Method for operating a trailer coupling assistant for at least assisted coupling of a motor vehicle and a trailer
Patent Information
- Application Number
- PCT/EP2026/054846
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-02-28
- Filing Date
- 2026-02-23
- Publication Date
- 2026-09-03
Smart Images
Figure EP2026054846_03092026_PF_FP_ABST
Abstract
Description
[0001] 2024PF01475
[0002] 1
[0003] Method for operating a trailer coupling assistant for at least assisted coupling of a motor vehicle and a trailer
[0004] The invention relates to a method for operating a trailer coupling assistant for at least assisted coupling of a motor vehicle and a trailer. The invention also relates to a control unit for a motor vehicle, a motor vehicle, and a computer program for carrying out such a method.
[0005] A motor vehicle may be equipped with a trailer coupling assistant. The trailer coupling assistant is a vehicle function designed to perform at least an assisted, and in particular a semi-automatic or fully automatic, coupling of the motor vehicle to a trailer.
[0006] To operate the trailer coupling assistant, the vehicle uses at least one environmental sensor to detect the area between the vehicle and the trailer. This allows the system to plan a path along which the vehicle can travel from its current location to a destination at or near the trailer. At the destination, the vehicle can be coupled to the trailer, meaning it is positioned relative to the trailer in such a way that a trailer hitch can be attached. The actual coupling can be performed manually or automatically at the destination, for example, as a sub-function of the trailer coupling assistant.
[0007] US Patent 2020 / 0031398 A1 discloses a peripheral monitoring device that captures an image and the steering angle of a vehicle. The image can be displayed on a screen. An arc behind the vehicle is determined, representing the vehicle's trajectory. This trajectory can also be displayed as an image on the screen.
[0008] Furthermore, US Patent 2020 / 0039517 A1 discloses a method for autonomously maneuvering a towing vehicle to a trailer positioned behind the towing vehicle. An image or images from a camera are provided, along with a user selection of a trailer representation within the image(s). Instructions are then provided that cause the towing vehicle to autonomously maneuver to the trailer associated with the user's trailer representation selection. 2024PF01475
[0009] 2
[0010] The object of the invention is to provide a solution by means of which a trailer hitch assistant can be operated advantageously.
[0011] The problem is solved by the subject matter of the independent patent claims.
[0012] A first aspect of the invention relates to a method for operating a trailer coupling assistant for at least assisted coupling of a motor vehicle and a trailer. The trailer coupling assistant is configured, for example, to determine and provide at least one control command for lateral steering of the motor vehicle and / or to control the motor vehicle according to this at least one control command. Alternatively or additionally, the trailer coupling assistant can be configured to determine and provide at least one control command for longitudinal steering of the motor vehicle and / or to control the motor vehicle according to this at least one control command.At least assisted coupling, as defined in the invention, includes assisted, semi-automatic or fully automatic coupling, meaning that the trailer coupling assistant at least assists in coupling the motor vehicle and the trailer, but can also perform the coupling semi-automatically or fully automatically, depending on the design of the trailer coupling assistant.
[0013] The procedure is designed for a situation in which the motor vehicle is in an uncoupled state; that is, it typically occurs before the coupling process and the coupled state achieved by coupling the motor vehicle. In the coupled state, the motor vehicle is part of a vehicle combination consisting of the motor vehicle and the trailer.
[0014] The procedure includes providing vehicle alignment information. This information describes the vehicle's orientation relative to the trailer when the vehicle and trailer are coupled. In other words, it specifies the intended and / or expected orientation of the vehicle relative to the trailer when the vehicle and trailer are coupled. For example, the vehicle alignment information can describe a desired orientation that corresponds to a user's preference and / or the control logic of the trailer hitch assistant. The vehicle alignment information is 2024PF01475.
[0015] 3
[0016] The alignment can be described, for example, by an angle between a longitudinal axis of the vehicle and a longitudinal axis of the trailer. In this example, the alignment corresponds to an articulation angle between the vehicle and the trailer, which should be assumed when coupled. The vehicle alignment information can thus specify, for example, the angle at which the vehicle should be positioned relative to the trailer when coupled.
[0017] The procedure involves determining a path of movement from the current location of the vehicle to a destination location by applying a path-determination algorithm. The path of movement can alternatively be described as a trajectory along which the vehicle can travel from its current location to the destination. At the destination, the vehicle is oriented relative to the trailer according to the provided vehicle orientation information. The vehicle can be coupled to the trailer at the destination. The destination is therefore located in the vicinity of the trailer, or in close proximity to it, so that, for example, coupling between the vehicle and the trailer can be achieved at the destination without further movement of the vehicle and / or the trailer. The current location can be understood as the current position of the vehicle and / or as the starting point or beginning of the path of movement.The current location and / or the destination can be described or defined, for example, using coordinates. Alternatively or additionally, the current location and / or the destination can be described by a relative arrangement to each other. The relative arrangement describes, in particular, a relative position and / or a relative orientation of the vehicle to the trailer, or vice versa. The destination can be determined, or at least estimated, for example, by evaluating at least one environmental sensor reading from the vehicle's environmental sensor system, by detecting and locating the trailer within the vehicle's surroundings through this evaluation.
[0018] The motion path determination algorithm includes, for example, at least one rule and / or regulation, the application of which determines the motion path between the current location and the destination location, taking into account the vehicle orientation information. The motion path determination algorithm is provided with at least the supplied vehicle orientation information in order to determine the motion path. Furthermore, the motion path determination algorithm can be based on the 2024PF01475
[0019] 4
[0020] Environmental sensor information, which at least partially describes the trailer and the destination, is used to determine the movement path.
[0021] In one example, the path of movement could be a straight line between the current location and the destination, provided that the vehicle's orientation at the destination is then in accordance with the vehicle's orientation information. In another example, the path of movement could be curved, at least in sections, with the curvature or curve of the path depending on the distance between the destination and the current location and the orientation specified at the destination. Therefore, the path of movement is not an arbitrarily chosen and / or necessarily a straight connection between the current location and the destination, but rather a path chosen such that the vehicle at the destination has the orientation specified by the vehicle's orientation information.
[0022] The procedure involves operating the trailer coupling assistant by at least assisting the vehicle's driving along the determined path to the destination. Once the destination is reached, the vehicle and trailer can then be coupled automatically or at least partially manually. The actual coupling, i.e., the change from the uncoupled state (where the vehicle and trailer are not connected) to the coupled state, can be performed automatically by the trailer coupling assistant or involve at least partial manual coupling.
[0023] The path followed by the motor vehicle to reach the destination where it can be coupled to the trailer can preferably be determined based on a reference path. Such a reference path is recorded during a previous journey and stored for later reference. The previous journey is carried out by the motor vehicle with the trailer attached, either in forward, reverse, and / or a combination of forward and reverse movements to the destination. This previous journey can be carried out manually by the driver or at least partially, preferably fully, automatically by the motor vehicle's automatic guidance system.For the execution of semi-automated / automated driving, the guidance system is configured to perform longitudinal and / or lateral control actions, up to and including complete control of the vehicle and trailer, so that the trailer and vehicle reach their destination safely and smoothly. This includes lateral control actions.
[0024] 5
[0025] Steering actions are performed based on a previously recorded and stored reference motion path or on a new motion path determined by the guidance system. Lateral control is achieved by controlling the steering angles of the vehicle's front and / or rear tires, optionally with a mechanical constraint on the steering of the front tires depending on the steering of the rear tires, or vice versa. For example, the steering angles of the front and rear tires can be correlated geometrically so that the axis of rotation of the vehicle or the vehicle-trailer combination remains constant.
[0026] Driving along the path of movement to the destination results in the vehicle, when coupled, exhibiting the orientation, or at least substantially the orientation, according to the vehicle orientation information. "Substantially" includes, for example, deviations from the orientation of up to 1 percent, 2 percent, 3 percent, 5 percent, or, in particular, 10 percent, whereby alternative deviations between the aforementioned values may be possible.
[0027] This ensures that the vehicle is positioned in a desired orientation relative to the trailer, allowing it to be coupled and enabling the vehicle to begin driving in this orientation. The orientation, based on the vehicle alignment information, can be chosen, for example, to minimize maneuvering—that is, changes of direction and / or steering angle—when starting off coupled, particularly when pulling out of a parking space, compared to, say, a vehicle's longitudinal axis being parallel to the trailer's. This allows for quick and easy departure of the vehicle combination after coupling.
[0028] It can be assumed that when carrying out the procedure, a clear area between the motor vehicle and the trailer is taken into account and that the determined path of movement lies within this clear area. Therefore, when carrying out the procedure, consideration is given to objects in the vicinity of the motor vehicle and / or the trailer, as well as to obstacles between the motor vehicle and the trailer. Thus, a path of movement is determined and followed, at least with assistance, which can be traversed without collisions, at least at the time the procedure is carried out. Collisions with objects in the vicinity and / or obstacles along 2024PF01475
[0029] 6
[0030] The movement path, such as other vehicles, people, animals, objects and / or static infrastructure elements, is therefore avoided.
[0031] When coupled, the motor vehicle and trailer are connected, for example, via a trailer hitch, which is a connecting link or coupling element between the motor vehicle and the trailer. The motor vehicle has a coupling element at its rear, which may be a ball hitch. The trailer has a coupling element that can be designed as a counterpart to the motor vehicle's coupling element, for example, a ball socket with a lever lock. Alternatively, the motor vehicle may have a pin coupling, jaw coupling, and / or fifth wheel coupling, and the trailer a corresponding counterpart. Other coupling types are possible.
[0032] The method can be carried out, for example, by means of a vehicle control unit. The control unit can, for example, provide the vehicle orientation information, determine the path of travel, and operate the trailer hitch assistant by, for example, providing and, in particular, executing at least one control command for the at least assisted lateral and / or longitudinal guidance of the vehicle. The embodiments described below can also be carried out by means of the control unit. In one example, the method can be understood as a computer-implemented method.
[0033] One embodiment involves determining the alignment range information by applying an alignment range determination algorithm. The alignment range information describes a suitable angular range for aligning the vehicle. This range includes at least two different orientations that the vehicle can have relative to the trailer. The alignment range information thus specifies which orientations are possible and which are not, as they lie outside the angular range. The algorithm checks whether the vehicle's alignment information lies within the determined alignment range information. If so, the movement path is determined.In one example, it may be provided that the movement path is only determined if the vehicle orientation information is within the determined 2024PF01475.
[0034] 7
[0035] The orientation range information is available. This ensures that orientations of the vehicle relative to the trailer that cannot be reached are not considered when determining the path of travel. Orientations that are not feasible at the destination can thus be reliably and easily excluded. In other words, the orientation range information describes a group of angles that lie between a lower limit angle and an upper limit angle, where all angles between the two limit angles represent permissible or allowed orientations that the vehicle can assume relative to the trailer at the destination. This leads to a meaningful preselection of possible orientations before the path of travel is determined.
[0036] When applying the alignment range determination algorithm, factors such as the free space between the vehicle and the trailer, the distance between the current location and the destination, the position of the trailer's coupling, the trailer's orientation relative to, for example, the vehicle's orientation at its current location, and / or the coupling's design can be taken into account. Further or alternative information that can be considered when applying the alignment range determination algorithm is also possible. The algorithm includes, for example, at least one rule and / or regulation whose application determines the alignment range information.
[0037] An additional embodiment provides that the motion path determination algorithm is applied to steering axis information to determine the motion path. Alternatively or additionally, the alignment range determination algorithm is applied to the steering axis information to determine the alignment range information. The steering axis information describes whether the vehicle has a steerable rear axle and / or a steerable front axle. The determined motion path and / or the determined alignment range information can therefore depend on whether the vehicle has, for example, a steerable front axle and no steerable rear axle, or whether it has, for example, both a steerable front axle and a steerable rear axle.This approach is based at least on the understanding that the path of travel for a motor vehicle with steerable front and rear axles can have a tighter curve than for a motor vehicle without a steerable rear axle. The tighter curve is possible because with steerable 2024PF01475.
[0038] 8
[0039] With a steerable front and rear axle, a smaller turning radius is possible than with a non-steerable rear axle. Furthermore, crab steering is possible with a steerable front and rear axle, meaning all wheels can be turned in the same direction simultaneously, allowing the vehicle to move laterally. Alternatively or additionally, a larger angular range can be achieved at the destination with a steerable front and rear axle compared to a vehicle without a steerable rear axle. Therefore, steering axle information is useful for determining a suitable path and / or angular range for the vehicle and its steering characteristics.
[0040] Another embodiment involves applying the motion path determination algorithm to trailer coupling element information to determine the motion path. Alternatively or additionally, the alignment area determination algorithm is applied to the trailer coupling element information to determine the alignment area information. The trailer coupling element information describes the position of a trailer coupling element on the trailer. The position of the trailer coupling element can be described, for example, in coordinates, such as relative to the current location of the vehicle and / or a vehicle coordinate system.The trailer coupling element information ultimately defines the destination at or near the end of the movement path, as the vehicle and its coupling element must be positioned at the destination relative to the trailer coupling element in such a way that the vehicle can be coupled to the trailer. Therefore, the trailer coupling element information is relevant for determining the movement path and the alignment range information, which may depend on the position of the trailer coupling element, in order to determine a movement path and / or angular range suitable for the vehicle and its steering behavior.
[0041] In one embodiment, the trailer hitch element information is determined by evaluating at least one environmental sensor signal that at least partially describes the trailer hitch element. In another example, the trailer hitch element information is determined automatically, for instance, by applying a trailer hitch element detection algorithm to the environmental sensor information. The environmental sensor information is acquired, for example, by an environmental sensor device of the vehicle. The environmental sensor device includes, for example, at least one rear-view camera of the 2024PF01475.
[0042] 9
[0043] The environmental sensor device is located in the rear of the motor vehicle. Alternatively or additionally, it can comprise at least one other camera, at least one radar device, at least one LiDAR device, and / or at least one ultrasonic sensor. In a preferred example, the position of the trailer hitch element is determined by evaluating the environmental sensor information, so that the trailer hitch element information can be automatically provided and taken into account when determining the path of travel.
[0044] Alternatively or additionally, the trailer coupling element information can be specified by a user input from the vehicle, which is acquired via a user interface. The user interface is, for example, a control element such as a button, knob, switch, rotary push-button, and / or an element on a touchscreen. The user interface can be located inside the vehicle. In a preferred example, the user interface is, for instance, at least one control knob inside the vehicle, designed to adjust at least one side mirror. Other configurations of the control element inside the vehicle are possible. In a further or alternative example, the user interface can be located outside the vehicle.It can then, for example, be included in a mobile device belonging to a user of the vehicle. The mobile device could be, for example, a smartphone and / or a tablet. The user input can be transmitted from the mobile device to the vehicle via a communication link. This communication link can be wireless, for example, via a wireless local area network (WLAN), a Bluetooth connection, and / or a mobile data network, for example, based on the mobile communication standards Long Term Evolution (LTE), Long Term Evolution Advanced (LTE-A), Fifth Generation (5G), or Sixth Generation (6G).
[0045] The position of the trailer and / or trailer hitch, e.g., as GNSS position information, can be acquired either by the towing vehicle or by another vehicle and transmitted to an external storage device, e.g., a cloud or a separate infrastructure facility, and subsequently made available to a vehicle for display as needed, e.g., as an overlay on the vehicle's screen. 2024PF01475
[0046] 10
[0047] The trailer hitch element information can therefore be manually entered. This is particularly suitable when automatic determination of the trailer hitch element's position is not possible or is only possible with an uncertainty greater than a predefined maximum uncertainty. This might be the case, for example, if the rear-view camera's resolution is insufficient to detect the trailer hitch element in the environmental sensor information. This can occur, for instance, when the distance between the trailer and the vehicle exceeds, for example, 3 meters, 5 meters, or, in particular, 10 meters. Other limit distances, especially greater or lesser distances than those mentioned, or distances between these limits, are possible, particularly depending on the environmental sensor setup.
[0048] In another embodiment, the user input can include drawing a position symbol, at least approximately representing the position of the trailer hitch element, onto a display of the environmental sensor information. This display is shown on a screen. The drawing can then be performed by detecting a touch point on the screen, which is designed as a touchscreen and serves as the user interface. Alternatively or additionally, the drawing can be performed by detecting an action on a control element, which here represents the user interface, whereby the position of the position symbol in the display changes depending on the detected action.
[0049] In other words, if a touchscreen is available, the system can be configured so that a user can touch any location on the screen with a finger, and the location of this touch is recognized and subsequently used as the position of the trailer hitch element. The alternative or additional configuration involving an operation on the control element is suitable, for example, whenever a touchscreen is not available. In this case, the position symbol can be drawn at any starting point on the screen and moved to a desired location where the trailer hitch element is displayed. The operation can include confirming the location to which the position symbol has been moved. 2024PF01475
[0050] 11
[0051] The position symbol can be, for example, a dot, an oval (in particular a circle or ellipse), a quadrilateral (in particular a square or rectangle), and / or a ring (in particular a circular or elliptical ring). In a preferred example, the oval and / or quadrilateral are at least partially, and in particular completely, filled. Alternatively or additionally, the position symbol can be a cross, a star, or a symbol of another shape.
[0052] Whenever the position of the trailer hitch element cannot be determined automatically, it can be manually specified by the user in various ways, so that at least for an initial, especially rough, planning of the movement path, which can be updated and adjusted if necessary during operation of the trailer hitch assistant, the position of the trailer hitch element can be provided in a simple and quick way.
[0053] Another embodiment involves applying the motion path determination algorithm to trailer alignment information to determine the path of motion. Alternatively or additionally, the alignment range determination algorithm is applied to the trailer alignment information to determine the alignment range information. The trailer alignment information describes the orientation of the trailer. In a preferred example, the trailer alignment information describes the orientation of the trailer relative to, or originating from, the position of the trailer coupling element. The trailer alignment information can describe the orientation of the trailer, for example, by means of an angle that describes how the longitudinal axis of the trailer is oriented relative to the longitudinal axis of the vehicle.Trailer alignment information is another useful piece of information, for example to determine the alignment area information and / or to determine the movement path in such a way that the alignment according to the vehicle alignment information can be achieved at the destination.
[0054] In a preferred example, when determining the motion path and / or the alignment area information, at least the steering axis information, the trailer coupling element information, and the trailer alignment information are always taken into account. When determining the motion path, the vehicle alignment information is also considered. 2024PF01475
[0055] 12
[0056] Another embodiment provides that the trailer alignment information is determined by evaluating at least one environmental sensor signal that describes the trailer, at least partially. The environmental sensor signal described here can be the same environmental sensor signal used to determine the trailer coupling element signal. In an alternative example, the environmental sensor signal used to determine the trailer alignment information can be at least partially different from the environmental sensor signal used to determine the trailer coupling element signal.
[0057] Alternatively or additionally, the trailer alignment information can be specified by a user input from the vehicle operator, which is captured via a user interface. This user interface can be the same interface described above in connection with specifying the trailer coupling element information, or it can be at least partially different. The user input can also differ, at least partially, from the input used to specify the trailer coupling element information. A separate user input can be provided solely for specifying the trailer alignment information. Therefore, the trailer alignment information can be determined automatically or manually specified by the user, making the procedure versatile in this respect.
[0058] One embodiment involves determining the vehicle orientation information by evaluating at least one environmental sensor signal. This environmental sensor signal describes the trailer and its coupling element, at least partially. The same environmental sensor signal used to determine the trailer orientation information and / or the coupling element signal can be used here. Alternatively, the environmental sensor signal can differ, at least partially, from the two previously mentioned environmental sensor signals.
[0059] Alternatively or additionally, the vehicle orientation information can be specified by a user input from the vehicle operator, whereby the user input is captured via a user interface. The user interface can be 2024PF01475
[0060] 13
[0061] the user interface for specifying the trailer alignment information and / or the user input for specifying the trailer coupling element information may be the same or at least partially different from it.
[0062] The vehicle orientation information can therefore be determined automatically, for example, taking into account the road layout in the vicinity of the trailer, which can be described by the environmental sensor information. This allows the vehicle to be positioned optimally for the destination, ensuring a smooth start for the vehicle and trailer combination, as it is adapted to the road layout. This minimizes the need for maneuvering the vehicle combination when starting off. Manually specifying the vehicle orientation information is particularly useful when the user has a specific preference for the vehicle's orientation when coupled, which they can easily and intuitively specify using the described method.
[0063] Another embodiment provides that the user input includes drawing a vehicle alignment symbol, which at least approximates the orientation of the vehicle relative to the trailer, onto a display of the environmental sensor information. Alternatively or additionally, the user input can include drawing a trailer alignment symbol, which at least approximates the orientation of the trailer, onto a display of the environmental sensor information. The display of the environmental sensor information thus includes the drawn vehicle alignment symbol and / or trailer alignment symbol. The environmental sensor information can be the same environmental sensor information used to determine the vehicle alignment information or the trailer alignment information, and / or it can differ partially from this information.The display is shown via a screen, which may be the screen described above.
[0064] The drawing can be done by capturing a user gesture on the screen, which is assumed to be the user interface, and which is a touchscreen. The gesture includes, for example, manually drawing a line that starts at the drawn position symbol and determines the orientation of the trailer in the case of the 2024PF01475.
[0065] 14
[0066] The trailer alignment symbol represents the orientation of the trailer, or the orientation of the vehicle in the case of the vehicle alignment symbol. Alternatively or additionally, the operating gesture may involve the user marking a point on the rear of the trailer, as described in the illustration, or in the vicinity of the trailer, whereupon a connecting line is automatically drawn between this point and the position symbol. This connecting line then describes the orientation of the trailer or the vehicle at the destination, i.e., the trailer alignment symbol or the vehicle alignment symbol.
[0067] Alternatively or additionally, the drawing can be performed by detecting an operating action on a control element used as the user interface, whereby the orientation of the vehicle alignment symbol and / or the trailer alignment symbol in the display changes depending on the detected operating action. The control element can be the same as the one described in connection with drawing the position symbol or at least partially different from it.
[0068] In one example, the vehicle alignment symbol and / or the trailer alignment symbol can be rotated around a center point of the respective symbol when the operating action is detected; that is, depending on the operating action, it can be rotated in one of two directions. For example, the vehicle alignment symbol and / or the trailer alignment symbol can be designed as a line or as an arrow that is rotated around a center point according to the operating action and / or drawn into the display according to the operating gesture. It becomes clear that, unlike the position symbol, an elongated symbol can be provided for the vehicle alignment symbol and / or the trailer alignment symbol in order to indicate the alignment in relation to a position.This makes it clear that the user has numerous options for quickly and intuitively specifying the desired vehicle orientation information or trailer orientation information when using the touchscreen and / or the control element that does not include a touchscreen. 2024PF01475.
[0069] 15
[0070] Another embodiment involves determining the alignment range information by applying an alignment range determination algorithm. This can be done in the manner described above, so that the alignment range information defines an angular range for the vehicle's alignment in the coupled state. The angular range is drawn and displayed on the screen according to the alignment range information. Drawing the vehicle alignment symbol is only possible within the defined angular range; that is, for example, the operating gesture and / or action is only permitted or detected within the defined angular range. Manually drawn vehicle alignment symbols outside the defined angular range are, for instance, disregarded.This is particularly useful, for example, when the alignment range information, and thus the displayed angle range, is determined based on the steering axis information, since alignments of the vehicle that cannot be controlled by the vehicle itself are then not selectable or predefined by the user from the outset. A sensible preselection of possible vehicle alignments for the coupled state is thus achieved with minimal effort.
[0071] In one example, before applying the motion path determination algorithm, the manually entered trailer alignment information, vehicle alignment information, and / or trailer hitch element information is forwarded to a signal processing layer. This layer performs, for example, noise correction and / or a plausibility check by comparing the results with those automatically determined based on environmental sensor information. The signal processing result is then provided to the motion path determination algorithm.
[0072] In another embodiment, distance information is determined that describes the distance between the motor vehicle and the trailer. The distance information thus describes the distance between the motor vehicle and the trailer. 2024PF01475
[0073] 16
[0074] the trailer. If the distance information is greater than a predefined distance limit, the operator input can be detected. Alternatively or additionally, if the distance information is less than or equal to the predefined distance limit, evaluating at least one environmental sensor signal is preferred; that is, it is preferred over considering the respective manual input. In a preferred example, the operator input is only detected if the distance information is greater than the predefined distance limit, and whenever the distance information is less than or equal to the predefined distance limit, the environmental sensor signal is evaluated, thus automatically providing the vehicle orientation information, the trailer orientation information, and / or the trailer coupling element information.
[0075] The distance threshold can vary depending on the environmental sensor device that acquires the environmental sensor information. Depending on factors such as the quality, and especially the resolution, of the environmental sensor device, the distance threshold can be higher or lower. This limits manual user input to situations where it is truly necessary, as automatic calculations based on environmental sensor information are not always sufficiently accurate. An exception to this procedure can be made for vehicle alignment information, allowing it to always be manually specified, independent of the distance information, in order to accommodate user preferences regarding alignment while coupled.
[0076] Another aspect of the invention relates to a control unit for a motor vehicle. The control unit is configured to perform the method described above. The control unit carries out the method. The control device includes, for example, a processor unit. This can include at least one microprocessor, microcontroller, FPGA (Field Programmable Gate Array), and / or DSP (Digital Signal Processor). Furthermore, it can include 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 unit. 2024PF01475
[0077] 17
[0078] Another aspect of the invention relates to a motor vehicle configured to perform the method described above. The motor vehicle carries out the method. The motor vehicle is, for example, a passenger car, a truck, a bus, a motorcycle, and / or a moped. The motor vehicle may include the control unit.
[0079] 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 the program is executed by a computer, such as the control unit of a motor vehicle, cause it to carry out the steps of the method.
[0080] The alignment of the motor vehicle can alternatively be referred to as vehicle alignment. The alignment of the trailer can alternatively be referred to as trailer alignment.
[0081] The embodiments described in connection with the method, both individually and in combination, apply accordingly, where applicable, to the motor vehicle, the control unit, and the computer program product. The invention comprises combinations of the described embodiments.
[0082] This shows:
[0083] Fig. 1 shows a schematic representation of a motor vehicle and a trailer with two exemplary movement paths;
[0084] Fig. 2 shows a schematic representation of a signal flow graph of a method for operating a trailer hitch assistant;
[0085] Fig. 3 shows a schematic representation of different views of an environment with a trailer and various operating inputs; and
[0086] Fig. 4 shows a schematic representation of a signal flow graph of further process steps of a process according to Fig. 2.
[0087] In the figures, functionally identical elements are labelled with the same reference symbols. 2024PF01475
[0088] 18
[0089] Fig. 1 shows a motor vehicle 1 with a trailer 2 in its vicinity. The motor vehicle 1 and the trailer 2 can form a vehicle combination when coupled. The trailer 2 has a trailer coupling element 3. The motor vehicle 1 has a vehicle coupling element 4. When coupled, the vehicle coupling element 4 and the trailer coupling element 3 are connected to each other via a trailer coupling.
[0090] The motor vehicle 1 can have a control unit 5 that can operate a trailer coupling assistant 6. The trailer coupling assistant 6 is designed to at least assist coupling the motor vehicle 1 to the trailer 2. In one example, the control unit 5 can perform the procedure described in Fig. 2 and Fig. 4.
[0091] The motor vehicle 1 further comprises a front axle 7 and a rear axle 8, wherein the front axle 7 and / or the rear axle 8 may be steerable. In a preferred example, both the front axle 7 and the rear axle 8 are steerable, i.e., controllable within the framework of lateral guidance of the motor vehicle 1.
[0092] The motor vehicle 1 may have a screen 9, which, if configured as an operating interface 18, may be a touch-sensitive screen 9. Furthermore, the motor vehicle 1 may have a control element 10, which may alternatively or additionally be configured as the operating interface 18. The control element 10 may, for example, be configured to detect a user action and provide corresponding operating commands.
[0093] The motor vehicle 1 can have at least one environmental sensor device 11. In the example sketched here, this device is located in a rear area of the motor vehicle 1 and is designed, for example, as a rear-view camera. Alternatively or additionally, the environmental sensor device 11 can have at least one radar device, LiDAR device, and / or ultrasonic sensor, or be designed as such. More or different environmental sensor devices 11 are possible and can be included in the motor vehicle 1. Furthermore, the trailer 2 can have at least one environmental sensor device 11 (not shown here).
[0094] Motor vehicle 1 is to be moved from its current location 12 to a destination location 13 so that it can be coupled to trailer 2 at destination location 13. Here are 2024PF01475
[0095] 19
[0096] Two different movement paths 14 and 15 are shown as examples, leading from the current location 12 to the destination 13. The two movement paths 14 and 15 differ in their orientation 16 and 17, respectively, which describes the orientation of the motor vehicle 1 relative to the trailer 2 at the destination 13, and thus when the motor vehicle 1 and trailer 2 are coupled. Movement path 14 with orientation 16 at the destination 13 is possible, for example, if the motor vehicle 1 has a steerable front axle 7 but a non-steerable rear axle 8. However, if the motor vehicle 1 has a steerable front axle 7 and a steerable rear axle 8, so that both the front axle 7 and the rear axle 8 are controllable, movement path 15, and thus orientation 17 at the destination 13, is achievable.It becomes clear that, depending on the steerable wheel axles, differently tight curves can be negotiated and therefore different orientations 16, 17 of the motor vehicle 1 relative to the trailer 2 at the destination 13 can be specified.
[0097] Fig. 2 shows steps of a method for operating the trailer coupling assistant 6. In a method step S1, vehicle alignment information 20 is provided, which specifies an alignment 16, 17 of the vehicle 1 relative to the trailer 2 for the coupled state of vehicle 1 and trailer 2. In a method step S2, alignment range information 21 can be determined by applying an alignment range determination algorithm 24. The alignment range information 21 describes an angle range 22, 23 suitable for the alignment 16, 17 of the vehicle 1. Here, the angle range 22 is sketched, which is achievable with a steerable front axle 7 but a non-steerable rear axle 8.The other sketched angle range 23, which extends beyond the angle range 22 at its edges, is achievable, for example, if the motor vehicle 1 has a steerable front axle 7 and a steerable rear axle 8. The angle ranges 22, 23, and thus the alignment range information 21, can therefore depend on steering axle information 25, which describes whether the motor vehicle 1 has a steerable rear axle 8 and / or a steerable front axle 7. When applying the alignment range determination algorithm 24, it is applied, for example, to the steering axle information 25. Alternatively or additionally, the alignment range determination algorithm 24 can be applied to trailer coupling element information 26 and / or to trailer alignment information 27.
[0098] In a process step S3, it can be checked whether the vehicle orientation information 20 is within the determined 2024PF01475
[0099] 20
[0100] Orientation area information 21 is available. If this is the case, and in particular only if this is the case, the movement path 14, 15 from the current location 12 of the motor vehicle 1 to the destination location 13 can be determined in a process step S4 by applying a movement path determination algorithm 28. When traveling along the determined movement path 14, 15, the motor vehicle 1 has the orientation 16, 17 relative to the trailer 2 at the destination location 13 according to the provided motor vehicle orientation information 20. In addition, the motor vehicle 1 can be coupled to the trailer 2 at the destination location 13, whereby the coupling can be automatic or manual.
[0101] For example, if it is determined in process step S3 that the vehicle orientation information 20 lies outside the determined orientation area information 21, a new vehicle orientation information 20 can be requested and thus process step S1 can be repeated.
[0102] In process step S4, the motion path determination algorithm 28 can be applied to the vehicle orientation information 20, the steering axis information 25, the trailer coupling element information 26, and / or the trailer orientation information 27. The trailer coupling element information 26 describes, for example, the position of the trailer coupling element 3 of the trailer 2. The trailer orientation information 27 describes, for example, an orientation 16, 17 of the trailer 2, in particular starting from a position of the trailer coupling element 3.
[0103] In process step S5, the trailer coupling assistant 6 can be operated by driving the vehicle 1, at least with assistance, along the determined movement path 14, 15 to the destination 13. The respective movement path 14, 15 is thus followed, for which at least one control command for lateral guidance of the vehicle 1 is provided, which can be implemented manually or automatically, i.e., it can be implemented with assistance, semi-automatically, or fully automatically. Furthermore, or alternatively, at least one control command for longitudinal guidance of the vehicle 1 can be provided for assisted, semi-automatic, or fully automatic driving. Depending on the steering axis information 25, process step S4, for example, determines either movement path 14 or movement path 15. More or different movement paths 14, 15 than those shown in Fig. 12024PF01475 are possible.
[0104] 21
[0105] The outlined movement paths 14, 15 are possible, especially depending on the vehicle orientation information 20.
[0106] Fig. 3 describes examples of how the trailer coupling element information 26, the trailer alignment information 27, and / or the vehicle alignment information 20 can be manually specified. In general, the trailer coupling element information 26, the trailer alignment information 27, and / or the vehicle alignment information 20 can be automatically determined by evaluating environmental sensor information 44 (see reference numeral 44 in Fig. 4), provided that the environmental sensor information 44 describes the relevant areas, such as at least partially the trailer 2 and / or the trailer coupling element 3. Alternatively, the trailer coupling element information 26, the trailer alignment information 27, and / or the vehicle alignment information 20 can be specified by means of an operating input 43 (see reference numeral 43 in Fig. 4) from the user of the vehicle 1. The operating input 43 is acquired, for example, via the operating interface 18.
[0107] In situation A, a representation 30 of the environmental sensor information 44 is shown, which can be displayed, for example, on the screen 9 in the vehicle 1 and / or on the user's mobile device. The trailer 2 and / or the trailer coupling element 3 can be at least partially discerned from this representation 30. In situation B, the case is shown where the operating input 43 involves drawing a position symbol 31, which at least approximates the position of the trailer coupling element 3, into the representation 30. While the representation 30 is displayed on the screen 9, a touch point 32 on the screen 9 can be detected, provided the screen 9 is a touch-sensitive screen 9. Thus, a point can be drawn, for example, with a finger of a hand 33, which is then considered, at least approximately, as trailer coupling element information 26.Alternatively, an operating action can be detected at the control element 10, whereby, depending on the detected operating action, the position of the position symbol 31 in the representation 30 is changed, for example, it is moved within this representation (not sketched here). The position symbol 31 can be a point, an oval, in particular a circle or an ellipse, a quadrilateral, in particular a square or a rectangle, and / or a ring. In situation D, for example, a ring is shown as position symbol 31, where it is 2024PF01475.
[0108] 22
[0109] is a position that is determined by an automatically generated positioning 36, that is, by evaluating the at least one environmental sensor information 44.
[0110] To specify the trailer orientation information 27 and / or the vehicle orientation information 20, for example, a user gesture 35 can be recorded on the screen 9, provided that the screen 9 is designed as the touch-sensitive screen 9. This gesture 35 can, for example, be used to draw a line with the finger of hand 33, which specifies the orientation 16, 17 of the trailer 2 and thus the trailer orientation information 27. This is illustrated by way of example in situation E, in which, starting from the automatically achieved positioning 36 of the trailer coupling element 3, the orientation 16, 17 of the trailer 2 is manually drawn by the gesture 35 of the finger of hand 33.
[0111] In situation F, the example shows that the orientation 16, 17 of the trailer 2 is detected by an operating action on the control element 10, whereby, depending on the detected operating action, the orientation 16, 17 of a trailer orientation symbol 34 in the illustration 30 is changed and, for example, rotated around the position symbol 31. In this example, the trailer orientation symbol 34 is shown as an arrow. According to the arrow 38, the trailer orientation symbol 34 can be rotated around the position symbol 31.
[0112] Analogous to the exemplary situation F, the vehicle alignment symbol 37 can be drawn using an operating gesture 35 and / or created and modified by an operating action analogous to the trailer alignment symbol 34. In one example, it is provided that for the vehicle alignment symbol 37, as shown in situation G, the alignment range information 21 is determined and the angle range 22, 23 is drawn into the representation 30 according to the determined alignment range information 21. The drawing of the vehicle alignment symbol 37 is then only possible within the drawn angle range 22, 23. Here, for example, the angle range 23 is drawn, in which a line is manually drawn with the finger of hand 33 as the vehicle alignment symbol 37. Other vehicle alignment symbols 37 as well as differently arranged vehicle alignment symbols 37 are possible.Alternatively, for example, the area around the drawn angle range 22, 23 can be grayed out so that the vehicle alignment symbol 37 can only be drawn within the angle range 22, 23. 2024PF01475.
[0113] 23
[0114] Fig. 4 shows optional process steps S6 to S9. In process step S6, distance information 40 can be determined, describing a distance 41 between the motor vehicle 1 and the trailer 2. The distance 41 can be understood as a straight line connecting, for example, the current location 12 with the destination location 13. In process step S7, it can be checked whether the distance information 40 is greater than a predefined distance limit value 42. If this is the case, in process step S8, the operator input 43 can be captured, and depending on this, for example, the motor vehicle orientation information 20, the trailer coupling element information 26, and / or the trailer orientation information 27 can be determined.However, if, for example, the distance information 40 is less than or equal to the specified distance limit 42, the evaluation of at least one environmental sensor information 44, which is acquired, for example, by the environmental sensor device 11, can be carried out in a process step S9. Subsequently, the vehicle orientation information 20, the trailer coupling element information 26, and / or the trailer orientation information 27 can be determined by evaluating the environmental sensor information 44. The distance limit 42 depends, for example, on the environmental sensor device 11, for example, on its detection quality, detection range, and / or on current conditions such as visibility and / or lighting conditions.
[0115] Overall, the examples show a method for determining a motion path 14, 15 to a user-oriented trailer 2 when using a motor vehicle 1 with a steerable front axle 7 and rear axle 8. Furthermore, a method for obtaining the trailer orientation, i.e., the trailer alignment information 27, or the position of the trailer coupling element 3, i.e., the trailer coupling element information 26, is provided.
[0116] A non-holonomic motor vehicle 1 requires vehicle path planning, that is, determining the movement path 14, 15, which takes into account both the starting and ending positions, that is, the current location 12 and the destination location 13.
[0117] Knowing the orientation 16, 17 of the parked trailer 2 helps in planning a better route or offers the user a customized experience. If available, a steerable rear axle 8 offers greater possibilities in route planning. Therefore, the use of the rear axle 8 can be employed to plan a route, that is, the movement path 14, 15, to the parked trailer 2, whose 2024PF01475
[0118] 24
[0119] It may be advantageous if the orientation 16, 17 is known. The orientation 16, 17 of the trailer 2 can be determined by a sensor set, i.e., the environmental sensor information 44, or specified by the user, for example, via the operating interface 18 or via a mobile device such as a smartphone.
[0120] Advantages include a larger addressable problem area with a steerable rear axle 8, as a smaller turning radius and crab steering are possible when reversing towards a parked trailer 2. This allows for more complex maneuvers, i.e., more complex movement paths 14, 15 depending on the steering axle information 25. Since the final orientation 16, 17 of the vehicle 1 at the destination 13 with respect to the parked trailer 2 is configurable, the path planning, i.e., the movement path determination algorithm 28, takes this into account and provides the user with a tailored experience to better predict the next maneuver.
[0121] The final relative alignment 16, 17 between the motor vehicle 1 and the trailer 2 does not necessarily have to be determined from the environmental sensor information 44, but can also be provided by the user via the operating interface 18, provided that a camera video is displayed, i.e., the representation 30 in which the trailer 2 is visible. The user inputs can be captured in the following way:
[0122] 1. The user draws with their finger on the touchscreen of the display, that is, the touch-sensitive screen 9, whereby the user first points with their finger at the trailer coupling element 3 and then roughly draws a line along the longitudinal axis of the trailer 2.
[0123] 2. If the camera image, i.e. the environmental sensor information 44, can already be analyzed to determine the position of the trailer coupling element 3, it can be circled in the representation 30, i.e. the position symbol 31 is automatically drawn.
[0124] 2.1. The circle, that is, the drawn position symbol 31, can be used as a starting point or origin, from which the user either draws a line starting from the starting circle or points to the back of the trailer 2 so that the line is drawn automatically.
[0125] 2.2. A line or arrow can be displayed centered on the circle or origin of the expected trailer coupling element 3. Using an exterior mirror knob as a control element 10, the line or arrow can be rotated around the origin if a touch-sensitive screen 9 is not available. 2024PF01475
[0126] 25
[0127] The orientation 16, 17 of the trailer 2, retrieved by the user via the operating interface 18, is forwarded to a signal processing layer (where signal / line is freed from noise, plausibility checks are carried out in comparison with computer vision and other environmental sensor information 44, and so on) and later to the path planning algorithm, that is, to the motion path determination algorithm 28.
[0128] The following advantages may be apparent:
[0129] - Overcoming the camera's long-range capability, where the trailer hitch element 3 might not be correctly detected due to image resolution limitations, as the detection uncertainty would be too high. Therefore, the user performs the detection and identification manually.
[0130] If the computer vision algorithms are able to locate the trailer coupling element 3, but not the orientation 16, 17 of the trailer 2, for example because it is not supported or due to insufficient computing power or complex scene interpretation, then the position symbol 31 is predefined and the fine-tuning of the orientation 16, 17 of the trailer 2 is carried out by the user. The user can change the computer vision trailer orientation according to their needs.
Claims
2024PF01475 26 Patent claims 1. Method for operating a trailer coupling assistant (6) for at least assisted coupling of a motor vehicle (1) and a trailer (2); comprising: - providing motor vehicle orientation information (20) which specifies an orientation (16, 17) of the motor vehicle (1) relative to the trailer (2) for a coupled state of motor vehicle (1) and trailer (2); - Determining a motion path (14, 15) from a current location (12) of the motor vehicle (1) to a destination location (13) by applying a motion path determination algorithm (28), wherein the motor vehicle (1) at the destination location (13) has the orientation (16, 17) relative to the trailer (2) according to the provided motor vehicle orientation information (20) and the motor vehicle (1) is coupleable with the trailer (2) at the destination location (13); and - Operating the trailer hitch assist (6) by at least assisted driving of the motor vehicle (1) along the determined movement path (14, 15) to the destination (13).
2. Method according to claim 1, wherein an alignment range information (21) is determined by applying an alignment range determination algorithm (24) which describes an angular range (22, 23) suitable for the alignment (16, 17) of the motor vehicle (1), and it is checked whether the motor vehicle alignment information (20) lies within the determined alignment range information (21), wherein if this is the case the motion path (14, 15) is determined.
3. Method according to claim 1 or 2, wherein to determine the motion path (14, 15) the motion path determination algorithm (28) and / or to determine the alignment area information (21) the alignment area determination algorithm (24) is applied to steering axis information (25) that describes whether the motor vehicle (1) has a steerable rear axle (8) and / or a steerable front axle (7).
4. Method according to claim 1 or one of claims 2 or 3, wherein the motion path determination algorithm 2024PF01475 is used to determine the motion path (14, 15). 27 (28) and / or to determine the alignment area information (21) the alignment area determination algorithm (24) is applied to a trailer coupling element information (26) that describes a position of a trailer coupling element (3) of the trailer (2).
5. Method according to claim 4, wherein the trailer coupling element information (26) is determined by evaluating at least one environmental sensor information (44) that at least partially describes the trailer coupling element (3) and / or is specified by means of an operating input (43) of a user of the motor vehicle (1), wherein the operating input (43) is captured by means of an operating interface (18).
6. Method according to claim 5, wherein the operator input (43) comprises drawing a position symbol (31) that at least approximates the position of the trailer coupling element (3) into a representation (30) of the environmental sensor information (44), wherein the representation (30) is displayed by means of a screen (9) and the drawing is carried out by: - a touch point (32) on the screen (9) is detected as the operating interface (18), wherein the screen (9) is designed as a touch-sensitive screen (9); and / or - an operating action on a control element (10) is recorded as the operating interface (18), whereby the position of the position symbol (31) in the representation (30) is changed depending on the recorded operating action.
7. Method according to one of the preceding claims, wherein to determine the motion path (14, 15) the motion path determination algorithm (28) and / or to determine the orientation area information (21) the orientation area determination algorithm (24) is applied to a trailer orientation information (27) that describes an orientation (16, 17) of the trailer (2).
8. Method according to claim 7, wherein the trailer orientation information (27) is determined by evaluating at least one environmental sensor information (44) that at least partially describes the trailer (2) and / or by means of an operator input2024PF01475 28 (43) is specified by a user of the motor vehicle (1), wherein the operating input (43) is captured by means of an operating interface (18).
9. Method according to one of the preceding claims, wherein the vehicle orientation information (20) is determined by evaluating at least one environmental sensor information (44) that at least partially describes the trailer (2) and its trailer coupling and / or is specified by means of an operating input (43) of a user of the vehicle (1), wherein the operating input (43) is acquired by means of an operating interface (18).
10. Method according to claim 8 or 9, wherein the operator input (43) comprises drawing a motor vehicle orientation symbol (37) that at least approximates the orientation (16, 17) of the motor vehicle (1) relative to the trailer (2) and / or a trailer orientation symbol (34) that at least approximates the orientation (16, 17) of the trailer (2) in a representation (30) of the environmental sensor information (44), wherein the representation (30) is displayed by means of a screen (9) and the drawing is carried out by: - a user's operating gesture (35) is detected on the screen (9) as the operating interface (18), wherein the screen (9) is designed as a touch-sensitive screen (9); and / or - an operating action on a control element (10) is detected as the operating interface (18), whereby, depending on the detected operating action, the orientation (16, 17) of the motor vehicle orientation symbol (37) and / or the trailer orientation symbol (34) in the representation (30) is changed.
11. Method according to claim 9 or 10, wherein an alignment range information (21) is determined by applying an alignment range determination algorithm (24) which describes an angular range (22, 23) for the desired alignment (16, 17), the angular range (22, 23) is shown in the representation (30) and the drawing of the motor vehicle alignment symbol (37) is only detected within the shown angular range (22, 23).
12. Method according to any one of claims 5 to 11, wherein distance information (40) is determined which describes a distance (41) between the motor vehicle (1) and the trailer (2), and 2024PF01475 29 - if the distance information (40) is greater than a predefined distance limit (42), the operator input (43) is detectable; and / or - if the distance information (40) is less than or equal to the specified distance limit (42), the evaluation of at least one environmental sensor information (44) takes place.
13. Control device (5) for a motor vehicle (1), wherein the control device (5) is configured to perform a method according to one of the preceding claims.
14. Motor vehicle (1) designed to perform a method according to any one of claims 1 to 12.
15. Computer program product comprising instructions which, when executed by a computer, cause it to perform a method according to any one of claims 1 to 12.