Method for the automated manoeuvring of a motor vehicle and driver assistance system for carrying out such a method

Abstract

The invention relates to a method for the automated manoeuvring of a motor vehicle (1) by means of a driver assistance system (10), having a camera unit (2) for recording images in a surrounding region (3) of the motor vehicle (1), an image processing unit (11) for processing the recorded images and for generating image overlays, a display unit (12) for displaying the recorded and / or processed images and the image overlays, a steering angle sensor (13) for sensing a steering angle of a steering system of the motor vehicle, said steering angle having a causal relationship with a steering lock of a steering wheel (9), and an electronic controller (15) for controlling the motor vehicle depending on the steering lock, wherein in an image recorded by the camera unit, individual target object candidates (4a-4g) are recognised by means of the image processing unit and are displayed on the display unit overlaid with markings (5a-5g), wherein one of the marked target object candidates is selected as a target object (4b*) by means of a steering lock, wherein a trajectory (6) between the motor vehicle and the selected target object (4b*) is calculated and displayed on the display unit in an image-overlaid manner, and wherein the motor vehicle is manoeuvred along the trajectory towards the target object (4b*) in an at least partially automated manner. According to the invention, the image processing unit (11) uses a digital image excerpt function to select the target object (4b*).

Description

[0001] Hanover, November 4th, 2024 IP, Schäferjohann, Marondel / Lü 302943-DE-NP EM 302943

[0002] Method for the automated maneuvering of a motor vehicle and driver assistance system for carrying out such a method

[0003] The invention relates to a method for the automated maneuvering of a motor vehicle by means of a driver assistance system, comprising a camera unit for capturing images in an area surrounding the motor vehicle, an image processing unit for processing the captured images and generating image superimpositions, a display unit for displaying the captured and / or processed images as well as image superimpositions, a steering angle sensor for detecting a steering angle of the motor vehicle that is causally related to a steering input of a steering wheel, and with or without a steering actuator, as well as with an electronic control device for controlling the motor vehicle by means of the optionally present steering actuator depending on a detected steering input.wherein, in an image captured by the camera unit, individual target object candidates are recognized by the image processing unit and displayed on the display unit with respective markings superimposed, wherein one of the marked target object candidates is selected as a target object by means of a steering input, wherein a trajectory between the motor vehicle and the selected target object is calculated by the image processing unit and displayed on the display unit as an image superimposed, and wherein the motor vehicle is maneuvered at least semi-automatically along the trajectory towards the target object by means of the control device. The invention also relates to a driver assistance system for carrying out such a method.

[0004] When maneuvering a vehicle, for example, when a larger commercial vehicle needs to precisely reverse towards a trailer hitch, a swap body, or a loading ramp, multiple time-consuming path corrections are often necessary before the vehicle reaches the correct position. Since a spotter is usually not available, maneuvering damage occasionally occurs, especially with less experienced drivers.

[0005] Camera systems capable of optically capturing objects perpendicular to the camera's direction across a wide angle are increasingly being used in commercial vehicles. A driver assistance system in such a vehicle can facilitate maneuvering by overlaying a trajectory, such as a geometric path or a line of sight, onto a camera image on a screen within the area where the vehicle is moving. These systems are available in various designs.

[0006] EP 1 249 365 A1 discloses a driver assistance system for supporting the coupling maneuver of a motor vehicle. An image captured by a reversing camera is displayed on a screen. Following an instruction input, this image is superimposed with a trajectory that shows the path the trailer hitch of the active vehicle moves in response to the steering input of the vehicle's steering wheel. The trajectory display makes it easier for the driver to reverse the vehicle while viewing the screen in such a way that the trailer hitch on the rear of the vehicle aligns precisely with the trailer hitch of the vehicle being coupled.

[0007] Furthermore, methods are known in which a vehicle can be automatically moved towards a target object using a driver assistance system. For example, if a semi-trailer truck is to automatically drive towards a specific semi-trailer in a depot where several semi-trailers are parked, in order to couple it to the tractor unit, the correct semi-trailer must first be selected before the driver assistance system can initiate the maneuvering process. Camera systems with image processing units are used for this purpose. These units optically capture the surroundings of the active vehicle and the objects located there, such as a depot with the parked trailers. Such an image processing unit must be able to mark individual objects, such as trailers, ramps, or swap bodies, on a display unit's screen.The user can select a specific target object by, for example, operating a rotary push-button, a button or a joystick, or by tapping one of the objects with their finger on a touch-sensitive surface of a screen of the display unit.

[0008] From DE 10 2019 129 831 A1, a coupling assistance system for a vehicle is known in which a control device receives image data from a camera. Within a defined target area of ​​the image data, the control device identifies a multitude of vehicle trailers, receives the selection of a specific trailer, and issues a steering signal to cause the vehicle to steer in such a way that a coupling ball of the vehicle is aligned with a coupling device of the selected trailer. The trailers identified in the image data are each displayed as a rectangle superimposed on a touch-sensitive screen. Buttons are displayed on the screen adjacent to this rectangle. The user can press a button to select the relevant trailer.Alternatively, a rotary knob can be provided, allowing the operator to scroll through the rectangles marking the trailers in order to select the respective trailer. The selection is confirmed by the coupling assistance system either by removing the remaining rectangles or by changing the color of the selected rectangle.

[0009] German patent DE 10 2018 128 078 B3 discloses a further method for supporting the coupling process of a motor vehicle to a trailer. A camera image of the area behind the motor vehicle is displayed by means of a display device. A data processing device evaluates the camera image, searching for trailer couplings in the area behind the vehicle. If more than one trailer coupling is found in the camera image, a selection option is provided for manually selecting one of the detected trailer couplings. This selection option includes a selection field that the user can manually move to select one of the trailer couplings within the camera image. The trailer coupling that is closest to the center of the selection field is selected.The data processing unit records the user's selection of the trailer hitch. A coupling assistant supports the coupling process of the vehicle to the selected trailer hitch. The coupling assistant automatically controls longitudinal and / or lateral guidance of the vehicle until the vehicle's trailer hitch is positioned correctly relative to the selected trailer hitch. A geometric path corresponding to the vehicle's sensed steering angle is displayed in the camera image, with the selection field located within this path. When the steering angle is changed by turning the steering wheel, the selection field, along with the path, moves within the camera image to allow selection of one of the trailer hitches.

[0010] Selecting a target object via a screen-based button requires a touch-sensitive and relatively large screen, resulting in comparatively high manufacturing costs. However, user input via additional mechanical controls, such as rotary knobs or buttons, to select a target object for an automated vehicle maneuver is rather impractical and requires additional material and installation space. Therefore, methods for automated vehicle maneuvers have already been developed in which a target object can be selected directly by turning the vehicle's steering wheel.

[0011] German patent DE 10 2012 001 380 A1 describes such a driver assistance system for coupling a motor vehicle, in which a target object is selected directly by the steering input. An image from a reversing camera, in whose field of view one or more coupling sockets are located, is displayed on a screen in the vehicle. Depending on the steering input of the vehicle's steering wheel, an area within the recorded image can be specified for an image evaluation unit to detect a coupling socket. If several coupling sockets are located in the selected area, one of the coupling sockets can be selected by the corresponding steering input.The image processing unit then calculates a trajectory between the vehicle's trailer hitch and the target object, in this case, the coupling socket of the trailer, and overlays the image display with this trajectory. User confirmation may be required before calculating the trajectory. The driver assistance system automatically maneuvers the vehicle along the trajectory or assists the driver by intervening with steering, braking, and / or acceleration. However, particularly with large commercial vehicles, such as those commonly used in the logistics industry, limited visibility can sometimes make it difficult to align the steering wheel precisely enough to clearly target the desired object on the first attempt.For example, on a large depot site, many different vehicles and / or several loading ramps may be located close together and / or relatively far away from the driver's seat, so that several attempts are required or a relatively long time passes before it is possible to correctly select the desired target object by turning the steering wheel.

[0012] Against this background, the invention aims to present an improved method for the automated maneuvering of a motor vehicle that is both safe and user-friendly. In particular, the selection of a target object by means of a steering wheel input for such a maneuver should be user-friendly. The method should, for example, be suitable for the automated positioning of a commercial vehicle for coupling to one of several available trailers. A further objective is to present a device for carrying out such a method.

[0013] The solution to this problem arises from the features of the independent claims, while advantageous embodiments and further developments of the invention are defined in the associated dependent claims.

[0014] The invention therefore relates initially to a method for the automated maneuvering of a motor vehicle by means of a driver assistance system, comprising: a camera unit for recording images in an area surrounding the motor vehicle, an image processing unit for processing the recorded images and for generating image superimpositions, a display unit for displaying the recorded and / or processed images as well as image superimpositions, and a steering angle sensor for detecting a steering angle of the motor vehicle's steering system that is causally related to a steering input of a steering wheel, wherein in an image recorded by the camera unit, individual target object candidates are recognized by means of the image processing unit and displayed on the display unit with respective markings superimposed, wherein one of the marked target object candidates is selected as a target object by means of a preliminary steering input.

[0015] For this purpose, a trajectory is calculated for the path the vehicle would take at the current steering angle, using the image processing unit and displayed as an overlay on the display unit. The vehicle can then be maneuvered, at least semi-automatically, along this trajectory towards a target object using the control unit.

[0016] To solve the stated process-related problem, the invention provides that, for the process step of selecting the target object, the image processing unit first calculates a trajectory based on a preliminary steering angle and displays it on the display unit with a number of target object candidates, each marked within it. Subsequently, the target object is finally selected by readjusting the steering angle, and the selected target object is optically confirmed on the display unit by the image processing unit. The final selection is also made using the trajectory calculated for the new steering angle.

[0017] A camera unit is defined as a photographic device mounted on a vehicle, comprising at least one camera for capturing and transmitting a stream of image data, including static and / or moving images, of at least one area surrounding the vehicle. The camera unit may, in particular, include rear-facing and / or front-facing cameras.

[0018] An optional image cropping function simplifies the selection of a target object for automated maneuvering of a motor vehicle by means of steering wheel input, thereby increasing the user-friendliness of a driver assistance system. The image cropping function is designed to display the area targeted by the current steering angle differently on the display unit compared to the surrounding area. This allows the image display of other objects to be adjusted when a target object is selected. According to the invention, the image processing unit analyzes a preliminary steering input and offers a complete image or an image section with several target object candidates, which are marked accordingly.Other objects visible to the camera unit, which are not potential target objects due to the steering angle, can be hidden from the image, displayed smaller, blurred, or at least disregarded when marking the individual target objects.

[0019] The image section shown on the display unit makes it easier for the driver to precisely and quickly align the steering wheel with the desired target. After confirmation of the target is displayed, a control unit takes over the steering to safely guide the vehicle to the selected target.

[0020] Examples of target objects include trailer couplings of trailer vehicles, such as fifth wheel couplings and swap bodies, which can be driven under by a semi-trailer truck or a tractor unit, or jaw couplings and ball couplings, as well as loading ramps.

[0021] To adjust the sensitivity of the procedure with regard to the steering angle-dependent changing screen displays, it may be provided that at least at the beginning of the procedure a value is determined and subsequently used which, in the sense of a translation, defines how large the steering angle amount of a steering input must be to cause a shift of a marker across the entire screen width B of the display unit.

[0022] Alternatively, or additionally, for the same purpose, a value can be determined at least at the beginning of the process and subsequently used, which, in the sense of a translation, defines the required steering angle to move a marker across all detected target candidates. The two sensitivity settings can therefore be used individually or together to adapt the maximum 360° steering wheel rotation to the screen control of the display device. For example, a 45° steering wheel rotation can be configured to move a marker on the display device's screen by 100% of the screen width B, i.e., from its right edge to its left edge.

[0023] According to a further embodiment of the method, the digital image cropping function can generate an image magnification, whereby an enlarged image section with multiple target object candidates is automatically adapted to the available screen width of the display unit. This magnification function further simplifies and facilitates accurate object selection for the user. The optional magnification function thus allows and is advantageous for adapting the image section to the screen size of the display unit. Alternatively, the image sections can be displayed on the display unit at the original size of the camera image, with the remaining areas hidden.

[0024] Another embodiment provides that each target object candidate is superimposed on the display unit with a marker by the image processing unit, this marker having the geometry of a boundary frame that at least approximately completely encloses the respective target object candidate and is transparent in its surface. This is advantageous because several potential target object candidates may be positioned or arranged very close together. By framing each of the potential target object candidates, they are clearly separated from one another by the image processing unit, so that in every case a reliable selection can be made by the steering angle, as the end of the calculated trajectory furthest from the towing vehicle encounters the correct boundary frame.

[0025] Furthermore, it can be advantageous to provide visual confirmation of the target object selected by the steering wheel by the image processing unit, by marking the target object in the image with a confirmation symbol. This confirmation symbol can be displayed, for example, as a green checkmark and / or as a green outline around the selected target object. After the final selection of the target object by turning the vehicle's steering wheel, the selection is displayed on the display unit. A green checkmark or a green outline intuitively confirms to the driver that they have made the correct selection for the subsequent reversing maneuver.

[0026] According to another procedural variant, it can be provided that the motor vehicle is manually maneuvered laterally by the driver and automatically in the longitudinal direction, and that the motor vehicle is briefly automatically braked by the control device when approaching the target object closely.

[0027] After this brief deceleration of the vehicle, the driver can decide within a defined short period whether the final, short distance to the target should be covered manually, instead of using the previous automatic longitudinal control. This allows the driver to manually adjust the vehicle's coupling speed at the end of the coupling path, for example, in problematic situations.

[0028] Another variant of the procedure provides that the motor vehicle is maneuvered manually by the driver in the lateral direction and automatically in the longitudinal direction, whereby the driver is warned by the control device before reaching the target object if there is a risk that the target object will not be reached by the driver's manual control in the lateral direction.

[0029] This warning allows the driver to significantly alter their manual lateral control of the vehicle if necessary, or to completely abort the current maneuvering operation, move the vehicle forward slightly, and then restart the maneuvering operation.

[0030] If the driver assistance system is to perform automatic lateral steering of the vehicle, the vehicle has an electronic control unit for steering the vehicle by means of a steering actuator depending on a measured steering wheel angle. In this process, the control unit uses the steering actuator to maneuver the vehicle along the trajectory, at least semi-automatically, towards the target object.According to another variant of the procedure, it can therefore be provided that such a motor vehicle is automatically maneuvered in the lateral direction by the electronic control device, and that in addition to the automatic lateral guidance, automatic longitudinal guidance of the motor vehicle is carried out, which is activated by the operation of a control element, such as by tapping an accelerator pedal of the motor vehicle or by setting a switch by the driver.

[0031] Accordingly, to activate the automatic longitudinal control of the vehicle, additional confirmation of the automated maneuvering process by the driver is required. This confirmation can be effected by an action of the driver, for example, by actuating a designated switching element or by an unambiguous action in this situation using a device that is already present, such as pressing and immediately releasing the accelerator pedal. This ensures that the driver is aware that the vehicle will be moved and braked automatically during the subsequent maneuver. This further increases the operational safety of the driver assistance system in the method according to the invention.

[0032] In the motor vehicle just described, which has an electronic control device for steering the motor vehicle by means of a steering actuator depending on a measured steering angle of a steering wheel, and in which the motor vehicle is maneuvered at least semi-automatically towards the target object along the trajectory by means of the steering actuator by means of the control device, it may also be provided that the motor vehicle is automatically maneuvered in the lateral direction, that the motor vehicle is manually maneuvered in the longitudinal direction by the driver, and that the motor vehicle is briefly automatically braked by the control device when approaching a target object closely, if there is a risk that the motor vehicle will collide with the target object.

[0033] Accordingly, during semi-automated maneuvering, the vehicle is steered automatically, while the driver can manually move or brake the vehicle as needed. Because the vehicle automatically brakes when approaching the target object very closely, accidental collisions with the target object are reliably avoided.

[0034] To solve the device-related problem, the invention according to a first embodiment relates to a driver assistance system for the automated maneuvering of a motor vehicle, comprising

[0035] - a camera unit for recording images in an area surrounding the motor vehicle,

[0036] - an image processing unit for processing the captured images and for generating image overlays,

[0037] - a display unit for showing the recorded and / or processed images as well as image overlays,

[0038] - a steering angle sensor for detecting a steering angle of the motor vehicle that is causally related to a steering input of a steering wheel,

[0039] - a steering actuator, as well as

[0040] - an electronic control device for controlling the motor vehicle by means of the steering actuator depending on a detected steering angle,

[0041] - wherein in an image taken by the camera unit, individual target object candidates can be identified by means of the image processing unit and superimposed on the display unit with respective markings,

[0042] - where a target object can be selected from the marked target object candidates by means of a steering input,

[0043] - wherein the image processing unit has a digital image cropping function as an aid for selecting the target object,

[0044] - wherein a trajectory between the motor vehicle and the selected target object can be calculated using the image processing unit and displayed on the display unit as an overlay image, and

[0045] - wherein the motor vehicle can be maneuvered at least semi-automatically along the trajectory towards the selected target object by means of the control device and the steering actuator.

[0046] This arrangement provides a driver assistance system for automated maneuvering of a motor vehicle with an additional feature that enables a maneuvering process towards a target object to be initiated by a corresponding steering input, particularly of the vehicle's steering wheel. An image cropping function is implemented in the electronic system, which facilitates the selection of the target object via steering wheel movement. This further enhances the user-friendliness of the driver assistance system.

[0047] Finally, the invention also relates to a motor vehicle, such as a commercial vehicle or passenger car, with a driver assistance system for automated maneuvering of the motor vehicle, which is device-related and operable according to the aforementioned features.

[0048] The invention is further explained below with reference to an embodiment illustrated in the accompanying drawing. The drawing shows

[0049] Fig. 1 is a schematic representation of an image of a depot with several tractor units and trailers parked there, taken by a reversing camera of a towing vehicle and superimposed with optical information, and Fig. 2 is a schematic of a driver assistance system for carrying out a coupling maneuver of the towing vehicle to a selected trailer according to Fig. 1.

[0050] Accordingly, the motor vehicle 1 shown in Fig. 1, in this example a semi-trailer truck without a trailer attached, located in a depot, has a camera unit 2 designed and positioned as a reversing camera. The camera unit 2 optically captures a rearward area 3 of the motor vehicle 1, in which several potential target objects are located, in this case several semi-trailer trucks 4a, 4d, 4f and several semi-trailers 4b, 4c, 4e, 4g. This is merely an example scenario. In another scenario, the potential target objects could, for example, be several stationary loading ramps. Other, further movable objects such as drawbar trailers, construction machinery, tractors, and / or stationary objects such as equipment sheds, technical rooms, warehouses, etc., could also be present.

[0051] The camera unit 2 is a component of a driver assistance system 10, the basic structure of which is shown schematically in Fig. 2. Accordingly, the driver assistance system 10 also includes an image processing unit 11, a display unit 12, a steering angle sensor 13, a steering actuator 14, and an electronic control unit 15. These components are interconnected via an electronic bus system 16 of the vehicle 1, for example, a CAN bus.

[0052] The image processing unit 11 comprises an image processing module 11a, a target object candidate module 11b, and a steering angle calculation module 11c. The image processing module 11a is configured to receive a camera image of the surrounding area 3 captured by the camera unit 2 and to send an electronically processed camera image, including image overlays, to the display unit 12.

[0053] The target object candidate module 11b receives steering angle information from the steering angle sensor 13 and uses this information to create a list of, in this case, seven potential target object candidates 4a, 4b, 4c, 4d, 4e, 4f, 4g. The steering angle sensor 13 can be located in the area of ​​the steering wheel 9 or other steering components of the vehicle 1. These target object candidates 4a, 4b, 4c, 4d, 4e, 4f, 4g are each marked, in this case in the form of a boundary frame 5a, 5b, 5c, 5d, 5e, 5f, 5g. The markings appear on the display unit 12 as image overlays of the camera image. Furthermore, as shown in Fig. 1, a confirmation sign 17 for the final selection of one of the target object candidates 4a, 4b, 4c, 4d, 4e, 4f, 4g can be displayed on the object in question by steering input.Furthermore, based on the final selection of one of the target object candidates 4a, 4b, 4c, 4d, 4e, 4f, 4g, the target object candidate module 11b can calculate a trajectory 6, in this case in the form of a geometric driving tube, between the motor vehicle 1 and a selected target object 4b* and display it on the display unit 12 via the image processing module 11a.

[0054] Furthermore, an image cropping function is implemented in the image processing module 11a, by means of which an image section 18 of the camera image can be generated and displayed on the display unit 12. The image section 18 can, for example, be limited to the marked target object candidates 4a, 4b, 4c, 4d, 4e, 4f, 4g, whereby this representation can be displayed enlarged on the display unit 12, as shown in Fig. 1, so that it completely fills the available screen width B of the display unit 12. The steering angle calculation module 11c of the image processing unit 11 continuously calculates the necessary steering angle of the vehicle along the calculated trajectory 6 during an automated driving maneuver of the motor vehicle 1 and provides this information to the electronic control unit 15 of the driver assistance system 10.The electronic control device 15 is equipped with an automatic lateral guidance function of the motor vehicle 1 in order to continuously control the steering actuator 14 accordingly, so that the motor vehicle 1 can be approached with pinpoint accuracy to within a predetermined distance of the target object.

[0055] A method incorporating the features of the invention can be carried out on the motor vehicle 1 according to Fig. 1 and is described below with reference to the driver assistance system 10 schematically depicted in Fig. 2. For this purpose, the driver assistance system 10 operates, by way of example, with an algorithm which is stored completely or partially in the image processing unit 11 or in its modules 11a, 11b, 11c, and in the control unit 15, and is operated there. According to this algorithm, a typical example scenario proceeds as follows:

[0056] The motor vehicle 1, in the form of a tractor unit (also commonly called a semi-trailer truck), which is located in the depot according to Fig. 1, is to be coupled to the second object (viewed from the left), i.e., the target object 4b*, in the form of a semi-trailer, and is to be automatically maneuvered backwards towards the semi-trailer 4b* so that a kingpin 7b of the semi-trailer 4b* can engage a fifth wheel coupling plate 7a of a fifth wheel coupling 7 of the motor vehicle 1, which is configured as a tractor unit. The driver specifies a steering angle by operating a steering wheel 9 of the motor vehicle 1 in order to set the two steerable wheels 8a, 8b of the motor vehicle 1 at a steering angle that would steer the motor vehicle 1 in the desired direction when reversing.

[0057] The target object candidate module 11b detects this steering angle from the steering angle sensor 13 and uses this steering angle information to calculate a preliminary trajectory 6 between the vehicle 1 and a target area in which the desired target object 4b* is located. Furthermore, based on the previously calculated trajectory 6, the target object candidate module 11b calculates an image section 18 of the detected environment 3. This image section 18 contains several relevant target object candidates 4a, 4b, 4c, 4d, 4e, 4f, 4g, including the desired target object 4b*, which lie within the area of ​​the trajectory 6.

[0058] Each of these target object candidates 4a, 4b, 4c, 4d, 4e, 4f, 4g is graphically overlaid with a marker 5a, 5b, 5c, 5d, 5e, 5f, 5g in the form of a bounding box. The image processing module 11a receives the calculated trajectory 6 and the image section 18 as data information and transmits this information as an image signal to the display unit 12, so that the calculated image section 18 with the framed target object candidates 4a, 4b, 4c, 4d, 4e, 4f, 4g, as well as the trajectory 6, presented here in the form of a geometric driving path, becomes visible to the driver in the image section 18 on the display unit 12. In the present case, the image section 18 is adapted to the screen size of the display unit 12, i.e., according to the invention, it is shown slightly enlarged, so that only the image section 18 without the remaining surrounding area, which is unimportant for the upcoming maneuver, is visible on the display unit 12.

[0059] Using image section 18 and taking into account the optical markers 5a, 5b, 5c, 5d, 5e, 5f, 5g, depicted as boundary frames for the target object candidates 4a, 4b, 4c, 4d, 4e, 4f, 4g, the driver now precisely aligns the steering input with the target object 4b* to be selected, whereby the trajectory 6 is continuously recalculated and adjusted to the steering input. The markers 5a, 5b, 5c, 5d, 5e, 5f, 5g, in the form of boundary frames, serve as an orientation aid for the driver to visually separate the potentially numerous, very closely spaced, and from the driver's perspective, relatively distant target object candidates 4a, 4b, 4c, 4d, 4e, 4f, 4g from one another by means of the steering input. The potential target object 4b* is shown framed by a target object marker 5b*. This frame can be displayed in a special color and thus differ from the other target object candidate markers.The driver can confirm that target object 5b, indicated by the target object marker 5b*, is to be set as the target for longitudinal and lateral guidance by pressing a control element, e.g., a button on the steering wheel control unit. For example, the OK button on the steering wheel control unit can be pressed. Alternatively, the entry can be made by touching the touch-sensitive display unit. If the desired target object 4b* has already been precisely targeted by the initial steering input, which can occur depending on the local conditions, further adjustment is unnecessary. Confirmation can again be made by the driver via the steering wheel control unit or by entering an input on the touch-sensitive display unit.In any case, the enlarged image section function makes it easier for the driver to select a target object by steering input in unclear situations regarding their own towing vehicle, the trailer to be coupled and / or the local situation.

[0060] Alternatively, confirmation can also occur in such a way that, as soon as the steering input is finalized and the trajectory 6 is clearly aligned with the desired target object 4b*, i.e., the driver makes no further corrections, the target object candidate module 11b generates a confirmation sign 17, in this case a checkmark, which is displayed on the camera image of the finally selected target object 4b*. Immediately afterwards, the driver can, for example, start the vehicle 1 in reverse by pressing an accelerator pedal.

[0061] Instead of automatic longitudinal guidance of the vehicle towards the target object 4b*, it can also be provided that the vehicle 1 is automatically maneuvered laterally by the electronic control device 15 and manually longitudinally by the driver, whereby the vehicle 1 is briefly and automatically braked by the control device 15 as it approaches the target object 4b* closely. Accordingly, the driver manually guides the vehicle 1 longitudinally towards the target object 4b along the displayed trajectory 6. Shortly before reaching the target object 4b*, however, the vehicle 1 is automatically braked, preferably to a standstill, in order to prevent coupling damage, for example, in unfavorable visibility conditions.

[0062] If automatic longitudinal guidance is provided in addition to automatic lateral guidance, the vehicle 1 can begin moving independently after the confirmation sign 17 appears. If necessary, prior confirmation from the driver can be requested, for example, by briefly tapping the accelerator pedal or by pressing a switch. The control unit 15 then causes the vehicle 1 to be guided along the trajectory 6 to the target object 4b* by means of the steering actuator 14, in order to mechanically connect the vehicle 1 to the target object 4b*, i.e., the selected semi-trailer, via the fifth wheel coupling 7. During the automated maneuver, the driver takes their hands off the steering wheel 9 and their foot off the accelerator pedal, but can interrupt, override, or terminate the automatic driving and guidance at any time by applying the brakes and / or steering.

[0063] The described procedure and the driver assistance system required for its operation can also be used on vehicles equipped with a camera or other image generation system at the front. The image information provided by such a camera then serves, for example, to safely and quickly attach a grabber device of a refuse collection vehicle to one of several waste containers. Such an operational situation can arise when several waste containers are placed next to each other, each containing different types of waste that need to be collected separately.

[0064] Reference numeral list (part of the description)

[0065] 1 Motor vehicle, articulated vehicle, tractor unit 2 Camera unit, reversing camera 3 Surrounding area of ​​the motor vehicle

[0066] 4a - 4g Target object candidates 4b* Target object, semi-trailer 5a - 5g Markings, boundary frame 5b* Target object marking 6 Trajectory, geometric driving path 7 Fifth wheel coupling 7a Fifth wheel coupling plate 7b Kingpin 8a First steered vehicle wheel 8b Second steered vehicle wheel 9 Steering wheel of the vehicle 10 Driver assistance system 11 Image processing unit 11a Image processing module of the image processing unit 11b Target object candidate module of the image processing unit 11c Steering angle calculation module of the image processing unit 12 Display unit 13 Steering angle sensor 14 Steering actuator 15 Electronic control unit 16 Electronic bus system 17 Confirmation symbol, check mark 18 Image section B Screen width of the display unit

Claims

Patent claims 1. Method for the automated maneuvering of a motor vehicle (1) by means of a driver assistance system (10), comprising: a camera unit (2) for recording images in an area (3) surrounding the motor vehicle (1), an image processing unit (11) for processing the recorded images and generating image superimpositions, a display unit (12) for displaying the recorded and / or processed images as well as image superimpositions, and a steering angle sensor (13) for detecting a steering angle of the steering of the motor vehicle (1) causally related to a steering input of a steering wheel (9), wherein in an image recorded by the camera unit (2) individual target object candidates (4a, 4b, 4c, 4d, 4e, 4f, 4g) are recognized by means of the image processing unit and superimposed on the display unit (12) with respective markers (5a, 5b, 5c, 5d, 5e, 5f, 5g),wherein one of the marked target object candidates (4a - 4g) is selected as a target object (4b*) by means of a steering input, wherein a trajectory (6) for the motor vehicle (1) is calculated according to the steering input by means of the image processing unit (11) and displayed superimposed on the display unit (12), and wherein the motor vehicle (1) is maneuvered manually and / or semi-automatically and / or fully automatically along the trajectory (6) towards the target object (4b*), characterized in that, for the process step of selecting the target object (4b*), the image processing unit (11) first generates an image or an image section (18) with a number of target object candidates (4a - 4g) marked therein on the display unit (12) based on a preliminary steering input, and a preliminary target object is selected by means of the calculated trajectory,wherein the target object (4b*) is then finally selected by means of a readjustment of the steering angle and the subsequently calculated trajectory, and wherein the selected target object (4b*) is optically confirmed on the display unit (12) by the image processing unit (11).

2. Method according to claim 1, characterized in that at least at the beginning of the method a value is determined and subsequently used which, in the sense of a translation, defines how large the steering angle amount of a steering input must be in order to cause a displacement of a marking (5a - 5g) over the entire screen width (B) of the display unit (12).

3. Method according to claim 1, characterized in that at least at the beginning of the method a value is determined and subsequently used which, in the sense of a translation, defines how large the steering angle amount of a steering input must be in order to cause a displacement of a marker (5a - 5g) over all detected target object candidates (4a - 4g).

4. Method according to claim 1 or 2, characterized in that the digital image cropping function generates an image enlargement, wherein an enlarged image section (18) with several target object candidates (4a - 4g) is automatically adapted to the available screen width (B) of the display unit (12).

5. Method according to one of the preceding claims, characterized in that each target object candidate (4a - 4g) on ​​the display unit (12) is superimposed by the image processing unit (11) with a marking (5a - 5g), wherein this marking (5a - 5g) has the geometry of a boundary frame that is transparent in its area and that at least approximately completely delimits the respective target object candidate (4a - 4g).

6. Method according to one of the preceding claims, characterized in that the optical confirmation for the target object (4b*) finally selected by means of steering input is carried out by the image processing unit (11) by providing the target object (4b*) in question with a confirmation mark (17) on the image, wherein this confirmation mark (17) is represented as a green check mark and / or a green coloring of a boundary frame (5b).

7. Method according to one of the preceding claims, characterized in that the motor vehicle (1) is manually maneuvered by the driver in the lateral direction and automatically in the longitudinal direction, and that the motor vehicle (1) upon close approach to the target object (4b*) is briefly automatically slowed down by the control device (15).

8. Method according to one of the preceding claims, characterized in that the motor vehicle (1) is manually maneuvered by the driver in the lateral direction and automatically in the longitudinal direction, wherein the driver is warned by the control device (15) before reaching the target object (4b*) if there is a risk that the target object (4b*) will not be reached by the manual control of the driver in the lateral direction.

9. A method according to one of the preceding claims, wherein the motor vehicle (1) has a steering actuator (14) and an electronic control device (15) for steering the motor vehicle (1) by means of the steering actuator (14) depending on a measured steering angle of a steering wheel (9), and wherein the motor vehicle (1) is maneuvered at least semi-automatically along the trajectory (6) towards the target object (4b*) by means of the steering actuator (14) at least by means of the control device (15), characterized in that the motor vehicle (1) is automatically maneuvered in the lateral direction by the electronic control device (15), and that in addition to the automatic lateral guidance, automatic longitudinal guidance of the motor vehicle (1) is carried out, which is activated by actuating a control element, such as by tapping an accelerator pedal of the motor vehicle (1) or by setting a switch.

10. A method according to any of the preceding claims, wherein the motor vehicle has a steering actuator (14) and an electronic control unit (15) for steering the motor vehicle (1) by means of the steering actuator (14) depending on a measured steering angle of a steering wheel (9), and wherein the motor vehicle (1) is maneuvered at least semi-automatically along the trajectory (6) towards the target object (4b*) by means of the steering actuator (14) at least partially automatically by the control unit (15), characterized in that the motor vehicle (1) is automatically maneuvered laterally by the electronic control unit (15), that the motor vehicle (1) is manually maneuvered longitudinally by the driver, and that the motor vehicle (1) is briefly automatically braked when approaching the target object (4b*) at close range by the control unit (15). will occur if there is a risk that the motor vehicle (1) will collide with the target object (4b*).

11. Driver assistance system for automated maneuvering of a motor vehicle (1), comprising - a camera unit (2) for recording images in an area surrounding (3) the motor vehicle (1), - an image processing unit (11) for processing the recorded images and for generating image overlays, - a display unit (12) for displaying the recorded and / or processed images as well as image overlays, - a steering angle sensor (13) for detecting a steering angle of a steering system of the motor vehicle (1) that is causally related to a steering input of a steering wheel (9), - a steering actuator (14), as well as - an electronic control device (15) for controlling the motor vehicle (1) by means of the steering actuator (14) depending on a detected steering angle, - wherein in an image taken by the camera unit (2) individual target object candidates (4a, 4b, 4c, 4d, 4e, 4f, 4g) can be identified by means of the image processing unit (11) and superimposed on the display unit (12) with respective markings (5a - 5g), - wherein a trajectory (6) can be calculated according to the steering angle using the image processing unit (11) and displayed superimposed on the display unit (12), - wherein a target object (4b*) can be selected from the marked target object candidates (4a - 4g) using the calculated trajectory according to the steering angle, and - wherein the motor vehicle (1) can be maneuvered at least semi-automatically along the trajectory (6) to the selected target object (4b*) by means of the control device (15) and the steering actuator (14).

12. Motor vehicle (1), such as a commercial vehicle or passenger car, with a driver assistance system (10) for automated maneuvering of the motor vehicle (1), according to claim 11 which is operable for carrying out a method according to one of the method claims.

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