DE102018221863A1 - Method for operating a trailer assistance system, trailer assistance system and motor vehicle - Google Patents

Abstract

The invention relates to a method for operating a trailer assistance system (18) for assisting a driver when driving a motor vehicle (10) with a trailer (12). The invention provides that the trailer (12) is detected by means of a sensor device (22, 22), trailer sensor data (D) relating to the detected trailer (12) are provided, depending on the dimensions of the trailer (12) determined in Depending on which a trailer model (24) is created, an angle (a) between a vehicle longitudinal axis of the motor vehicle (10) and a drawbar (16) of the trailer (12) is determined, depending on the trailer model (24) and the determined angle (a) a position and extent (26, 28, 32, L, B, H) of the trailer (12) relative to the motor vehicle (10) is determined, a distance (d) of a detected object (36) from the trailer (12) is determined based on the determined position and extent (L, B, H) of the trailer (12) and a signal is provided as a function of the determined distance (d).

Description

The invention relates to a method for operating a trailer assistance system for assisting a driver when driving a motor vehicle in a state of the motor vehicle coupled to a trailer. The invention also includes a trailer assistance system and a motor vehicle with such a trailer assistance system.

Various assistance systems are known from the prior art. For example, the DE 10 2008 045 436 A1 a method and an apparatus for determining an articulation angle between a towing vehicle and a trailer. Such an articulation angle can then be used by an assistance system, for example to assist a driver when reversing or maneuvering the team, or also by a parking garage assistant who warns a driver when the team is moving forward when he is cornering with the team drives too tight. Also the DE 10 2008 029 612 B4 describes a system for calculating a trailer hitch articulation angle of a trailer being towed behind a motor vehicle.

However, not only is an articulation angle between a motor vehicle and the trailer attached to it helpful, for example to inform the driver of where such a trailer is currently relative to the vehicle, but also the dimensions of such a trailer itself. In this context, for example, describes the DE 10 2005 051 804 A1 a maneuvering aid for drivers of vehicles, which consist of vehicle elements that can be bent against each other. Based on the data about a steering and articulation angle, knowing at least the geometry of the vehicle, the future course of the vehicle in the scope of its lane and / or its towing lane is predicted and superimposed on the image data recorded by a camera. For example, the geometry of the vehicle can be manually entered into the system by a user.

Furthermore describes the DE 10 2016 109 954 A1 A method for assisting a driver of a team when maneuvering the team, wherein image data of a rear surrounding area of the team is recorded by means of a rear-facing vehicle-side camera or trailer-side camera and an image is created as a function of the captured image data and displayed on a display device, wherein in the A position of a part of the trailer which is movable between a stowage position and a use position is determined, which position is taken by the part by moving the part from the stowage position into the use position which increases the at least one geometric dimension of the trailer, and in the image on the display device on the latter Position a marker is displayed. Here, a driver of a team can already be informed during maneuvering at which position or position in the surrounding area the pull-out or fold-out part of the trailer will be in the use position, although this use position has not yet been adopted. In this case, the geometric dimensions of the trailer can also be included, which in turn can be predetermined manually by the driver of the motor vehicle.

Furthermore describes the DE 10 2013 226 104 A1 a method for monitoring an external dimension of a vehicle, in particular a change in the external dimension due to an external vehicle load. Such a change in the outer dimension can be recorded using a camera. Based on the camera data, for example, a detailed three-dimensional model of the vehicle can be generated.

The effort to further simplify driving a motor vehicle with a trailer for a driver remains.

It is therefore an object of the present invention to provide a method for operating a trailer assistance system, a trailer assistance system and a motor vehicle, which make it easier for a driver to drive a motor vehicle when the motor vehicle is coupled to a trailer.

This object is achieved by a method for operating a trailer assistance system, by a trailer assistance system and by a motor vehicle with the features according to the respective independent patent claims. Advantageous embodiments of the invention are the subject of the dependent claims, the description and the figures.

In a method according to the invention for operating a trailer assistance system for assisting a driver when driving a motor vehicle in a state of the motor vehicle coupled to a trailer, the trailer is detected by means of a sensor device and trailer sensor data relating to the detected trailer are provided. Furthermore, dimensions of the trailer are determined depending on the trailer sensor data and a trailer model is created depending on the dimensions of the trailer. Furthermore, an angle between one Vehicle longitudinal axis of the motor vehicle and a longitudinal axis of the trailer determined and a position and extent of the trailer relative to the motor vehicle determined depending on the trailer model and the determined angle. Furthermore, at least one object in an environment of the motor vehicle is detected by the sensor device and a distance of the at least one detected object from the trailer is determined based on the determined position and extent of the trailer and a signal is provided as a function of the determined distance.

The invention thus advantageously makes it possible to provide a collision warning system which is suitable for combinations, that is to say a combination of a motor vehicle and a trailer. A driver of the motor vehicle can thus not only be informed, for example, of the position and extent of his trailer relative to the motor vehicle, but also, for example, of whether a collision with an object in the vicinity of the motor vehicle and the trailer threatens. The invention is based on several findings: On the one hand, when maneuvering with a team, there is the challenge that the area around the trailer is difficult to see. This means that, for example, there is a high risk of collision between trailers and objects in the area, especially when reversing, and therefore an instructor is usually required. Even if, for example, a driver is shown a surrounding image with a representation of the trailer on a display unit, it is often not easy for a driver to realistically assess distances and conditions on the basis of such a display, and the possible risks resulting therefrom. In addition, such a display also cannot prevent objects in the environment, which are visible in such a displayed image, from being overlooked by a driver. The invention, on the other hand, makes it possible not only to provide a display for a driver, but also to give the driver an alternative or an additional active warning, for example by means of a warning signal such as the signal provided if the distance of a detected object from the trailer falls below a predetermined limit value . The trailer assistance system thus provides an additional monitoring function which significantly increases the safety when driving a motor vehicle in a state coupled to a trailer. The invention is further based on the knowledge that a further challenge is to separate objects in the vicinity of the motor vehicle from the trailer itself, in particular if the object and the trailer overlap from the perspective of the sensor device or a sensor unit of the sensor device or are very close to each other. This is advantageously achieved according to the invention in that, on the one hand, a trailer model is created on the basis of the dimensions of the trailer derived from the trailer sensor data, and the articulation angle between the vehicle's longitudinal axis and the longitudinal axis of the trailer is also determined. This model can thus advantageously be swiveled with knowledge of the articulation angle with every movement of the motor vehicle, in particular arithmetically, in order to be able to safely separate the trailer from an object in the area even at a different articulation angle, for example when reversing, since at all times spatial limitation of the trailer and its position relative to the vehicle is known and accordingly, all objects outside of this area cannot be part of the trailer and can therefore be easily classified as separate objects from the trailer. Another advantage of the invention is also that the data required for modeling the trailer and for determining the position and extent thereof relative to the vehicle do not have to be entered manually by a user, but can be determined on the basis of sensed sensor data. This makes this process much more convenient for a user. Overall, a driver can be supported much better when driving a team, that is to say a motor vehicle in a state coupled to a trailer, and overall safety can be increased.

When the at least one object in the surroundings of the motor vehicle is detected by means of the sensor device, the position of the object and its extent can also be detected, at least in some areas, or determined from the detected sensor data. In particular, the object surface of the at least one object facing the motor vehicle and / or trailer can be detected or ascertained, for example, by means of the sensor device. The approximate extent of such an object and its position in the vicinity of the motor vehicle are thus also known.

Furthermore, a distance between the object and the trailer is to be understood to mean the shortest distance, that is to say the shortest distance between the point of the object and the trailer closest to the trailer. Furthermore, such an object can be recorded or tracked repeatedly in successive time steps, and the trailer position and extent relative to the motor vehicle can also be determined in such repeated successive time steps. When determining the distance, the nearest points of the object and trailer are then corresponding to positions correspond to the same time step, compared with each other.

The sensor device can generally be of any design, for example also comprise a plurality of individual sensor units. For example, the sensor device can comprise one or more cameras, one or more radars, one or more lidar sensors and / or one or more ultrasonic sensors. The sensor device is preferably designed such that at least one area behind the motor vehicle can be detected by means of the sensor device, in particular an area at least partially surrounding the trailer. For example, the use of a reversing camera is particularly advantageous, which is arranged, for example, centrally looking at the rear of the motor vehicle and looking backwards in the opposite direction when driving forward. The sensor device preferably also comprises two further cameras, different from a reversing camera, which are arranged in one side region of the motor vehicle, in particular on opposite sides of the motor vehicle, for example two mirror cameras. These are preferably also at least partially aligned against the direction of travel, so that a part of the trailer can also be captured by these mirror cameras, for example when cornering. It is also particularly advantageous if the sensor device comprises two corner radars at the rear of the motor vehicle, which can therefore be arranged at the rear corners of the motor vehicle on opposite sides of the rear of the motor vehicle and also at least partially look to the rear with their fields of vision. The rear corners of the trailer and thus the length of the trailer can be detected particularly well by such radars. However, other dimensions of the trailer can also be determined on the basis of the radar sensor data, in particular in combination with the other sensor data recorded by the cameras. Especially the use of these at least three cameras and the two corner radars has the additional advantage that these sensors in the arrangement described can also be used for other driver assistance systems and are also usually used, for example for a lane change assistant that also functions as a blind spot Surveillance is called. This means that many vehicles already have such a sensor arrangement, which can thus advantageously also be used for the trailer assistance described.

It is also particularly advantageous if, for example, the trailer also has a sensor unit, in particular on the rear of the trailer, that is to say on a side of the trailer facing away from the motor vehicle, in particular at the rear of the trailer, which looks backwards in the opposite direction of travel, for example another one Camera.

As a result, objects directly behind the trailer, which for example cannot be seen by a motor vehicle sensor system, can advantageously also be detected. This allows the environment to be captured even more comprehensively and, in particular, objects behind the trailer to be recognized, which can further increase security.

The specific angle between the vehicle's longitudinal axis and the longitudinal axis of the trailer is also referred to as the articulation angle and, at least in the case of trailers with a drawbar, represents the angle between the vehicle's longitudinal axis and the drawbar of the trailer, in particular with reference to a coupling point, for example the trailer coupling the trailer and the motor vehicle. The articulation angle between the vehicle's longitudinal axis and the longitudinal axis or drawbar of the trailer can be determined, for example, on the basis of methods known from the prior art, of which there are numerous, as already mentioned at the beginning. For example, such an articulation angle can be determined on the basis of the camera images recorded by the rear camera in combination with the repeatedly recorded steering angles of the motor vehicle and further odometric data of the motor vehicle.

In an advantageous embodiment of the invention, depending on the dimensions of the trailer determined on the basis of the sensor data, at least the following model parameters of the trailer model are determined: a drawbar length of a drawbar of the trailer, an overhang length of an overhang of the trailer and a length and width of a loading area of the trailer. Knowing these few parameters, a sufficiently accurate model of the trailer can already be created for a collision warning system. Other dimensions can also be derived from these sizes, for example. The drawbar length represents in particular the length from the trailer coupling to the wheel axle of the trailer, and the transition or the overhang length represents the length from the wheel axle of the trailer to the end of the trailer facing away from the motor vehicle. For two-axle trailers, the above definitions may differ refer to the wheel axle of the trailer further away from the motor vehicle. The length and width of the loading area of the trailer should preferably be understood to mean an external dimension of the loading area or trailer structure, with both length and width relating to the horizontal dimensions of the trailer. In other words, the length of the trailer represents its dimension in the longitudinal direction of the trailer, that is, along the drawbar, and the width of the loading area is the dimension perpendicular to the length and parallel to the transverse axis of the trailer, which is parallel to the wheel axis of the trailer. From these variables, in particular from the drawbar length, the overhang length and the length of the loading area, the distance of the loading area of the trailer from the motor vehicle can also be calculated, for example. These parameters therefore advantageously enable extensive modeling of the trailer. Since the extent of the trailer is mainly relevant for the assessment of a collision risk, a height of the trailer does not necessarily have to be determined, but this is also possible and preferred on the basis of the sensor data, in particular the trailer sensor data.

It is therefore a further advantageous embodiment of the invention if a height of the loading area of the trailer is determined as a further model parameter of the trailer model. The height is advantageous, for example, in order to calculate a collision risk even when passing through low structures, such as low bridges, underpasses or the like. Knowing the height thus increases safety.

Overall, these model parameters can therefore be used to provide a 3D model of the trailer or to determine a 3D contour of the trailer. This 3D model can then advantageously also be moved computationally with knowledge of the articulation angle when the motor vehicle is moving, and the position and extent of this trailer model can be compared with positions of objects and object surface or of object boundaries in the vicinity of the motor vehicle in order to monitor that none There is a risk of collision.

In order to be able to detect the trailer as comprehensively as possible by means of the sensor device, it is advantageous if the motor vehicle is cornering, for example. In this case, it can also be provided that an output device of the motor vehicle outputs a request for cornering if it is determined from the trailer sensor data that the dimensions of the trailer could not be determined completely based on the trailer sensor data or the previous trailer sensor data.

Once the dimensions and, based on this, the trailer model of the trailer have been determined, these data can advantageously be stored and do not have to be recaptured each time. Further characteristics of the trailer can also be stored, for example, to be able to automatically identify the trailer at a later point in time, such as, for example, an electrical resistance of a connection system of the trailer, a drawbar length of the trailer and / or driving dynamics properties of the trailer. Based on this, a trailer profile can be created. If the trailer is uncoupled from the motor vehicle and later connected to the motor vehicle again, the trailer can be identified as a known trailer on the basis of this profile data or the trailer-specific properties, and the dimensions or the trailer model that have already been determined can be loaded and used for the assistance function be used.

In a further advantageous embodiment of the invention, an environment map of the environment around the motor vehicle is created in a motor vehicle coordinate system as a function of sensor data provided by the sensor device, the at least one object detected and the trailer model in the environment map at the positions assigned to them relative to the motor vehicle, and the environment map is updated in successive time steps on the basis of newly acquired sensor data, and for at least several of the time steps the repeated distance of the at least one detected object from the trailer is determined. If the motor vehicle drives past an object in the area, for example, and this object is not yet in the vicinity of the trailer, the geometry of this object, for example its dimensions, for example its height and its width, can nevertheless be recorded in the meantime and its position or a position of a boundary surface of this object are entered in the area map. It is advantageous to define this environment map with reference to a motor vehicle coordinate system, since then only relative positions of the trailer model and of objects in the surroundings of the motor vehicle relative to the motor vehicle need to be determined, which is possible in a simple manner by means of the sensor device.

The environment map can be provided, for example, as an occupancy grid display, or also by another display type for displaying or representing the sensor data relating to the motor vehicle environment, such as fence displays or line drawing displays. On the basis of such an environment map, distances between objects can be determined very easily, including the distance between the at least one object and the trailer model. Such a distance from objects in the vicinity of the motor vehicle to the trailer can thus be continuously monitored and the signal can be provided if the distance falls below a predetermined minimum.

It is particularly advantageous if the signal is output as an acoustic and / or optical and / or haptic warning signal to a user of the motor vehicle. In this way, the user can advantageously be informed of a possible impending collision with an object in the vicinity of the motor vehicle. The warning signal output can also vary depending on the repeatedly determined distance between the object and the trailer, for example the smaller this distance becomes. For example, an interval tone can be output as such a warning signal if the value falls below a first limit value, for example 1.6 m. If the distance between the object and the trailer decreases further, the intervals between the respective tones can also decrease in time. When a distance of only 30 cm is reached, a continuous tone can be emitted instead as a warning signal, as well as at even smaller distances. In this way, the criticality of the situation can also be conveyed to the user by the warning signal output. In addition to such an acoustic output of a warning signal, there are of course also numerous other corresponding other possibilities for the design of such a warning signal.

In a further advantageous embodiment of the invention, an automatic brake intervention by the motor vehicle is carried out depending on the signal provided. The distance determined by the trailer assistance system can thus advantageously also be used by other assistance systems, such as an emergency brake assistant. If, for example, the distance falls below a predetermined minimum, the motor vehicle can automatically brake and a collision can be reliably prevented. This predetermined minimum distance can also be speed-dependent, for example, or correspond to a minimum time interval, a so-called time to collision or the like.

In a further advantageous embodiment of the invention, an environmental image of at least part of the surroundings of the motor vehicle with the detected object is displayed together with at least part of a representation of the motor vehicle and the trailer model on a display device of the motor vehicle. Such a display can further assist the driver or user of the motor vehicle when driving the motor vehicle with the trailer. For example, the driver can be shown a type of top view of the surroundings around the motor vehicle, including a representation of the motor vehicle and a positionally correct representation of the trailer model with respect to the motor vehicle. Objects that have been detected by the sensor device can also be optically highlighted in such a representation. For example, only objects that are at a distance smaller than a predetermined limit value from the trailer and / or motor vehicle can also be marked or optically highlighted. The surrounding image can, however, not only be displayed as a top view image but generally from any perspective, for example also freely selectable by a user, as is also known, for example, from optical parking systems, except that the user now also sees the trailer as a corresponding one Trailer model is visualized in the displayed surrounding image. The trailer model can also be shown partially transparently superimposed on a real image of the trailer. An image of the trailer that is currently recorded by means of a camera of the sensor device or an image of the trailer that is recorded during a cornering of the trailer can be used as the real image of the trailer. In this way, drivers can also recognize, for example, whether and to what extent dimensions of the trailer have been correctly recorded. Corresponding manual correction options for these dimensions, in particular of the trailer model, are also conceivable by the user.

In a further advantageous embodiment, the trailer assistance system and / or a display provided by the trailer assistance system is activated on a display device of the motor vehicle, in particular the above-mentioned display device of the motor vehicle, for example a display in the area of a center console of the motor vehicle, under at least one of the following conditions : A speed of the motor vehicle falls below a predetermined limit; and / or a user input for activating the trailer assistance system and / or the display provided by the trailer assistance system is recorded; and / or a reverse gear of the motor vehicle is engaged; and / or the determined distance of the detected object from the trailer falls below a second predetermined limit value, which can be different from the aforementioned predetermined limit value or can also agree with this.

As a result, the trailer assistance system and also the display provided by it can be activated automatically in certain situations, for example when engaging a reverse gear or as soon as the speed of the motor vehicle is less than a predetermined limit value, for example 10 km / h, or if based on the determined Distance a critical situation threatens. On the other hand, the user is also provided with a possibility of manually activating the assistance system and / or the display, for example via one corresponding button or similar. These activation options also apply in a corresponding manner to deactivating the trailer assistance system and / or the display, namely when, for example, the speed of the motor vehicle is again greater than the predetermined limit value, when the user manually activates the trailer assistance system and / or the display a user input is deactivated when there is no longer a critical situation, that is to say when the determined distance no longer falls below the second predetermined limit value and / or when a forward gear is engaged again or at least the reverse gear is removed. These conditions for the activation or deactivation of the trailer assistance system and / or the display can of course also be combined with one another in any way. For example, activation can take place when at least one of the above-mentioned conditions is met.

Furthermore, the invention also relates to a trailer assistance system for assisting a driver of a motor vehicle in a state coupled to a trailer when driving a motor vehicle, the trailer assistance system having a control device. The control device is designed to determine dimensions of the trailer as a function of trailer sensor data recorded by means of a sensor device, to create a trailer model as a function of the dimensions of the trailer, an angle, in particular articulation angle, between a vehicle's longitudinal axis and one To determine the drawbar of the trailer, depending on the trailer model and the determined angle, to determine a position and extent of the trailer relative to the motor vehicle, a distance from at least one detected object in the vicinity of the motor vehicle to the trailer based on the determined position and extension of the trailer to determine and provide a signal depending on the determined distance.

The advantages mentioned for the method according to the invention and its configurations apply in the same way to the trailer assistance system according to the invention. In addition, the advantages mentioned in connection with the method according to the invention and its refinements enable further development of the trailer assistance system according to the invention by means of further objective features. In particular, a trailer assistance system which is designed to carry out a method according to the invention or one of its embodiments should also be regarded as belonging to the invention.

The trailer assistance system can also include the sensor device described, for example. This can be designed as already described in detail above.

In addition, the invention also relates to a motor vehicle with a trailer assistance system according to the invention or one of its configurations.

The invention also includes combinations of the features of the described embodiments.

• 1 eine schematische Darstellung eines aus einem Kraftfahrzeug und einem Anhänger gebildeten Gespanns, wobei das Kraftfahrzeug ein Anhängerassistenzsystem gemäß einem Ausführungsbeispiel der Erfindung umfasst; und
• 2 eine schematische Darstellung eines Anhängermodells, welches auf Basis erfasster Sensordaten mittels des Anhängerassistenzsystems erzeugt wurde gemäß einem Ausführungsbeispiel der Erfindung.

An exemplary embodiment of the invention is described below. This shows:

• 1 is a schematic representation of a team formed from a motor vehicle and a trailer, the motor vehicle comprising a trailer assistance system according to an embodiment of the invention; and
• 2nd a schematic representation of a trailer model, which was generated on the basis of captured sensor data using the trailer assistance system according to an embodiment of the invention.

The exemplary embodiment explained below is a preferred embodiment of the invention. In the exemplary embodiment, the described components of the embodiment each represent individual features of the invention that are to be considered independently of one another, which also further develop the invention independently of one another and are therefore also to be regarded individually or in another combination than the one shown as part of the invention. Furthermore, the described embodiment can also be supplemented by further features of the invention that have already been described.

In the figures, elements with the same function are each provided with the same reference symbols.

1 shows a schematic representation of a from a motor vehicle 10th and a trailer 12 formed team 14 in a top view. In the motor vehicle 10th can essentially be any towing vehicles, such as, for example, cars and trucks. Below is the trailer 12 only shown as a single-axle trailer. With the trailer 12 but it can also be a multi-axle trailer 12 act. In the present case, the trailer shown includes 12 a drawbar 16 . It can be either a rigid drawbar or a rotatable drawbar. It is also possible that the trailer 12 no drawbar at all 16 needed, but is designed as a trailer.

The car 10th includes a trailer assistance system 18th , which is set up to guide a driver when driving the motor vehicle 10th in one with the trailer 12 coupled state of the motor vehicle 10th to support. The trailer assistance system 18th has a control device 19th on, which is set up to provide sensor data D to be received by a sensor device, the sensor device in the present example having four cameras on the motor vehicle 10th are arranged, one on the trailer 12 arranged camera 20th , as well as two corner radars 22 that in the rear of the vehicle 10th are arranged on opposite sides of the tail. The one on the motor vehicle 10th arranged cameras 20th are designed as a front camera, a rear camera and two mirror cameras. The car 10th can be used to capture an environment U of the motor vehicle and the trailer 12 however, additionally or alternatively, also have other sensors, such as, for example, ultrasonic sensors and / or lidar sensors. Based on the captured sensor data D , especially those sensor data D the one behind the motor vehicle 10th lying part of the area U especially the trailer 12 can affect the control device 19th Dimensions of the trailer 12 determine and based on this a trailer model 24th (see. 2nd ) create. For this purpose, based on the sensor data D , in particular the trailer sensor data, various model parameters for the trailer model 24th be determined. Such model parameters are in 1 shown and are, for example, the drawbar length 26 , an overhang length 28 of the trailer's overhang 12 , a length L and a width B a loading area 30th of the trailer 12 , and a height of the trailer, not shown here 12 , for example a maximum height above the ground or underground. Other parameters can be derived from the sizes mentioned, such as the total length of the trailer 12 or also the drawbar section of the drawbar 16 between the motor vehicle 10th and the loading area 30th , etc.

How 2nd shows can based on these recorded dimensions and model parameters of the trailer 12 a trailer model 24th created, for example as a 3D model or as a 3D contour 34 can be provided. The loading area is an example 30th of the trailer 12 with the correspondingly determined dimensions, namely the length L of the trailer 12 , the width B of the trailer 12 , as well as the height H of the trailer 12 modeled. Based on the sensor data, however, not only the dimensions of the trailer can 12 for modeling this trailer 12 are recorded, but also other advantageous variables, as this in turn is now based on 1 is described.

It is now particularly advantageous if based on the sensor data D also at least one object 36 in the neighborhood U of the motor vehicle 10th or the trailer 12 is detected, such as a physical obstacle or a person. Furthermore, there is also an articulation angle between the vehicle's longitudinal axis and the drawbar 16 of the trailer 12 detected. This kink angle is designated a in the present case. This kink angle too a can based on the sensor data D and with the help of the steering angle of the motor vehicle 10th and odometric data of the motor vehicle 10th be determined. Based on this, the trailer assistance system can now advantageously be used 18th a collision warning before hitting objects 36 in the neighborhood U of the motor vehicle 10th provide. The main challenge is based on the sensor data D an object 36 in the neighborhood U from the trailer 12 to separate yourself. This is now advantageously determined by determining the kink angle a as well as the trailer model created 24th enables. Because this trailer model 24th or the 3D contour 34 can now with knowledge of the articulation angle a with every movement of the motor vehicle 10th can also be swiveled around the trailer of objects even at other articulation angles 36 in the neighborhood U to separate the motor vehicle. Objects 36 in the neighborhood U of the motor vehicle 10th are recorded and tracked as soon as they are in the detection range of the sensor device 20th , 22 enter. The position and extent of such objects can be adjusted accordingly 36 can already be determined if these are clearly visible to the sensors. Positions and extents of such objects 36 can then advantageously be entered, for example, in an environment map, and for example the trajectory of the motor vehicle 10th and the trailer model 24th , so that distances between objects are particularly easy 36 and the trailer 12 can be determined and monitored. Based on the determined position of the at least one object 36 and the now determined position and extent of the trailer 12 relative to the motor vehicle 10th can now advantageously be a minimum distance between the object 36 and the trailer 12 can be determined, this minimum distance with d is designated. Now falls below this distance d a predetermined limit value, a corresponding warning can be issued to the driver, for example in an acoustic form and / or an emergency braking assistant can also automatically initiate an emergency braking.

For additional support to the driver, a display device of the motor vehicle can also be used 10th an environmental representation, for example based on the recordings of the surrounding cameras 20th , with a motor vehicle model and the determined and correct position in relation to the Motor vehicle model shown trailer model 24th displayed, especially including those in the area U detected objects. Thus, a driver of the motor vehicle 10th comprehensive about its surroundings, the objects contained therein 36 how people, as well as the position of the trailer 12 can be informed and can also prevent collisions with objects 36 in the neighborhood U be warned at an early stage and collisions due to active brake intervention are also reliably prevented.

Overall, the example shows how a trailer environment monitoring can be provided by the invention, which significantly simplifies driving a motor vehicle with a trailer and at the same time significantly increases safety. By means of the vehicle's own sensor system and optionally an additional sensor system on the trailer, it is now advantageously possible to monitor the area around the vehicle. Objects such as people, walls, obstacles or the like can be recognized by the system, separated from the trailer, and a warning can be issued as a display on a display device, as an acoustic warning or active brake intervention. In this case, the trailer is advantageously also detected by the sensor system. The articulation angle of the trailer can also be detected by means of image processing. When driving forward, for example, a reversing camera and mirror cameras can be used to determine a 3D contour of the trailer, which can be swiveled with knowledge of the articulation angle in order to also be able to separate the trailer from an object when reversing at another articulation angle. Only the creation of a model of the trailer, in particular a 3D model, enables a reliable separation of trailer and object in the area. The process is made particularly efficient by using the environmental information from the vehicle's own sensors and comparing the objects with the created 3D model of the trailer. It also enables vehicle interaction in the event of an impending collision between the trailer and the surrounding object.

Reference symbol list

10th

Motor vehicle

12

pendant

14

Team

16

Drawbar

18th

Trailer assistance system

19th

Control device

20th

camera

22

Corner radars

24th

Trailer model

26

Drawbar length

28

Overhang length

30th

Loading area

34

contour

36

object

B

width

D

Sensor data

d

distance

H

height

L

length

U

environment

α

Kink angle

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102008045436 A1 [0002]
• DE 102008029612 B4 [0002]
• DE 102005051804 A1 [0003]
• DE 102016109954 A1 [0004]
• DE 102013226104 A1 [0005]

Claims (10)

Method for operating a trailer assistance system (18) for assisting a driver when driving a motor vehicle (10) in a state of the motor vehicle (10) coupled to a trailer (12), characterized by the steps: - Detecting the trailer (12) by means of a sensor device and providing trailer sensor data (D) relating to the detected trailer (12); - determining dimensions of the trailer (12) as a function of the trailer sensor data (D); - Creating a trailer model (24) depending on the dimensions (26, 28, 32, L, W, H) of the trailer (12); - Determining an angle (a) between a vehicle longitudinal axis of the motor vehicle (10) and a drawbar (16) of the trailer (12); - Depending on the trailer model (24) and the determined angle (a) determining a position and extent (26, 28, 32, L, B, H) of the trailer (12) relative to the motor vehicle (10); - Detection of at least one object (36) in an environment (U) of the motor vehicle (10) by means of the sensor device (20, 22); - determining a distance (d) of the at least one detected object (36) from the trailer (12) based on the determined position and extent (L, W, H) of the trailer (12); and - providing a signal depending on the determined distance (d). Procedure according to Claim 1 , characterized in that at least the following model parameters of the trailer model (24) are determined as a function of the dimensions (26, 28, 32, L, W, H) of the trailer (12) determined on the basis of the sensor data (D): - a drawbar length (26) a drawbar (16) of the trailer (12); - an overhang length (28) of an overhang of the trailer (12); - A length (L) and a width (B) of a loading area (30) of the trailer (12); Procedure according to Claim 2 , characterized in that a height (H) of the loading area (30) of the trailer (12) is determined as a further model parameter of the trailer model (24). Method according to one of the preceding claims, characterized in that an environment map of the environment (U) around the motor vehicle (10) is created in a motor vehicle coordinate system as a function of sensor data (D) provided by the sensor device (20, 22), wherein the detected object (36) and the trailer model (24) are entered in the surroundings map at the positions assigned to them relative to the motor vehicle (10), and the surroundings map is updated in successive time steps on the basis of newly acquired sensor data (D), and the distance (d) of the detected object (36) from the trailer (12) is repeated for at least several of the time steps. Method according to one of the preceding claims, characterized in that the signal is output as an acoustic and / or optical and / or haptic warning signal to a user of the motor vehicle (10). Method according to one of the preceding claims, characterized in that an automatic brake intervention by the motor vehicle (10) is carried out as a function of the signal provided. Method according to one of the preceding claims, characterized in that on a display device of the motor vehicle (10) an environmental image of at least part of the surroundings (U) of the motor vehicle with the detected object (36) together with at least part of a representation of the motor vehicle (10) and the trailer model (24) is displayed. Method according to one of the preceding claims, characterized in that the trailer assistance system (18) and / or a display provided by the trailer assistance system (18) is activated on a display device of the motor vehicle (10) under at least one of the following conditions: - a speed of the motor vehicle (10) falls below a predetermined limit; - A user input for activating the trailer assistance system (18) and / or the display provided by the trailer assistance system (18) is recorded; - A reverse gear of the motor vehicle (10) is engaged; - The determined distance (d) of the detected object (36) to the trailer (12) falls below a second predetermined limit. Trailer assistance system (18) for assisting a driver when driving a motor vehicle (10) in a state of the motor vehicle (10) coupled to a trailer (12), the trailer assistance system (18) having a control device (19), characterized in that the control device (19) is designed to - determine dimensions (26, 28, 32, L, W, H) of the trailer (12) as a function of trailer sensor data (D) relating to the trailer (12) and detected by means of a sensor device; - create a trailer model (24) depending on the dimensions (26, 28, 32, L, W, H) of the trailer (12); - determine an angle (a) between a vehicle axis of the motor vehicle (10) and a drawbar (16) of the trailer (12); - Depending on the trailer model (24) and the determined angle (a) to determine a position and extent (26, 28, 32, L, B, H) of the trailer (12) relative to the motor vehicle (10); - a distance (d) from at least one detected object (36) in the vicinity (U) of the motor vehicle (10) to the trailer (12) based on the determined position and extent (26, 28, 32, L, B, H) to determine the trailer (12); and - to provide a signal as a function of the determined distance (d). Motor vehicle (10) with a trailer assistance system (18) Claim 9 .

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