim 5, wherein, before accepting the current location (15) as the starting location (16), it is checked whether the vehicle combination (3) is in motion, wherein only if it is in motion is a starting location (16) different from the current location (15) specified, at which starting location the vehicle combination (3) can be stopped in the event of a braking maneuver carried out at least with assistance by means of the motor vehicle (1).

7. Method according to one of the preceding claims, wherein, if from a current location (15) of the vehicle combination (3) it is not possible to reverse the vehicle combination (3) to the destination (17) on the second road (13) without changing direction, a starting location (16) different from the current location (15) is specified, from which the vehicle combination (3) can reverse to the destination (17) on the second road (13) without changing direction.

8. The method according to claim 6 or 7, wherein the starting location (16) deviating from the current location (15) can be reached by a forward movement of the motor vehicle (1).

9. The method according to any one of claims 6 to 8, wherein the starting location (16) deviating from the current location (15) is further away from a nearest edge (14) of the first road (12) than the current location (15).

10. Method according to one of the preceding claims, wherein when determining the travel trajectory (18) at least one at least temporarily stationary and / or dynamic obstacle (19) described by the environmental information (20) is taken into account.

11. Method according to one of the preceding claims, wherein after providing the determined travel trajectory (18) by evaluating the environmental information (20) it is checked whether at least one dynamic Obstacle (19) in the surroundings of the vehicle combination (3) is moving, and if this is the case, the driving trajectory (18) is adapted to this dynamic obstacle (19) and / or an emergency stop of the motor vehicle (1) is carried out in order to at least reduce the probability of a collision of the vehicle combination (3) with the dynamic obstacle (19).

12. Method according to one of the preceding claims, wherein the second road (13) opens vertically or obliquely into the first road (12).

13. Motor vehicle (1) which, together with a trailer (2), forms a combination (3), wherein the motor vehicle (1) is designed to carry out a method according to one of the preceding claims.

14. Control device (5) for a motor vehicle (1) which, together with a trailer (2), forms a combination (3), wherein the control device (5) is designed to carry out a method according to one of claims 1 to 12.

15. A computer program product comprising instructions which, when executed by a computer, cause the computer to carry out a method according to any one of claims 1 to 12.

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