DE102017219876A1 - Control unit and method for driving a vehicle with a trailer - Google Patents

Abstract

A control unit for a driver assistance system of a vehicle with at least automated lateral guidance is described. The control unit is configured to determine reference data related to homing of the vehicle with trailer on a reference trajectory from an initial position to an end position, the reference data including data related to the trailer for a plurality of positions on the reference trajectory. In addition, the control unit is set up, based on the reference data, to determine control data for a driving trajectory for a re-drive of the vehicle with trailer between the initial position and the end position. The control unit is further configured to control at least one steering device of the vehicle as a function of the driving trajectory.

Description

The invention relates to a control unit or a driving system, in particular a driver assistance system, and a corresponding method for guiding a vehicle with a trailer.

A vehicle, in particular a road motor vehicle, may comprise one or more driver assistance systems, FAS, in which an automated lateral guidance of the vehicle takes place. For example, in a so-called reverse assistance system, the vehicle may store a trajectory with which the vehicle has traveled in a forward direction to a certain position (for example, into a certain parking space). The backup assist system may then assist a driver to drive backward (e.g., exit the parking space) in the reverse direction along the stored trajectory from the determined position. The steering interventions take place autonomously by the vehicle, while the driver of the vehicle controls the longitudinal movement of the vehicle.

A reverse assistance system typically can not be used when the vehicle is pulling a trailer. The present document deals with the technical problem of providing a rear-assistance system that can also be used reliably for a vehicle with a trailer. In particular, a collision-free reverse drive of the vehicle and the trailer should be made possible.

The object is solved by the independent claims. Advantageous embodiments are described i.a. in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim without the features of the independent claim or only in combination with a subset of the features of the independent claim may form a separate invention independent of the combination of all features of the independent claim, the subject of an independent claim, a divisional application or a subsequent application. This applies equally to technical teachings described in the specification, which may form an independent invention of the features of the independent claims.

According to one aspect, a control unit for a driver assistance system (in particular for a reversing assistance system) of a vehicle, in particular a multi-lane road motor vehicle, is described. The vehicle may include a rear wheel steering device (on a rear axle of the vehicle) and / or a front wheel steering device (on a front axle of the vehicle).

The control unit may be configured to determine reference data related to a reference travel (e.g., forward travel) of the trailer-vehicle, the reference data indicating a referenced reference trajectory of the trailer-homing vehicle from an initial position to an end position. The reference data may be stored on a storage unit of the vehicle. The storage unit may be configured to store reference trajectory reference data over a given nominal distance (e.g., 50 meters). The reference travel may be performed manually by a driver of the vehicle using the front wheel steering device. It can also be optionally used in the homing the rear-wheel steering device. In particular, a steering wheel of the vehicle can be actuated by the driver during reference travel. As a result of the operation of the steering wheel then the front wheel steering device and possibly (in-phase) the rear wheel steering device of the vehicle can be operated.

The reference data may e.g. Position information regarding a plurality of positions of the vehicle and / or the trailer on the reference trajectory include. The position information for a position may be e.g. Show (Cartesian) coordinates of the position. Further, the reference data may include orientation information related to an orientation of the vehicle and / or the trailer at the plurality of positions. Alternatively or additionally, the reference data may include curvature information related to the curvature of a plurality of segments of the reference trajectory. Thus, based on the reference data, the reference trajectory can be precisely displayed from the initial position to the final position.

The control unit is further arranged to determine, on the basis of the reference data, a driving trajectory for re-driving the vehicle with trailer between the starting position and the end position (for example for a reverse drive from the end position to the starting position). A steering device of the vehicle can then be controlled in the context of the driver assistance system during the re-driving of the vehicle with trailer as a function of the driving trajectory. In particular, the rear-wheel steering device of the vehicle can be controlled as a function of the driving trajectory. Alternatively or additionally, the front wheel steering device of the vehicle can be controlled as a function of the driving trajectory.

The control unit can thus be set up to perform a forward-looking control of the rear-wheel steering device of a vehicle (possibly in addition to a forward-looking control of the front-wheel steering device). Thus, the automated lateral guidance of a vehicle with trailer along a previously detected and stored reference trajectory can be improved. In particular, so the orientation of the vehicle and / or the trailer can be optimized when re-driving (eg, to reduce the coverage area of the vehicle with trailer when re-driving).

The reference travel may preferably be a forward travel (in the forward direction of the vehicle) from the initial position to the final position. Alternatively, the reference travel may be a reverse travel (in the backward direction of the vehicle) from the initial position to the final position. The re-ride may be a ride toward the end position or a ride toward the start position. Furthermore, the re-ride may be a forward drive or a reverse drive. Preferably, the re-ride is a reverse drive toward the initial position. In a further preferred example, the reference journey and the renewed journey are each a forward drive or, alternatively, a reverse drive respectively. Thus, a vehicle can be provided with a reference trajectory for a new ride in the same direction of travel.

The control unit may be configured to perform an automated lateral guidance and an automated longitudinal guidance during the renewed travel on the basis of the driving trajectory. Possibly. The control unit may receive a control signal from a remote control of the vehicle and then cause the longitudinal guidance of the vehicle. Thus, a user of the vehicle can control the longitudinal guidance of the vehicle by means of a remote control.

During reference travel along the reference trajectory, the vehicle with trailer typically covers a particular reference coverage area to the right and left of the reference trajectory. The reference trajectory may thereby show the position of a reference point of the vehicle and / or the trailer from the initial position to the final position (at a certain sampling rate, e.g., 1 m, 50 cm, 20 cm, or less). In this case, a reference point, e.g. be the center of the rear axle of the vehicle and / or the center of an axle of the trailer. The reference coverage area (also referred to as a travel route) then displays the area or area adjacent to the reference trajectory that was covered by the vehicle and the trailer as a whole during reference travel. The reference coverage area may be e.g. based on the vehicle dimensions, the dimensions of the trailer (in particular the length of the tiller of the trailer) and based on the orientation information relating to the orientation of the vehicle and / or the trailer can be determined. It can be assumed that this reference coverage area is also available for a new ride. The driving trajectory may then be determined such that the trailered vehicle remains substantially (for example, 90% or more) within the reference coverage area during re-driving.

The control unit may be configured to control the rear wheel steering device independently of the front wheel steering device. In particular, the rear-wheel steering device can be controlled differently from a pure in-phase and / or pure in-phase control with respect to the front wheel steering device. In other words, the rear wheel steering device and the front wheel steering device can be used as separate and optionally independent degrees of freedom in the automated lateral guidance of the vehicle. In particular, the control unit may be configured to determine the driving trajectory and / or control data for the rear-wheel steering device on the premise that the rear-wheel steering device can be activated independently of the front-wheel steering device. Thus, the automated lateral guidance along a stored reference trajectory can be further improved.

The control unit can be set up to determine the reference trajectory and / or to control the rear-wheel steering device and / or the front-wheel steering device in such a way that a cover area of the vehicle with trailer is reduced, in particular minimized, during the re-travel. In this case, the coverage area (also referred to as a driving tube) indicates the area along the driving trajectory that is covered by at least a part of the vehicle and / or the trailer when re-driving. In particular, the control unit may be configured to determine the reference trajectory and / or to control the rear-wheel steering device and / or the front-wheel steering device in such a way that the coverage area of the trailer-mounted vehicle lies completely within the reference coverage area. In this case, by the active control of the rear wheel steering device (possibly in addition to the front wheel steering device) typically the automated lateral guidance along a stored reference trajectory can be further improved.

The control data for the control of the front wheel steering device and the control data for the control of the rear wheel steering device can (as separate degrees of freedom) anticipate the ( entire) driving trajectory can be determined. In this case, a transformation of control data from the reference travel can take place (in which only the front wheel steering device was used if necessary). Specifically, the control data for driving the rear-wheel steering device for the re-travel may be determined on the basis of control data for the driving of the front-wheel steering device in the reference travel. Thus, the automated lateral guidance can be further improved during a new journey along a stored reference trajectory.

The control unit may be configured to detect that the vehicle is being operated in conjunction with the trailer. This can e.g. via a sensor on a trailer hitch of the vehicle. Reference data relating to a position and an orientation of the trailer for the plurality of positions on the reference trajectory can then be determined during reference travel. In particular, reference data relating to the position and / or the orientation of the trailer can be determined by means of a torsion sensor on the coupling between vehicle and trailer (taking into account the geometry or dimensions of the trailer). Thus, the reference trajectory and / or the reference coverage area can be accurately detected and stored in a trailer-driving vehicle. This in turn improves the automated lateral guidance in a renewed drive of the vehicle in trailer operation. In particular, the driving trajectory for the re-journey can also be determined as a function of the reference data with respect to the trailer.

The controller may be configured to determine (during re-travel) kink information relating to a twist and / or a kink angle between the vehicle and the trailer. Furthermore, the control unit may be configured to control the rear-wheel steering device in order to reduce, in particular minimize, a twist between the vehicle and the trailer along the driving trajectory. By using the rear-wheel steering device, in particular the orientation of the vehicle can be optimized in a reverse drive to reduce swinging of the vehicle in trailer operation. Thus, the coverage area can be reduced when driving again. Furthermore, so steering movements of the front wheel steering device can be reduced.

The rear wheel steering device typically has a limited rear wheel steering angle range, and the front wheel steering device typically has a limited front wheel steering angle range. The control unit may be configured to determine the driving trajectory as a function of the rear wheel steering angle range and / or the front wheel steering angle range. This makes it possible in a precise manner to travel again along a stored reference trajectory.

Thus, a control unit for a driver assistance system of a vehicle with at least automated lateral guidance is described. In this case, the vehicle may comprise a rear-wheel steering device and / or a front-wheel steering device. The control unit is set up to determine reference data relating to a reference travel of the vehicle with trailer on a reference trajectory from an initial position to an end position. In this case, the reference data may include position information and / or orientation information with respect to the vehicle (in particular with respect to a reference point of the vehicle) and / or with respect to the trailer (in particular with respect to a reference point of the trailer). The reference point of the vehicle may correspond to the center of the rear axle of the vehicle. The trailer reference point may correspond to the midpoint of an axle (e.g., the single axle or a rear axle) of the trailer. In this case, the axle of the trailer, in particular in a multi-axle trailer and / or in a trailer without turntable correspond to a virtual axis of the trailer. The virtual axis of the trailer can correspond to the axis of a uniaxial trailer, through which the behavior of the multi-axle trailer and / or the trailer can be modeled without a turntable.

The position information and the orientation information can be determined and displayed or stored for a multiplicity of positions on the reference trajectory traveled during the reference travel. It can be determined for each position coordinates of the reference point of the vehicle and / or the trailer. Furthermore, the orientation of the vehicle and / or the trailer can be determined and displayed or stored for each position.

Alternatively or additionally, the reference data may include curvature information related to the curvature of a plurality of segments of the reference trajectory. Curvature information for the vehicle and curvature information for the trailer may possibly be provided. For example, the reference data may indicate a first reference trajectory for the vehicle and a second reference trajectory for the trailer. Curvature information can be provided for each reference trajectory.

The control unit may be arranged by means of a rotation sensor at the coupling point between the vehicle and the trailer to determine a twist and / or a bending angle between the vehicle and the trailer at the plurality of positions on the reference trajectory traveled during the reference travel. It may then be determined based on the twist and / or kink angle and based on position information and orientation information relating to the vehicle, the position and / or orientation of the trailer at the plurality of positions on the reference trajectory. The information stored in the reference data can thus be limited. Thus, a resource-efficient driver assistance system is made possible.

The reference data may thus include data relating to the trailer, particularly with respect to a position and / or an orientation of the trailer, for a plurality of positions on the reference trajectory. The data relating to the trailer, in particular with regard to the position and / or orientation of the trailer. can be determined by means of a torsion sensor on a coupling between the vehicle and the trailer and taking into account a geometry and / or dimensions of the trailer (for the plurality of positions). The torsion sensor may include one or more distance sensors (e.g., on both sides of the coupling). By capturing and storing reference data relative to the trailer, particularly with respect to the position and / or orientation of the trailer, for a variety of positions on the reference trajectory, re-driving of the vehicle-trailer combination can be accomplished in a precise manner respectively.

The control unit is set up, on the basis of the reference data, to determine control data for a driving trajectory for a re-travel of the vehicle with trailer between the start position and the end position. For this purpose, a driving trajectory for the re-driving of the vehicle with trailer can first be determined. Based on the driving trajectory, control data for at least one steering device of the vehicle, in particular for the front wheel steering device and / or for the rear wheel steering device, can then be determined.

The control unit may be configured to determine a reference coverage area of the vehicle and of the trailer on the reference trajectory traveled during the reference travel. In other words, it can be determined which area adjacent to the reference trajectory has been covered by the vehicle and / or by the trailer. The control unit may be configured to determine the (common) reference coverage area of the vehicle and the trailer based on geometry data related to a geometry of the trailer. The geometry data may in particular include the length of the drawbar of the trailer.

It can be assumed in the re-ride that there is no obstacle in the reference coverage area. Control data for the one or more steering devices of the vehicle and / or a driving trajectory may be determined such that the coverage area of the trailered vehicle is completely within the reference coverage area along the travel trajectory. Alternatively or additionally, the driving trajectory and / or the control data can be determined in such a way that the vehicle and the trailer (together) cover the smallest possible coverage area when driving again along the driving trajectory. This will provide reliable and safe assistance when driving again.

The control data for the driving trajectory and / or the driving trajectory can be determined in such a way that the trailer is guided on the reference trajectory indicated by the reference data. On the other hand, the behavior of the vehicle in the determination of the control data is disregarded. For the driving trajectory (especially in a reverse drive), the trailer can thus be considered as a (virtual) towing vehicle. The vehicle can be considered as a (virtual) trailer. Thus, the driving trajectory can be determined for a re-ride in an efficient manner.

On the re-journey one or more obstacles can be considered. In particular, an obstacle in the swivel range of the vehicle can be taken into account. Such an obstacle can be taken into account when determining the driving trajectory for the vehicle-trailer combination. Possibly. Such an obstacle can lead to an automatic braking of the team when driving again. This avoids collisions with an obstacle when driving again.

Alternatively or additionally, the control data for the driving trajectory and / or the driving trajectory can be determined in such a way that both the vehicle and the trailer are guided on the reference trajectory indicated by the reference data. So a precise driving trajectory can be determined for a new ride.

The control unit may be configured to determine a desired articulation angle of the coupling point between the vehicle and the trailer for a plurality of positions on the driving trajectory on the basis of the reference data. It can thus be determined how the bending angle between the vehicle and the trailer on the driving trajectory should. The control data can then be determined on the basis of the desired bending angle. In particular, the desired buckling angles along the travel trajectory can serve as target specifications for the adjustment (eg for the regulation) of the buckling angle along the travel trajectory. This allows a precise and reliable guidance of the vehicle with trailer when driving again.

The reference data may indicate the position and orientation of the vehicle for the plurality of positions on the reference trajectory. Further, the reference data may indicate kink information regarding the kink angle between the trailer and the vehicle for the plurality of positions on the reference trajectory. This information is typically sufficient to determine at each position the coverage and / or orientation of the vehicle-trailer combination.

The control unit may be configured to determine position information related to a position of the trailer (e.g., coordinates of the position) and orientation information related to the orientation of the trailer based on the reference data. The control data for the driving trajectory and / or the driving trajectory can then be determined on the basis of the position information and the orientation information for the trailer. Thus, the driving trajectory for a reverse drive can be determined in a particularly precise manner.

The control unit is further configured to control at least one of the steering devices of the vehicle as a function of the driving trajectory. In this case, in particular for a reverse drive, the rear-wheel steering device can be controlled as a function of the driving trajectory. This allows reliable reversing of a vehicle with a trailer.

In another aspect, a method for automated lateral guidance of a vehicle is described. The vehicle may include one or more steering devices. In particular, the vehicle may include a rear wheel steering device and / or a front wheel steering device.

The method comprises determining reference data relating to a reference travel of the vehicle with trailer along a reference trajectory from an initial position to an end position. The reference data may include data relating to a position and an orientation of the trailer for a plurality of positions on the reference trajectory. The data relating to the position and / or orientation of the trailer may be determined by means of a torsional sensor on a coupling between the vehicle and the trailer and taking into account a geometry and / or dimensions of the trailer (for the plurality of positions).

The reference travel may be performed manually by a driver of the vehicle using the front wheel steering device. It can also be optionally used in the homing the rear-wheel steering device. However, the use of the rear wheel steering device may be fixedly coupled to the front wheel steering device (e.g., by a strictly anti-phase drive), e.g. to reduce a minimum possible turning radius of the vehicle.

In addition, the method comprises determining, based on the reference data, control data for a driving trajectory for re-driving the vehicle with trailer between the initial position and the end position. The method further comprises driving at least one steering device of the vehicle as a function of the driving trajectory.

According to a further aspect, a multi-lane vehicle (in particular a road motor vehicle, for example a passenger car or a lorry or a bus) is described which comprises the control unit described in this document.

In another aspect, a software (SW) program is described. The SW program may be set up to be executed on a processor (e.g., on a controller of a vehicle) and thereby perform the method described in this document.

In another aspect, a storage medium is described. The storage medium may include a SW program that is set up to run on a processor and thereby perform the method described in this document.

It should be understood that the methods, devices and systems described herein may be used alone as well as in combination with other methods, devices and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described herein may be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways.

• 1 ein beispielhaftes zweispuriges Fahrzeug;
• 2 ein beispielhaftes Fahrmanöver;
• 3a ein beispielhaftes Rückwärts-Fahrmanöver;
• 3b ein beispielhaftes Fahrzeug mit Anhänger; und
• 4 ein Ablaufdiagramm eines beispielhaften Verfahrens zur automatisierten Querführung eines Fahrzeugs.

Furthermore, the invention will be described in more detail with reference to exemplary embodiments. Show

• 1 an exemplary two-lane vehicle;
• 2 an exemplary driving maneuver;
• 3a an exemplary reverse driving maneuver;
• 3b an exemplary vehicle with a trailer; and
• 4 a flowchart of an exemplary method for automated lateral guidance of a vehicle.

As set forth above, the present document is concerned with providing a reversing assistant for a trailered vehicle. In this context shows 1 a block diagram of an exemplary multi-lane, in particular two-lane, vehicle 100 , The vehicle 100 includes a front axle 110 and a rear axle 120 , This can be done via a front-wheel steering device of the front axle 110 a specific front wheel steering angle range 111 be implemented. Furthermore, the vehicle can 100 a rear-wheel steering device, with a certain rear-wheel steering angle range 121 can be implemented. Typically, the front wheel steering angle range 111 substantially larger (eg by the factor 10 or more) than a possible rear wheel steering angle range 121 ,

The following describes the measures described in this document based on a reversing assistance system, in which a reference travel for recording a reference trajectory in the forward direction takes place and in which a renewed drive along a driving trajectory in the reverse direction takes place along a return trajectory. The described forward travel is thus only one example of a general reference travel, and the described return trajectory is just one example of a general driving trajectory.

• • in Bezug auf eine Vorwärtsfahrt allgemein für eine Referenzfahrt (die ggf. jeweils auch in Rückwärtsrichtung mit einem Fahrzeug 100 gefahren werden kann);
• • in Bezug auf eine Rückwärtsfahrt allgemein für eine erneute Fahrt (die ggf. auch in Vorwärtsrichtung mit einem Fahrzeug 100 gefahren werden kann); und/oder
• • in Bezug auf eine Rückfahr-Trajektorie allgemein für eine Fahr-Trajektorie (die ggf. auch in der gleichen Richtung gefahren werden kann, wie die Referenz-Trajektorie bei der Referenzfahrt).

In particular, the aspects described in this document apply

• • in reference to a forward drive generally for a reference trip (which may also be in the reverse direction with a vehicle 100 can be driven);
• • in relation to a reverse drive, generally for a new ride (possibly also in the forward direction with a vehicle 100 can be driven); and or
• In relation to a return trajectory, in general for a driving trajectory (which, if appropriate, can also be traveled in the same direction as the reference trajectory in reference travel).

A user of the vehicle 100 For example, when entering a parking garage, it can activate a reversing assistance system. In response, it is controlled by a control unit 103 of the vehicle 100 when driving forwards, a reference trajectory 203 (please refer 2 ) and in a storage unit 104 saved. Alternatively or additionally, if necessary, the detection and storage of a reference trajectory automatically 203 take place, for example, when the driving speed of the vehicle 100 is equal to or less than a speed threshold (eg, 40km / h). So can the reference trajectory 203 even if the user initially did not intend to use the backup assistant.

The storage unit 104 can be realized, for example, as a ring memory, on the reference data with respect to a reference trajectory 203 the last x meters of forward travel can be stored (where x = 30, 40, 50 or more). If the forward travel is longer than the nominal distance of x meters, then the reference data may be relative to the most distant portion of the reference trajectory 203 with reference data related to the current section of the reference trajectory 203 be overwritten.

The reference data with respect to a reference trajectory 203 can position information 201 in relation to a reference point 101 of the vehicle 100, the reference point 101 eg the center of the rear axle 120 of the vehicle 100 can correspond. The reference data related to the position of the reference point 101 can be determined with a specific sampling rate (eg every 10cm, 5cm, or less), so based on the position information 201 regarding the position of the reference point 101 the course of the reference trajectory 203 when driving forward the vehicle 100 can be described in a precise manner.

A vehicle 100 indicates at a certain position on a forward drive a certain orientation 102 on. Orientation information can therefore be displayed at one position 202 with respect to an orientation 102 of the vehicle 100 relative to the reference point 101 be determined. Based on the orientation information 202 at the plurality of positions of the reference trajectory 203 can be a coverage area 204 , in particular a tube, to the reference trajectory 203 be determined (see 2 ) indicating the area where a component (eg, a part of the bodywork) of the vehicle is moving during forward travel 100 (and possibly a trailer). The coverage area 204 shows, assuming static obstacles on the reference trajectory 203 , the area in which the vehicle 100 collision-free along a return trajectory 213 can be performed. In other words, the return trajectory 213 can do so based on the reference trajectory 203 be determined that the vehicle 100 when reversing along the return trajectory 213 within the coverage area 204 remains. Thus, assuming static obstacles, a collision-free return journey can be made possible.

The reference data regarding the reference trajectory determined during forward travel 203 can thus handle a variety of positions on the reference trajectory 203 each position information 201 include the position of the reference point 101 of the vehicle 100 indicates (eg in a Cartesian coordinate system relative to the starting position of the reference trajectory 203 ). Furthermore, the reference data for the plurality of positions may each have orientation information 202 in terms of an orientation 102 of the vehicle 100 at the respective position. So can the reference trajectory 203 and the coverage area 204 of the vehicle 100 be described on a forward drive in a precise manner.

Alternatively or additionally, the reference data for trajectory segments between a plurality of positions may include curvature information related to a curvature of the respective trajectory segment. The reference trajectory 203 can then be described by a sequence of curvature values. Furthermore, by interpolation of the sequence of curvature values, a course of the reference trajectory 203 determined (eg by the use of clothoids). From the curvature values can also the coverage area 204 of the vehicle during forward travel on the reference trajectory 203 be determined.

• • den Anfangspunkt der Referenz-Trajektorie 203 erreicht; und/oder
• • möglichst weitgehend innerhalb des Abdeckungsbereichs 204 bleibt.

The reference data can thus in different ways a reference trajectory 203 and a coverage area 204 of a vehicle 100 (possibly with trailer) when traveling forwards (ie generally during a reference run). If it is detected that the driver of the vehicle 100 engages a reverse gear and / or if the user of the vehicle 100 activates the reversing assistance system via a user interface can, based on the reference data, a return trajectory 213 (generally a driving trajectory) for a supported return journey of the vehicle 100 (possibly with trailer) to the starting point of the reference trajectory 203 be determined. In doing so, the reference trajectory 203 be determined so that the vehicle 100 (possibly with trailer)

• • the starting point of the reference trajectory 203 reached; and or
• • as much as possible within the coverage area 204 remains.

The determined return trajectory 213 In particular, a steering angle of the front wheel steering device of the front axle 110 of the vehicle 100 as a function of position on the return trajectory 213 Show. The driver of the vehicle 100 can then based on the determined return trajectory 213 be assisted in the reverse. In particular, the front wheel steering device of the vehicle 100 automatically depending on the return trajectory 213 be controlled to take over the lateral guidance of the vehicle 100. On the other hand, the longitudinal guidance of the vehicle 100 , Specifically, the determination of the longitudinal speed and the direction of travel (forward or backward) of the vehicle 100 , to be carried out further by the driver. The provision of such a backup assistant allows a driver of a vehicle 100 to pull out in a comfortable way backwards from a confined traffic situation (eg from a narrow parking garage).

Due to the above conditions for the determination of the return trajectory 213 corresponds to the return trajectory 213 typically largely the reference trajectory 203 , Because it can not be safely assumed that the obstacles along the stored reference trajectory 203 are static, it is advantageous if the vehicle 100 on the reverse drive along the return trajectory 213 the smallest possible coverage area 204 covered. This is especially true when the vehicle 100 a trailer 320 pulls (see 3a ). 3a shows a driving situation in which a vehicle 100 with trailer 320 when driving forward from an initial position 301 up to an end position 302 Reference data related to a reference trajectory 203 records and saves. On the forward drive can the vehicle 100 and the trailer 320 the coverage area 204 along the reference trajectory 203 have covered. To the coverage area 204 can determine in a precise manner, on the forward drive position information and orientation information with respect to each reference point 101 of the vehicle 100 and a reference point of the trailer 320 (eg the center of an axle of the trailer 320 ) and stored. For example, by means of a torsion sensor 321 at a coupling point between the vehicle 100 and followers 320 at the variety of positions on the reference trajectory 203 the rotation or the bending angle between the vehicle 100 and followers 320 be determined and stored. The rotation sensor 321 can include one or more cameras, with which image data relating to the trailer 320 and / or the vehicle 100 can be detected. From the image data can then be the rotation or the bending angle between the vehicle 100 and followers 320 be determined. Alternatively or additionally, the rotation sensor 321 include one or more distance sensors (eg ultrasonic and / or radar sensors), with which the distance between the vehicle 100 and trailer 320 can be determined. From the distance information then the rotation or the bending angle between the vehicle 100 and followers 320 be determined. From the rotation or the bending angle can, based on the position information 201 and the orientation information 202 of the vehicle 100 , the position and orientation of the trailer 320 be determined.

The reference data may be used to provide a return trajectory 313 for the vehicle 100 (with trailer 320 ) to investigate. In particular, on the basis of the reference data control data for one or more steering devices of the vehicle 100 be determined to the vehicle 100 (with trailer 320 ) along a return trajectory 313 (if necessary during a reverse drive) from the end position 302 to the starting position 301 respectively. In this case, if necessary, control data for the rear wheel steering device of the vehicle 100 be determined. Active use of the rear-wheel steering device allows the orientation of the vehicle 100 and the trailer 320 along the return trajectory 313 be optimized so that the vehicle 100 and trailer 320 traveling along the return trajectory 313 the smallest possible coverage area 304 take advantage of. In particular, the control data can be determined such that the coverage area 304 on the journey along the backward trajectory 313 completely within the reference coverage area 204 the reference trajectory 203 lies.

The rear-wheel steering device can be controlled independently of the front-wheel steering device. In other words, the rear wheel steering device and the front wheel steering device may be used as separate degrees of freedom to the vehicle 100 (and possibly a trailer 320) while driving along the return trajectory 313 align. So can the coverage area 304 on the journey along the backward trajectory 313 be optimized.

By taking into account the rear wheel steering device (in addition and independent of the front wheel steering device), the course of the return trajectory 313 be optimized. Furthermore, an amount of required steering movements of the front wheel steering apparatus can be reduced.

3b shows a vehicle 100 with trailer 320 , The trailer 320 can relative to the vehicle 100 a twisting or bending angle 322 exhibit. The bending angle 322 can be at a variety of positions during the homing of the vehicle 100 be recorded. Further shows 3b an exemplary reference point 331 of the trailer 320 (eg the center of an axle of the trailer 320 ). During the reference journey, the positions and the respective orientations 332 of the reference point 331 of the trailer 320 be recorded.

The position of the reference point 101 of the vehicle 100 can be described by the coordinates (x, y). Furthermore, the orientation 102 of the vehicle 100 be described by an angle φ. The bending angle 332 of the trailer 320 can be characterized by the variable α. With knowledge of the drawbar length of the trailer 320 , Especially with knowledge of the distance between the coupling point and the reference point 331 of the trailer 320 , can be from the position (x, y) of the reference point 101 of the vehicle 100 , from the orientation φ of the vehicle 100 and from the bending angle α 322 the position (x ', y') of the reference point 331 of the trailer 320 and the orientation φ '332 of the trailer 320 be calculated. As reference data for a reference travel thus the positions (x ', y') of the reference point 331 of the trailer 320 and the respective orientations Φ '332 of the trailer 320 as well as the respective bending angle α 322 in the storage unit 104 stored (in particular as an alternative to storing the positions (x, y) of the reference point 101 of the vehicle 100 and the corresponding orientations φ of the vehicle 100 ).

The reference data may thus contain information relating to the positions of the reference point 332 of the trailer 320 and in relation to the respective orientation 332 of the trailer 320 along the reference trajectory 203 Show. This information may be used in determining a driving trajectory 313 (eg for a reverse drive) can be used. In particular, it can be the behavior of the vehicle 100 disregarded. The driving trajectory 313 can thus alone in terms of the trailer 320 be determined so that the trailer 320 along the reference trajectory 203 to be led. So can efficiently drive a trajectory 313 for a reverse drive with a trailer 320 be determined.

Furthermore, the reference data can be the bend angle 322 during homing at different positions of the reference point 332 of the trailer 320 Show. The bending angle 322 can help in identifying the driving trajectory 313 be considered for a new ride. So can In particular, be achieved that both the trailer 320 as well as the vehicle 100 along the reference trajectory 203 can be performed. For example, along the driving trajectory 313 For each position, a desired bending angle is specified in each case, the desired bending angle for the driving trajectory 313 based on the bending angle 322 can be determined from the reference data.

It can thus be recorded in a forward drive reference data in relation to the driving maneuver. As part of the driving maneuver becomes an area 204 over the ground (ie a vehicle swept area or coverage area). The rear-wheel steering device can be operated (in particular at parking / maneuvering speeds in the range of 1-8km / h) out of phase with the front wheel steering device to allow tighter turning radii. Possibly. At driving speeds close to 0 km / h (eg at 3 km / h and less), the rear-wheel steering device can be deactivated (eg in normal driving mode).

By means of the rear wheel steering device, the vehicle swept area 304 when driving along a return trajectory 313 minimized and / or optimized. For this purpose, it may be expedient to operate the rear wheel steering device against and / or in-phase with the front wheel steering device. In particular, the control data for the rear wheel steering device and the front wheel steering device can be determined to provide an optimal return trajectory 313 with an optimal coverage area 304 for the entire track between end position 302 and starting position 301 to investigate. That is, the rear wheel steering apparatus may be anticipatory depending on a planned trajectory 313 be determined.

The active use of the rear-wheel steering device is particularly advantageous in trailer operation. In a reverse drive with trailer 320 (even when driving straight ahead) must be the orientation 332 of the trailer 320 when using only the front wheel steering device on the front axle of the vehicle 100 be managed. This leads to substantial steering movements on the steering wheel (ie by the front wheel steering device), which is typically perceived by a driver as disturbing. In addition, it can lead to substantial swings of the vehicle 100 come to make corrections. When swinging the vehicle 100 there is an increased risk of collision. In particular, by the swinging the vehicle swept area 304 elevated.

By autonomously using the rear wheel steering device, corrections can be efficiently made to greatly swing the vehicle 100 to prevent. So can the coverage area 304 be reduced when driving again. Furthermore, so steering movements on the steering wheel of the vehicle 100 (ie steering movements of the front wheel steering device) is reduced, in particular minimized. For example, by using the rear wheel steering device if necessary, a straight ahead with trailer 320 be enabled in reverse operation without (substantial) steering movements on the steering wheel of the vehicle 100 respectively.

The active use of the rear wheel steering device allows, for example: optimal alignment of the rear of a vehicle 100 to a parking space; driving on smaller parking spaces; correcting positioning within a parking space (eg relative to a curb); the compensation of regulations on a given trajectory (eg to avoid a restless steering behavior on the steering wheel of a vehicle 100 ); staggered positioning of front wheels and rear wheels in shunting situations; an increased performance when traversing a stored trajectory; and / or a compensation of the steering movements of a vehicle 100 in a trailer assistance system.

4 shows a flowchart of an exemplary method 400 for automated transverse guidance of a vehicle 100 (In particular, a multi-lane vehicle with a front axle 110 and a rear axle 120 ). The vehicle 100 may include a rear wheel steering device and / or a front wheel steering device. The procedure 400 includes determining 401 reference data relating to a reference travel of the vehicle 100 with trailer 320 from an initial position 301 to an end position 302 , In addition, the process includes 400 the determining 402 , based on the reference data, of control data for a driving trajectory 313 for a re-ride of the vehicle 100 with trailer 320 between the initial position 301 and the end position 302. As related to 3a set out, it may be the reference drive to a forward drive and the re-ride to a reverse drive. However, any combinations are conceivable. For example, the renewed drive may also be a forward drive. The forward drive and the reverse drive may be in the direction from the initial position 301 up to the final position 302 or in the opposite direction.

In addition, the process includes 400 the driving 403 at least one of the steering devices of the vehicle 100 depending on the driving trajectory 313.

This document thus describes a driver assistance system in which odometry data relating to the position and the orientation during homing is provided 102 . 332 of a vehicle 100 and / or a trailer 320 to be recorded. The sum of the positions and the orientations 102, 332 results in a reference trajectory 203 , which can serve as a reference variable for a new ride.

In a vehicle 100 with trailer 320 On reference travel, additional reference data relating to a kink angle can be generated 322 between the vehicle 100 and the trailer 320 be captured and stored. By consideration of the bending angle 322 as a guide for a new ride can drift off the trailer 320 (especially when driving backwards) are avoided.

For example, on a forward drive (ie, a reference run) the actual kink angle 322 (as a function of position) depending on the Odometriedaten be recorded and stored. When reversing (ie when driving again) then this angle 322 as the desired angle (as a function of the position) can be specified. This can be the behavior of the vehicle 100 to disregard the re-ride, leaving only the trailer 320 on the driving trajectory 313 or on the reference trajectory 203 to be led. On the other hand, both the trailer 320 as well as the vehicle 100 on the driving trajectory 313 or on the reference trajectory 203 be guided. For the bending angle 322 of the trailer 320 and the odometry of the vehicle 100 considered. It may be a weighting of the vehicle guidance in favor of the bending angle 322 (and possibly not in favor of the odometry of the vehicle 100 ) respectively.

If already at the homing of the trailer 320 to the vehicle 100 was coupled, so from the odometry data stored as reference data is the travel trajectory or distance for the re-journey with trailer 320 known. About the (possibly estimated) drawbar length of the trailer 320 may be the swept area or the coverage area 304 of the team from vehicle 100 and followers 320 (if necessary to the end of the drawbar). Thus, a path planning for the re-ride for the entire team of vehicle 100 and followers 320 respectively.

With a recognized trailer 320 Thus reference data with respect to a reference trajectory can be detected and stored during a forward movement. The stored reference data can then be used for a possible reset of the team. So can the comfort for the driver of a vehicle 100 with trailer 320 (especially when reversing) increased. Furthermore, the risk of collision when driving with a trailer 320 be reduced.

The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended to illustrate only the principle of the proposed methods, apparatus and systems.

Claims (18)

Control unit (103) for a driver assistance system of a vehicle (100) with at least automated lateral guidance; wherein the control unit (103) is set up, - reference data relating to a reference travel of the vehicle (100) with trailer (320) along a reference trajectory (203) from an initial position (301) to an end position (302) to determine; wherein the reference data comprises data relating to the trailer (320) for a plurality of positions on the reference trajectory (203); - to determine based on the reference data, control data for a driving trajectory (313) for a re-travel of the vehicle (100) with trailer (320) between the initial position (301) and the end position (302); and - At least one steering device of the vehicle (100) in response to the driving trajectory (313) to control. Control unit (103) according to Claim 1 wherein the reference data includes position information (201) and orientation information (202) related to a reference point (101) of the vehicle (100) and a reference point (331) of the trailer (320). Control unit (103) according to Claim 2 wherein - the reference point (101) of the vehicle (100) corresponds to a center of a rear axle (120) of the vehicle (100); and / or - the reference point (331) of the trailer (320) corresponds to a center point of an axle of the trailer (320). The control unit (103) according to one of the preceding claims, wherein the control unit (103) is arranged, by means of a rotation sensor (321) at a coupling point between the vehicle (100) and the trailer (320) at the plurality of positions on the at Referenced reference trajectory (203) to determine a rotation between the vehicle (100) and the trailer (320); and, based thereon, position information (201) and orientation information (202) relating to the vehicle (100), positions and / or Determine orientations (332) of the trailer (320) at the plurality of positions on the reference trajectory (203). The control unit (103) according to one of the preceding claims, wherein the reference data comprises curvature information related to the curvature of a plurality of segments of the reference trajectory (203). Control unit (103) according to one of the preceding claims, wherein the vehicle (100) comprises a front wheel steering device and a rear wheel steering device; and - The control unit (103) is arranged in particular to control the rear wheel steering device in response to the driving trajectory (313). Control unit (103) according to one of the preceding claims, wherein the control unit (103) is set up, to determine a reference coverage area (204) of the vehicle (100) and of the trailer (320) on the reference trajectory (203) traveled during the reference travel; and To determine control data for the at least one steering device of the vehicle (100) so that the coverage area (304) lies completely within the reference coverage area (204) on the re-travel along the travel trajectory (313). The control unit (103) according to one of the preceding claims, wherein the control unit (103) is set up to determine the driving trajectory (313) in such a way that the vehicle (100) and the trailer (320) travel again along the driving direction. Trajektorie (313) cover the smallest possible coverage area (204). The control unit (103) according to one of the preceding claims, wherein the reference travel is performed manually by a driver of the vehicle (100) using a front wheel steering device. The control unit (103) of any of the preceding claims, wherein the reference data includes data related to a position and orientation (332) of the trailer (320) for a plurality of locations on the reference trajectory (203). Control unit (103) according to one of the preceding claims, wherein the control unit (103) is set up, by means of a rotation sensor (321) on a coupling between the vehicle (100) and the trailer (320) and taking into account a geometry and / or dimensions the trailer (320) determines reference data related to a position and / or orientation (332) of the trailer (320). Control unit (103) according to one of the preceding claims, wherein the reference data, Position information (201) with respect to the plurality of positions on the reference trajectory (203) traveled during the reference travel; and or Orientation information (202) with respect to an orientation (102) of the vehicle (100) and / or an orientation (332) of the trailer (320) at the plurality of positions. Control unit (103) according to Claim 7 wherein - the control unit (103) is adapted to determine the reference coverage area (204) of the vehicle (100) and the trailer (320) based on geometry data relating to a geometry of the trailer (320); and - the geometry data in particular comprise a length of a drawbar of the trailer (320). Control unit (103) according to one of the preceding claims, wherein the control data for the driving trajectory (313) are determined such that - the trailer (320) is guided on the reference trajectory (203) indicated by the reference data; and - a behavior of the vehicle (100) is disregarded. Control unit (103) according to one of Claims 1 to 13 in that the control data for the driving trajectory (313) are determined in such a way that both the vehicle (100) and the trailer (320) are guided on the reference trajectory (203) indicated by the reference data. Control unit (103) according to one of the preceding claims, wherein the control unit (103) is set up, - based on the reference data to determine a target articulation angle (322) of a coupling point between the vehicle (100) and the trailer (320) for the plurality of positions on the driving trajectory (313); and - To determine the control data based on the desired bending angle (322). The control unit (103) according to one of the preceding claims, wherein - the reference data indicate a position and an orientation (102) of the vehicle (100); the reference data indicate kink information relating to a kink angle (322) between the trailer (320) and the vehicle (100); and - the control unit (103) is arranged, based on the reference data position information (201) with respect to a position of the trailer (320) and orientation information (202) with respect to a Determine orientation (332) of the trailer (320); and - determining the control data for the driving trajectory (313) based on the position information (201) and the orientation information (202) for the trailer (320). A method (400) for automated lateral guidance of a vehicle (100); the method comprising (400) - determining (401) reference data relating to a reference travel of the vehicle (100) with trailer (320) along a reference trajectory (203) from an initial position (301) to an end position (302); wherein the reference data comprises data relating to the trailer (320) for a plurality of positions on the reference trajectory (203); - determining (402), based on the reference data, control data for a driving trajectory (313) for re-driving the vehicle (100) with trailer (320) between the starting position (301) and the end position (302); and - Controlling (403) at least one steering device of the vehicle (100) in dependence on the driving trajectory (313).

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